{"id":"https://openalex.org/W4285021373","doi":"https://doi.org/10.1109/icra46639.2022.9811923","title":"R2poweR: The Proof-of-Concept of a Backdrivable, High-Ratio Gearbox for Human-Robot Collaboration","display_name":"R2poweR: The Proof-of-Concept of a Backdrivable, High-Ratio Gearbox for Human-Robot Collaboration","publication_year":2022,"publication_date":"2022-05-23","ids":{"openalex":"https://openalex.org/W4285021373","doi":"https://doi.org/10.1109/icra46639.2022.9811923"},"language":"en","primary_location":{"id":"doi:10.1109/icra46639.2022.9811923","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9811923","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 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/A5078211506","display_name":"Pablo L\u00f3pez Garc\u00eda","orcid":"https://orcid.org/0000-0001-6176-2090"},"institutions":[{"id":"https://openalex.org/I13469542","display_name":"Vrije Universiteit Brussel","ror":"https://ror.org/006e5kg04","country_code":"BE","type":"education","lineage":["https://openalex.org/I13469542"]}],"countries":["BE"],"is_corresponding":true,"raw_author_name":"P. L. Garcia","raw_affiliation_strings":["Robotics & Multibody Mechanics group of the Vrije Universiteit Brussel,Brussels,Belgium,1050"],"affiliations":[{"raw_affiliation_string":"Robotics & Multibody Mechanics group of the Vrije Universiteit Brussel,Brussels,Belgium,1050","institution_ids":["https://openalex.org/I13469542"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032671978","display_name":"Stein Crispel","orcid":"https://orcid.org/0000-0001-6225-1532"},"institutions":[{"id":"https://openalex.org/I2802067006","display_name":"Research Foundation - Flanders","ror":"https://ror.org/03qtxy027","country_code":"BE","type":"government","lineage":["https://openalex.org/I2802067006"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"S. Crispel","raw_affiliation_strings":["Research Foundation Flanders (FWO). Stein Crispel and Elias Saerens as SB PhD Fellows and Tom Verstraten as a Postdoctoral Fellow"],"affiliations":[{"raw_affiliation_string":"Research Foundation Flanders (FWO). Stein Crispel and Elias Saerens as SB PhD Fellows and Tom Verstraten as a Postdoctoral Fellow","institution_ids":["https://openalex.org/I2802067006"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055346475","display_name":"Anand Varadharajan","orcid":"https://orcid.org/0000-0001-9484-5511"},"institutions":[{"id":"https://openalex.org/I13469542","display_name":"Vrije Universiteit Brussel","ror":"https://ror.org/006e5kg04","country_code":"BE","type":"education","lineage":["https://openalex.org/I13469542"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"A. Varadharajan","raw_affiliation_strings":["Robotics & Multibody Mechanics group of the Vrije Universiteit Brussel,Brussels,Belgium,1050"],"affiliations":[{"raw_affiliation_string":"Robotics & Multibody Mechanics group of the Vrije Universiteit Brussel,Brussels,Belgium,1050","institution_ids":["https://openalex.org/I13469542"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065841511","display_name":"Elias Saerens","orcid":"https://orcid.org/0000-0002-9174-3808"},"institutions":[{"id":"https://openalex.org/I2802067006","display_name":"Research Foundation - Flanders","ror":"https://ror.org/03qtxy027","country_code":"BE","type":"government","lineage":["https://openalex.org/I2802067006"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"E. Saerens","raw_affiliation_strings":["Research Foundation Flanders (FWO). Stein Crispel and Elias Saerens as SB PhD Fellows and Tom Verstraten as a Postdoctoral Fellow"],"affiliations":[{"raw_affiliation_string":"Research Foundation Flanders (FWO). Stein Crispel and Elias Saerens as SB PhD Fellows and Tom Verstraten as a Postdoctoral Fellow","institution_ids":["https://openalex.org/I2802067006"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080620663","display_name":"Tom Verstraten","orcid":"https://orcid.org/0000-0001-7398-5398"},"institutions":[{"id":"https://openalex.org/I2802067006","display_name":"Research Foundation - Flanders","ror":"https://ror.org/03qtxy027","country_code":"BE","type":"government","lineage":["https://openalex.org/I2802067006"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"T. Verstraten","raw_affiliation_strings":["Research Foundation Flanders (FWO). Stein Crispel and Elias Saerens as SB PhD Fellows and Tom Verstraten as a Postdoctoral Fellow"],"affiliations":[{"raw_affiliation_string":"Research Foundation Flanders (FWO). Stein Crispel and Elias Saerens as SB PhD Fellows and Tom Verstraten as a Postdoctoral