{"id":"https://openalex.org/W2039048468","doi":"https://doi.org/10.1109/icra.2014.6907730","title":"Development of a coupled tendon-driven 3D multi-joint manipulator","display_name":"Development of a coupled tendon-driven 3D multi-joint manipulator","publication_year":2014,"publication_date":"2014-05-01","ids":{"openalex":"https://openalex.org/W2039048468","doi":"https://doi.org/10.1109/icra.2014.6907730","mag":"2039048468"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2014.6907730","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2014.6907730","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","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/A5082995078","display_name":"Atsushi Horigome","orcid":null},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Atsushi Horigome","raw_affiliation_strings":["Department of Mechano-Aerospace Engineering, Tokyo Institute of Technology, Tokyo, Japan","Department of Mechano-Aerospace Engineering, Tokyo Institute of Technology, 2-12-1 Ookayama, Meguroku, Tokyo, 152-8552, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechano-Aerospace Engineering, Tokyo Institute of Technology, Tokyo, Japan","institution_ids":["https://openalex.org/I114531698"]},{"raw_affiliation_string":"Department of Mechano-Aerospace Engineering, Tokyo Institute of Technology, 2-12-1 Ookayama, Meguroku, Tokyo, 152-8552, Japan","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110756970","display_name":"Hiroya Yamada","orcid":null},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hiroya Yamada","raw_affiliation_strings":["Global Edge Institute, Tokyo Institute of Technology, Tokyo, Japan","Global Edge Institute, Tokyo Institute of Technology, 2-12-1 Ookayama, Meguroku, Tokyo, 152-8552, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Global Edge Institute, Tokyo Institute of Technology, Tokyo, Japan","institution_ids":["https://openalex.org/I114531698"]},{"raw_affiliation_string":"Global Edge Institute, Tokyo Institute of Technology, 2-12-1 Ookayama, Meguroku, Tokyo, 152-8552, Japan","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021539241","display_name":"Gen Endo","orcid":"https://orcid.org/0000-0001-7958-5395"},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Gen Endo","raw_affiliation_strings":["Department of Mechano-Aerospace Engineering, Tokyo Institute of Technology, Tokyo, Japan","Department of Mechano-Aerospace Engineering, Tokyo Institute of Technology, 2-12-1 Ookayama, Meguroku, Tokyo, 152-8552, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechano-Aerospace Engineering, Tokyo Institute of Technology, Tokyo, Japan","institution_ids":["https://openalex.org/I114531698"]},{"raw_affiliation_string":"Department of Mechano-Aerospace Engineering, Tokyo Institute of Technology, 2-12-1 Ookayama, Meguroku, Tokyo, 152-8552, Japan","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088874278","display_name":"Shin Sen","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":"Shin Sen","raw_affiliation_strings":["Tokyo Daigaku, Bunkyo-ku, Tokyo, JP","Department of Precision Engineering, The University of Tokyo, 7-3-1 Hongo, Bunkyoku, Tokyo, 113-0033, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tokyo Daigaku, Bunkyo-ku, Tokyo, JP","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Department of Precision Engineering, The University of Tokyo, 7-3-1 Hongo, Bunkyoku, Tokyo, 113-0033, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102288012","display_name":"Shigeo Hirose","orcid":null},"institutions":[{"id":"https://openalex.org/I4210152531","display_name":"Abbott (Japan)","ror":"https://ror.org/04v748538","country_code":"JP","type":"company","lineage":["https://openalex.org/I4210088555","https://openalex.org/I4210152531"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shigeo Hirose","raw_affiliation_strings":["HiBot Corp, Tokyo, Japan","HiBot Corp, 2-18-3 Shi-momeguro, Meguroku, Tokyo, 152-0064, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"HiBot Corp, Tokyo, Japan","institution_ids":["https://openalex.org/I4210152531"]},{"raw_affiliation_string":"HiBot Corp, 2-18-3 Shi-momeguro, Meguroku, Tokyo, 152-0064, Japan","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5075377931","display_name":"Edwardo F. Fukushima","orcid":"https://orcid.org/0000-0001-8822-8154"},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Edwardo F. Fukushima","raw_affiliation_strings":["Department of Mechano-Aerospace Engineering, Tokyo Institute of Technology, Tokyo, Japan","Department of Mechano-Aerospace Engineering, Tokyo Institute of Technology, 2-12-1 Ookayama, Meguroku, Tokyo, 152-8552, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechano-Aerospace Engineering, Tokyo Institute of Technology, Tokyo, Japan","institution_ids":["https://openalex.org/I114531698"]},{"raw_affiliation_string":"Department of Mechano-Aerospace