{"id":"https://openalex.org/W2106872336","doi":"https://doi.org/10.1109/iecon.2012.6389525","title":"Control of robotic joint by using antagonistic pair of Twist Drive Actuators","display_name":"Control of robotic joint by using antagonistic pair of Twist Drive Actuators","publication_year":2012,"publication_date":"2012-10-01","ids":{"openalex":"https://openalex.org/W2106872336","doi":"https://doi.org/10.1109/iecon.2012.6389525","mag":"2106872336"},"language":"en","primary_location":{"id":"doi:10.1109/iecon.2012.6389525","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iecon.2012.6389525","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IECON 2012 - 38th Annual Conference on IEEE Industrial Electronics Society","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/A5112312144","display_name":"Takashi Sonoda","orcid":null},"institutions":[{"id":"https://openalex.org/I207014233","display_name":"Kyushu Institute of Technology","ror":"https://ror.org/02278tr80","country_code":"JP","type":"education","lineage":["https://openalex.org/I207014233"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Takashi Sonoda","raw_affiliation_strings":["Graduate School of Life Science and Systems Engineering, Kyushu Institute of Technology, Kitakyushu, Japan","Graduate School of Life Science and Systems Engineering, Kyushu Institute of Technology, Kitakyushu, Japan 808-0196#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Life Science and Systems Engineering, Kyushu Institute of Technology, Kitakyushu, Japan","institution_ids":["https://openalex.org/I207014233"]},{"raw_affiliation_string":"Graduate School of Life Science and Systems Engineering, Kyushu Institute of Technology, Kitakyushu, Japan 808-0196#TAB#","institution_ids":["https://openalex.org/I207014233"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039253261","display_name":"Kazuo Ishii","orcid":"https://orcid.org/0000-0002-8363-8266"},"institutions":[{"id":"https://openalex.org/I207014233","display_name":"Kyushu Institute of Technology","ror":"https://ror.org/02278tr80","country_code":"JP","type":"education","lineage":["https://openalex.org/I207014233"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kazuo Ishii","raw_affiliation_strings":["Graduate School of Life Science and Systems Engineering, Kyushu Institute of Technology, Kitakyushu, Japan","Graduate School of Life Science and Systems Engineering, Kyushu Institute of Technology, Kitakyushu, Japan 808-0196#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Life Science and Systems Engineering, Kyushu Institute of Technology, Kitakyushu, Japan","institution_ids":["https://openalex.org/I207014233"]},{"raw_affiliation_string":"Graduate School of Life Science and Systems Engineering, Kyushu Institute of Technology, Kitakyushu, Japan 808-0196#TAB#","institution_ids":["https://openalex.org/I207014233"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042022003","display_name":"Amir Ali Forough Nassiraei","orcid":null},"institutions":[{"id":"https://openalex.org/I207014233","display_name":"Kyushu Institute of Technology","ror":"https://ror.org/02278tr80","country_code":"JP","type":"education","lineage":["https://openalex.org/I207014233"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Amir A. F. Nassiraei","raw_affiliation_strings":["Graduate School of Life Science and Systems Engineering, Kyushu Institute of Technology, Kitakyushu, Japan","Graduate School of Life Science and Systems Engineering, Kyushu Institute of Technology, Kitakyushu, Japan 808-0196#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Life Science and Systems Engineering, Kyushu Institute of Technology, Kitakyushu, Japan","institution_ids":["https://openalex.org/I207014233"]},{"raw_affiliation_string":"Graduate School of Life Science and Systems Engineering, Kyushu Institute of Technology, Kitakyushu, Japan 808-0196#TAB#","institution_ids":["https://openalex.org/I207014233"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5035490505","display_name":"Ivan Godler","orcid":null},"institutions":[{"id":"https://openalex.org/I17056963","display_name":"The University of Kitakyushu","ror":"https://ror.org/03mfefw72","country_code":"JP","type":"education","lineage":["https://openalex.org/I17056963"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Ivan Godler","raw_affiliation_strings":["Department of Information Engineering, University of Kitakyushu, Kitakyushu, Japan","Department of Information Engineering, University of Kitakyushu, Japan 808-0135"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Information Engineering, University of Kitakyushu, Kitakyushu, Japan","institution_ids":["https://openalex.org/I17056963"]},{"raw_affiliation_string":"Department of Information Engineering, University of Kitakyushu, Japan 