Fellow","institution_ids":["https://openalex.org/I2802067006"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010914606","display_name":"Bram Vanderborght","orcid":"https://orcid.org/0000-0003-4881-9341"},"institutions":[{"id":"https://openalex.org/I4210116480","display_name":"Flanders Make (Belgium)","ror":"https://ror.org/02ndjfz59","country_code":"BE","type":"company","lineage":["https://openalex.org/I4210116480"]},{"id":"https://openalex.org/I4210114974","display_name":"IMEC","ror":"https://ror.org/02kcbn207","country_code":"BE","type":"nonprofit","lineage":["https://openalex.org/I4210114974"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"B. Vanderborght","raw_affiliation_strings":["IMEC,Leuven,Belgium,3001","Flanders Make, Leuven, Belgium"],"affiliations":[{"raw_affiliation_string":"IMEC,Leuven,Belgium,3001","institution_ids":["https://openalex.org/I4210114974"]},{"raw_affiliation_string":"Flanders Make, Leuven, Belgium","institution_ids":["https://openalex.org/I4210116480"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5064738584","display_name":"Dirk Lefeber","orcid":"https://orcid.org/0000-0003-4442-4473"},"institutions":[{"id":"https://openalex.org/I2802067006","display_name":"Research Foundation - Flanders","ror":"https://ror.org/03qtxy027","country_code":"BE","type":"government","lineage":["https://openalex.org/I2802067006"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"D. Lefeber","raw_affiliation_strings":["Research Foundation Flanders (FWO). Stein Crispel and Elias Saerens as SB PhD Fellows and Tom Verstraten as a Postdoctoral Fellow"],"affiliations":[{"raw_affiliation_string":"Research Foundation Flanders (FWO). Stein Crispel and Elias Saerens as SB PhD Fellows and Tom Verstraten as a Postdoctoral Fellow","institution_ids":["https://openalex.org/I2802067006"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5078211506"],"corresponding_institution_ids":["https://openalex.org/I13469542"],"apc_list":null,"apc_paid":null,"fwci":2.5659,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.90824588,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"01","last_page":"07"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9991999864578247,"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"}},"topics":[{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9991999864578247,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9977999925613403,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.991599977016449,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/harmonic-drive","display_name":"Harmonic drive","score":0.8174862861633301},{"id":"https://openalex.org/keywords/proof-of-concept","display_name":"Proof of concept","score":0.6566049456596375},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6216644644737244},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5750784277915955},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5478288531303406},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4357059597969055},{"id":"https://openalex.org/keywords/face","display_name":"Face (sociological concept)","score":0.41154593229293823},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4100266098976135},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.29882878065109253}],"concepts":[{"id":"https://openalex.org/C2777105549","wikidata":"https://www.wikidata.org/wiki/Q751500","display_name":"Harmonic drive","level":2,"score":0.8174862861633301},{"id":"https://openalex.org/C124978682","wikidata":"https://www.wikidata.org/wiki/Q1201019","display_name":"Proof of concept","level":2,"score":0.6566049456596375},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6216644644737244},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5750784277915955},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5478288531303406},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4357059597969055},{"id":"https://openalex.org/C2779304628","wikidata":"https://www.wikidata.org/wiki/Q3503480","display_name":"Face (sociological concept)","level":2,"score":0.41154593229293823},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4100266098976135},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.29882878065109253},{"id":"https://openalex.org/C144024400","wikidata":"https://www.wikidata.org/wiki/Q21201","display_name":"Sociology","level":0,"score":0.0},{"id":"https://openalex.org/C36289849","wikidata":"https://www.wikidata.org/wiki/Q34749","display_name":"Social