{"id":"https://openalex.org/W2169659774","doi":"https://doi.org/10.1109/icra.2011.5980517","title":"Measurement crosstalk elimination of torque encoder using selectively compliant suspension","display_name":"Measurement crosstalk elimination of torque encoder using selectively compliant suspension","publication_year":2011,"publication_date":"2011-05-01","ids":{"openalex":"https://openalex.org/W2169659774","doi":"https://doi.org/10.1109/icra.2011.5980517","mag":"2169659774"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2011.5980517","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5980517","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5064981052","display_name":"Hiroshi Kaminaga","orcid":"https://orcid.org/0000-0002-8288-7973"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hiroshi Kaminaga","raw_affiliation_strings":["Graduate School of Information Science and Technology, University of Tokyo, Bunkyo, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science and Technology, University of Tokyo, Bunkyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051928451","display_name":"Kohei Odanaka","orcid":null},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kohei Odanaka","raw_affiliation_strings":["Graduate School of Information Science and Technology, University of Tokyo, Bunkyo, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science and Technology, University of Tokyo, Bunkyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112508270","display_name":"Tomohiro Kawakami","orcid":null},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tomohiro Kawakami","raw_affiliation_strings":["Graduate School of Information Science and Technology, University of Tokyo, Bunkyo, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science and Technology, University of Tokyo, Bunkyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5040633710","display_name":"Yoshihiko Nakamura","orcid":"https://orcid.org/0000-0001-7162-5102"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yoshihiko Nakamura","raw_affiliation_strings":["Graduate School of Information Science and Technology, University of Tokyo, Bunkyo, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science and Technology, University of Tokyo, Bunkyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I74801974"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"4774","last_page":"4779"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T13827","display_name":"Mechatronics Education and Applications","score":0.9646999835968018,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T13827","display_name":"Mechatronics Education and Applications","score":0.9646999835968018,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10923","display_name":"Force Microscopy Techniques and Applications","score":0.9383999705314636,"subfield":{"id":"https://openalex.org/subfields/3107","display_name":"Atomic and Molecular Physics, and Optics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11062","display_name":"Gear and Bearing Dynamics Analysis","score":0.9225000143051147,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.7562438249588013},{"id":"https://openalex.org/keywords/crosstalk","display_name":"Crosstalk","score":0.7218046188354492},{"id":"https://openalex.org/keywords/encoder","display_name":"Encoder","score":0.6499497294425964},{"id":"https://openalex.org/keywords/detector","display_name":"Detector","score":0.5572143197059631},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5509842038154602},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5052056908607483},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4725092351436615},{"id":"https://openalex.org/keywords/strain-gauge","display_name":"Strain gauge","score":0.4683249294757843},{"id":"https://openalex.org/keywords/damping-torque","display_name":"Damping torque","score":0.4412424564361572},{"id":"https://openalex.org/keywords/electronic-engineering","display_name":"Electronic engineering","score":0.39878708124160767},{"id":"https://openalex.org/keywords/direct-torque-control","display_name":"Direct torque control","score":0.38419032096862793},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.34210580587387085},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.21868404746055603},{"id":"https://openalex.org/keywords/voltage","display_name":"Voltage","score":0.14965766668319702},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.13114050030708313},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.09934651851654053},{"id":"https://openalex.org/keywords/induction-motor","display_name":"Induction