Engineering, Tokyo Institute of Technology, 2-12-1 Ookayama, Meguroku, Tokyo, 152-8552, Japan","institution_ids":["https://openalex.org/I114531698"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.8727,"has_fulltext":false,"cited_by_count":41,"citation_normalized_percentile":{"value":0.91093052,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"5915","last_page":"5920"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T10653","display_name":"Robot Manipulation and Learning","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T10868","display_name":"Soft Robotics and Applications","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9968000054359436,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/joint","display_name":"Joint (building)","score":0.6798285245895386},{"id":"https://openalex.org/keywords/tendon","display_name":"Tendon","score":0.6000604033470154},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5805631279945374},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.51552414894104},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.2858617305755615},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2569279372692108},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2529149055480957},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1608772575855255},{"id":"https://openalex.org/keywords/anatomy","display_name":"Anatomy","score":0.15651991963386536},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.11065259575843811}],"concepts":[{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.6798285245895386},{"id":"https://openalex.org/C2780105995","wikidata":"https://www.wikidata.org/wiki/Q232358","display_name":"Tendon","level":2,"score":0.6000604033470154},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5805631279945374},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.51552414894104},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.2858617305755615},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2569279372692108},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2529149055480957},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1608772575855255},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.15651991963386536},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.11065259575843811}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2014.6907730","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2014.6907730","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.5299999713897705}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":5,"referenced_works":["https://openalex.org/W1891615552","https://openalex.org/W2075412946","https://openalex.org/W2119343887","https://openalex.org/W2967007086","https://openalex.org/W6767191493"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052"],"abstract_inverted_index":{"Very":[0],"long-reach":[1],"snake-like":[2],"robotic":[3],"arms":[4],"in":[5,16,37,61,111],"the":[6,30,38,46,62,81,123,141,145,148],"range":[7],"of":[8,32,45,66,83,122,147],"14":[9],"meters":[10],"are":[11,59,127],"expected":[12],"to":[13,72,89],"be":[14],"used":[15,88],"decommissioning":[17],"work":[18],"inside":[19],"nuclear":[20],"reactor":[21,47],"containers.":[22],"We":[23,79],"developed":[24],"a":[25,75,101,112,132],"tendon-driven":[26,85],"system":[27],"which":[28,42,105],"has":[29],"advantage":[31],"placing":[33],"electronic":[34],"devices":[35],"protected":[36],"arm's":[39],"base":[40],"part":[41],"stays":[43],"out":[44],"container,":[48],"and":[49,57,95,120,140],"only":[50],"few":[51],"expensive":[52],"highly":[53],"radiation":[54],"hardened":[55],"sensors":[56],"tools":[58],"mounted":[60],"arm":[63,124],"tip.":[64],"Generation":[65],"large":[67,113],"joint":[68,103],"torque":[69],"is":[70],"necessary":[71],"realize":[73],"such":[74],"very":[76],"long":[77],"arm.":[78],"applied":[80],"concept":[82,98],"coupled":[84],"mechanism":[86],"formerly":[87],"generate":[90],"restricted":[91],"two":[92],"dimensional":[93,109],"motions,":[94],"extended":[96],"its":[97],"by":[99],"proposing":[100],"new":[102],"arrangement":[104],"makes":[106],"possible":[107],"three":[108],"motions":[110],"workspace.":[114],"Mechanical":[115],"design,":[116],"compact":[117],"storage":[118],"method":[119],"derivation":[121],"motion":[125],"control":[126],"detailed.":[128],"Moreover,":[129],"we":[130],"built":[131],"preliminary":[133],"mechanical":[134],"prototype":[135],"called":[136],"\u201dMini":[137],"3D":[138],"CT-Arm\u201d,":[139],"experimental":[142],"results":[143],"demonstrated":[144],"validity":[146],"newly":[149],"proposed":[150],"concept.":[151]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":6},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":7},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":9},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":4}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}