science","level":1,"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":3,"locations":[{"id":"doi:10.1109/icra46639.2022.9811923","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9811923","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:vubissmart:VUBISSMART:2000:161148","is_oa":false,"landing_page_url":"https://biblio.vub.ac.be/vubir/r2power-the-proofofconcept-of-a-backdrivable-highratio-gearbox-for-humanrobot-collaboration(a094740b-ed1b-4337-8585-c622273c1e0d).html","pdf_url":null,"source":{"id":"https://openalex.org/S4306402573","display_name":"VUBIR (Vrije Universiteit Brussel)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I13469542","host_organization_name":"Vrije Universiteit Brussel","host_organization_lineage":["https://openalex.org/I13469542"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"publishedVersion"},{"id":"pmh:oai:vubissmart:VUBISSMART:2000:228207","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4306402573","display_name":"VUBIR (Vrije Universiteit Brussel)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I13469542","host_organization_name":"Vrije Universiteit Brussel","host_organization_lineage":["https://openalex.org/I13469542"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/9","display_name":"Industry, innovation and infrastructure","score":0.41999998688697815}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321730","display_name":"Fonds Wetenschappelijk Onderzoek","ror":"https://ror.org/03qtxy027"},{"id":"https://openalex.org/F4320322852","display_name":"Innoviris","ror":"https://ror.org/04af9zr29"},{"id":"https://openalex.org/F4320327336","display_name":"Vlaamse regering","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1445773665","https://openalex.org/W1613248747","https://openalex.org/W1998828182","https://openalex.org/W2035031528","https://openalex.org/W2083262005","https://openalex.org/W2084846641","https://openalex.org/W2113265921","https://openalex.org/W2140151460","https://openalex.org/W2290965037","https://openalex.org/W2295130897","https://openalex.org/W2573227850","https://openalex.org/W2790168702","https://openalex.org/W2886880902","https://openalex.org/W2890566160","https://openalex.org/W2955010755","https://openalex.org/W2966942352","https://openalex.org/W2980985927","https://openalex.org/W3047039929","https://openalex.org/W3049404358","https://openalex.org/W3124674856","https://openalex.org/W3161639183","https://openalex.org/W3177314181","https://openalex.org/W3206363598","https://openalex.org/W4242780486","https://openalex.org/W4246908311"],"related_works":["https://openalex.org/W1508899372","https://openalex.org/W3203516392","https://openalex.org/W2285261347","https://openalex.org/W2012658348","https://openalex.org/W2039460805","https://openalex.org/W4250956039","https://openalex.org/W4240485100","https://openalex.org/W2051667398","https://openalex.org/W4254970379","https://openalex.org/W2056130799"],"abstract_inverted_index":{"Robotic":[0],"engineers":[1],"face":[2],"major":[3],"challenges":[4],"to":[5,46,55,84,102],"solve":[6],"the":[7,69,86,96,99,109,116],"complex":[8],"actuation":[9,42],"needs":[10],"of":[11,72,98,118],"Human-Robot":[12],"Collaboration":[13,134],"with":[14,131],"existing":[15],"act":[16],"robotic":[17],"gearboxes.":[18],"Available":[19],"technologies":[20],"comprise":[21],"high-ratio":[22,129],"Planetary":[23],"Gearheads,":[24],"Cycloid":[25],"Drives":[26],"and":[27,39,59,105,111],"Harmonic":[28],"Drives,":[29],"inherited":[30],"from":[31,115],"conventional":[32],"industrial":[33],"robotics.":[34],"Alternative":[35],"approaches":[36],"include":[37],"Direct-Drive":[38,41],"Quasi":[40],"strategies,":[43],"which":[44],"propose":[45],"cancel":[47],"or":[48],"substantially":[49],"reduce":[50],"gear":[51],"ratio,":[52],"in":[53],"order":[54],"minimize":[56],"reflected":[57],"inertia":[58],"attain":[60,85],"enough":[61],"backdrivability":[62,106],"for":[63],"collaborative":[64],"tasks.":[65],"This":[66],"paper":[67],"presents":[68],"proof-of-concept":[70],"validation":[71],"a":[73,81,125],"novel":[74],"high-ratio,":[75],"Wolfrom-based,":[76],"gearbox":[77,92,130],"technology":[78,101],"that":[79],"follows":[80],"different":[82,91],"approach":[83],"same":[87],"objective.":[88],"Testing":[89],"five":[90],"prototypes,":[93],"we":[94],"confirm":[95],"ability":[97],"R2poweR":[100],"improve":[103],"efficiency":[104],"while":[107],"retaining":[108],"weight":[110],"control":[112],"advantages":[113],"derived":[114],"use":[117],"high":[119],"reduction":[120],"ratios.":[121],"The":[122],"result":[123],"is":[124],"highly":[126],"efficient,":[127],"backdrivable,":[128],"exciting":[132],"Huma-Robot":[133],"potential.":[135]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":6},{"year":2022,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}