{"id":"https://openalex.org/W4401414718","doi":"https://doi.org/10.1109/icra57147.2024.10610146","title":"A Combination of a Controllable Clutch and an Oscillating Slider Crank Mechanism for Ease of Direct-Teaching with Various Payloads","display_name":"A Combination of a Controllable Clutch and an Oscillating Slider Crank Mechanism for Ease of Direct-Teaching with Various Payloads","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401414718","doi":"https://doi.org/10.1109/icra57147.2024.10610146"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10610146","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610146","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","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/A5102901545","display_name":"Muhammad Arifin","orcid":"https://orcid.org/0000-0003-2529-9371"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Muhammad Arifin","raw_affiliation_strings":["Waseda University,Faculty of Science and Engineering,Department of Modern Mechanical Engineering,Tokyo,Japan,169-8555"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Waseda University,Faculty of Science and Engineering,Department of Modern Mechanical Engineering,Tokyo,Japan,169-8555","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080891210","display_name":"Yuta Kage","orcid":null},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yuta Kage","raw_affiliation_strings":["Waseda University,Faculty of Science and Engineering,Department of Modern Mechanical Engineering,Tokyo,Japan,169-8555"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Waseda University,Faculty of Science and Engineering,Department of Modern Mechanical Engineering,Tokyo,Japan,169-8555","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101455736","display_name":"Yuchen Yang","orcid":"https://orcid.org/0000-0001-8543-2344"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yuchen Yang","raw_affiliation_strings":["Waseda University,Faculty of Science and Engineering,Department of Modern Mechanical Engineering,Tokyo,Japan,169-8555"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Waseda University,Faculty of Science and Engineering,Department of Modern Mechanical Engineering,Tokyo,Japan,169-8555","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035429819","display_name":"Alexander Schmitz","orcid":"https://orcid.org/0000-0002-8962-771X"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Alexander Schmitz","raw_affiliation_strings":["Waseda University,Faculty of Science and Engineering,Department of Modern Mechanical Engineering,Tokyo,Japan,169-8555"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Waseda University,Faculty of Science and Engineering,Department of Modern Mechanical Engineering,Tokyo,Japan,169-8555","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5080654277","display_name":"Shigeki Sugano","orcid":"https://orcid.org/0000-0002-9331-2446"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shigeki Sugano","raw_affiliation_strings":["Waseda University,Faculty of Science and Engineering,Department of Modern Mechanical Engineering,Tokyo,Japan,169-8555"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Waseda University,Faculty of Science and Engineering,Department of Modern Mechanical Engineering,Tokyo,Japan,169-8555","institution_ids":["https://openalex.org/I150744194"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I150744194"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"15002","last_page":"15008"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9983999729156494,"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":0.9983999729156494,"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":0.9973999857902527,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9973000288009644,"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/clutch","display_name":"Clutch","score":0.8740516901016235},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.7504486441612244},{"id":"https://openalex.org/keywords/slider","display_name":"Slider","score":0.663593590259552},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5555891990661621},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.4470776319503784},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4337095022201538},{"id":"https://openalex.org/keywords/crank","display_name":"Crank","score":0.42953968048095703},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.34734535217285156},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3295052945613861},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.3019723892211914},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2342437505722046},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.22640040516853333},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.14367040991783142},