motor","score":0.08765965700149536},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.061409205198287964}],"concepts":[{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.7562438249588013},{"id":"https://openalex.org/C169822122","wikidata":"https://www.wikidata.org/wiki/Q230187","display_name":"Crosstalk","level":2,"score":0.7218046188354492},{"id":"https://openalex.org/C118505674","wikidata":"https://www.wikidata.org/wiki/Q42586063","display_name":"Encoder","level":2,"score":0.6499497294425964},{"id":"https://openalex.org/C94915269","wikidata":"https://www.wikidata.org/wiki/Q1834857","display_name":"Detector","level":2,"score":0.5572143197059631},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5509842038154602},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5052056908607483},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4725092351436615},{"id":"https://openalex.org/C60584519","wikidata":"https://www.wikidata.org/wiki/Q610723","display_name":"Strain gauge","level":2,"score":0.4683249294757843},{"id":"https://openalex.org/C40226289","wikidata":"https://www.wikidata.org/wiki/Q5212950","display_name":"Damping torque","level":5,"score":0.4412424564361572},{"id":"https://openalex.org/C24326235","wikidata":"https://www.wikidata.org/wiki/Q126095","display_name":"Electronic engineering","level":1,"score":0.39878708124160767},{"id":"https://openalex.org/C109871850","wikidata":"https://www.wikidata.org/wiki/Q1227571","display_name":"Direct torque control","level":4,"score":0.38419032096862793},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.34210580587387085},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.21868404746055603},{"id":"https://openalex.org/C165801399","wikidata":"https://www.wikidata.org/wiki/Q25428","display_name":"Voltage","level":2,"score":0.14965766668319702},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.13114050030708313},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.09934651851654053},{"id":"https://openalex.org/C80962145","wikidata":"https://www.wikidata.org/wiki/Q207450","display_name":"Induction motor","level":3,"score":0.08765965700149536},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.061409205198287964},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2011.5980517","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5980517","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":9,"referenced_works":["https://openalex.org/W262514411","https://openalex.org/W1533609721","https://openalex.org/W1599599357","https://openalex.org/W2102948871","https://openalex.org/W2135569231","https://openalex.org/W2156765112","https://openalex.org/W2171064969","https://openalex.org/W2577477212","https://openalex.org/W6684962908"],"related_works":["https://openalex.org/W2107398868","https://openalex.org/W2328640053","https://openalex.org/W2158120472","https://openalex.org/W3113939018","https://openalex.org/W2362527675","https://openalex.org/W2114550905","https://openalex.org/W2056078466","https://openalex.org/W2377958454","https://openalex.org/W4225988789","https://openalex.org/W1028179284"],"abstract_inverted_index":{"Realization":[0],"of":[1,9,16,35,84,116,126],"rigid":[2],"and":[3,48,54,57,87],"sensitive":[4,58],"torque":[5,36,59,65],"sensor":[6,37],"is":[7,119],"one":[8],"the":[10,14,19,33,51,62,82,85,89,93,117,124,127],"key":[11],"factors":[12],"for":[13],"success":[15],"robots.":[17],"With":[18],"conventional":[20],"detectors":[21],"as":[22,45,72],"strain":[23],"gauges,":[24],"poor":[25],"S/N":[26,52],"(signal":[27],"to":[28,91,103,122],"noise)":[29],"ratio":[30],"has":[31],"been":[32],"limitation":[34],"sensitivity.":[38],"Torque":[39],"Encoder":[40],"uses":[41],"a":[42,46,114],"linear":[43],"encoder":[44],"detector":[47],"significantly":[49],"enhanced":[50],"ratio,":[53],"realized":[55],"stiff":[56],"sensor.":[60],"However,":[61],"crosstalk":[63,86,94,105],"in":[64,73],"measurement":[66],"was":[67],"still":[68],"an":[69],"open":[70],"problem":[71],"other":[74],"sensing":[75],"methods.":[76],"In":[77],"this":[78],"paper,":[79],"we":[80],"analyzed":[81],"cause":[83],"proposed":[88],"mechanism":[90,118],"suppress":[92],"using":[95],"selectively":[96],"compliant":[97],"suspension":[98],"mechanism.":[99,128],"Design":[100],"methodology,":[101],"implementation":[102],"minimize":[104],"with":[106],"minimal":[107],"sensitivity":[108],"loss":[109],"are":[110],"presented.":[111],"Evaluation":[112],"on":[113],"prototype":[115],"carried":[120],"out":[121],"show":[123],"effectiveness":[125]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":2},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}