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.07413661479949951}],"concepts":[{"id":"https://openalex.org/C30358287","wikidata":"https://www.wikidata.org/wiki/Q194302","display_name":"Clutch","level":2,"score":0.8740516901016235},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.7504486441612244},{"id":"https://openalex.org/C2776585123","wikidata":"https://www.wikidata.org/wiki/Q424666","display_name":"Slider","level":2,"score":0.663593590259552},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5555891990661621},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.4470776319503784},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4337095022201538},{"id":"https://openalex.org/C198994188","wikidata":"https://www.wikidata.org/wiki/Q857558","display_name":"Crank","level":3,"score":0.42953968048095703},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.34734535217285156},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3295052945613861},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.3019723892211914},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2342437505722046},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.22640040516853333},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.14367040991783142},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.07413661479949951},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10610146","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610146","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","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":21,"referenced_works":["https://openalex.org/W91557193","https://openalex.org/W1532435205","https://openalex.org/W1573053383","https://openalex.org/W1975899417","https://openalex.org/W1987011303","https://openalex.org/W1995343612","https://openalex.org/W2107758079","https://openalex.org/W2124132276","https://openalex.org/W2132632986","https://openalex.org/W2261110142","https://openalex.org/W2348303168","https://openalex.org/W2594548803","https://openalex.org/W2739395130","https://openalex.org/W2743926282","https://openalex.org/W2753263215","https://openalex.org/W2772823857","https://openalex.org/W2895887109","https://openalex.org/W3049083193","https://openalex.org/W3133405032","https://openalex.org/W3179288417","https://openalex.org/W6603715522"],"related_works":["https://openalex.org/W3108645022","https://openalex.org/W2362877944","https://openalex.org/W2604525045","https://openalex.org/W1841497340","https://openalex.org/W2360572215","https://openalex.org/W2049269961","https://openalex.org/W2067952231","https://openalex.org/W2356634177","https://openalex.org/W1768314359","https://openalex.org/W3194112092"],"abstract_inverted_index":{"Direct":[0],"teaching":[1,7],"is":[2,87,110,143,174],"a":[3,146,150],"straightforward":[4],"way":[5],"of":[6,30],"new":[8],"motion":[9],"to":[10,52,57,69,131,163,176],"robots.":[11],"Active":[12],"methods":[13,35],"with":[14,124,149,159],"torque":[15,121],"sensors,":[16],"for":[17,79,133,154],"example,":[18],"can":[19,26,128],"be":[20,58,129],"used":[21,130],"so":[22],"that":[23],"the":[24,28,31,62,71,102,120,169,171,178],"robot":[25,148],"follow":[27],"movements":[29],"human,":[32],"but":[33,74],"such":[34],"introduce":[36],"delays.":[37],"Alternatively,":[38],"series":[39,125,153],"clutch":[40,126,151],"actuators":[41,127],"are":[42,50,166],"easily":[43],"backdrivable":[44],"without":[45],"delay.":[46],"However,":[47],"vertical":[48],"joints":[49],"subject":[51],"gravity":[53,67,85],"torques,":[54],"which":[55,109],"need":[56],"compensated":[59],"when":[60],"disengaging":[61],"clutch.":[63],"We":[64],"implemented":[65],"passive":[66,84],"compensation":[68,86],"counteract":[70],"robot\u2019s":[72],"weight,":[73],"this":[75,116],"mechanism":[76],"cannot":[77],"compensate":[78,132],"varying":[80,94,134],"payloads,":[81],"as":[82],"adjustable":[83],"relatively":[88],"slow":[89],"and":[90],"mechanically":[91],"complex.":[92],"The":[93,140],"payload":[95],"causes":[96],"an":[97],"unintended":[98],"joint":[99],"movement,":[100],"i.e.":[101],"arm":[103],"falls":[104],"down":[105],"on":[106,145],"its":[107],"own,":[108],"unacceptable":[111],"during":[112],"direct":[113],"teaching.":[114],"Therefore,":[115],"paper":[117],"demonstrates":[118],"how":[119],"output":[122],"controlled":[123],"payloads":[135,160],"while":[136],"maintaining":[137],"high":[138],"backdrivability.":[139],"proposed":[141,179],"method":[142],"evaluated":[144],"collaborative":[147],"in":[152],"each":[155],"actuator.":[156],"Real-world":[157],"experiments":[158],"from":[161],"0":[162],"3":[164],"kg":[165],"conducted.":[167],"During":[168],"experiments,":[170],"operator":[172],"force":[173],"measured":[175],"evaluate":[177],"method.":[180]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}