808-0135","institution_ids":["https://openalex.org/I17056963"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.2687,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.88140618,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"5410","last_page":"5415"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9994999766349792,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9994999766349792,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9991999864578247,"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":0.9983999729156494,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.8637373447418213},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7621058821678162},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.5324811339378357},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5265624523162842},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5109988451004028},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.5067504048347473},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.49870848655700684},{"id":"https://openalex.org/keywords/twist","display_name":"Twist","score":0.46083030104637146},{"id":"https://openalex.org/keywords/rotary-actuator","display_name":"Rotary actuator","score":0.44095373153686523},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.41852471232414246},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3826536238193512},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.36455196142196655},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3279358148574829},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.30048754811286926},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2623026669025421},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.14521118998527527},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12911465764045715},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.06716948747634888}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.8637373447418213},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7621058821678162},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.5324811339378357},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5265624523162842},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5109988451004028},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.5067504048347473},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.49870848655700684},{"id":"https://openalex.org/C2776196297","wikidata":"https://www.wikidata.org/wiki/Q17138781","display_name":"Twist","level":2,"score":0.46083030104637146},{"id":"https://openalex.org/C110682481","wikidata":"https://www.wikidata.org/wiki/Q7370260","display_name":"Rotary actuator","level":3,"score":0.44095373153686523},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.41852471232414246},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3826536238193512},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.36455196142196655},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3279358148574829},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.30048754811286926},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2623026669025421},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14521118998527527},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12911465764045715},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.06716948747634888},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iecon.2012.6389525","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iecon.2012.6389525","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IECON 2012 - 38th Annual Conference on IEEE Industrial Electronics Society","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.7200000286102295}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W1974506442","https://openalex.org/W2015339649","https://openalex.org/W2027906638","https://openalex.org/W2033433965","https://openalex.org/W2044559580","https://openalex.org/W2070091190","https://openalex.org/W2096323098","https://openalex.org/W2098022953","https://openalex.org/W2102279668","https://openalex.org/W2107586678","https://openalex.org/W2166230296","https://openalex.org/W4242059591"],"related_works":["https://openalex.org/W2038783858","https://openalex.org/W1995108588","https://openalex.org/W2070476548","https://openalex.org/W2334414976","https://openalex.org/W4233104623","https://openalex.org/W2380996288","https://openalex.org/W2168431619","https://openalex.org/W2107042504","https://openalex.org/W2024711962","https://openalex.org/W3101820272"],"abstract_inverted_index":{"In":[0],"this":[1],"paper":[2,38],"we":[3,97],"present":[4],"a":[5,43],"control":[6,33,41,121,134],"method":[7],"for":[8,94],"robotic":[9,22,54,116],"finger":[10],"that":[11,57],"uses":[12,58],"twisted":[13],"strings":[14],"actuator":[15],"called":[16],"Twist":[17,29,60],"Drive.":[18],"A":[19],"five":[20],"fingered":[21],"hand":[23,55,117],"prototype":[24,56],"was":[25],"developed":[26],"by":[27,80,87,107],"using":[28],"Drive":[30,61],"actuators":[31,62,85],"to":[32],"14":[34],"active":[35],"degrees-of-freedom.":[36],"This":[37],"focuses":[39],"on":[40],"of":[42,68,74,83,105,112,130],"thumb's":[44],"CM":[45,131],"joint,":[46],"which":[47],"is":[48,78],"the":[49,53,75,84,90,95,109,119,126],"only":[50],"joint":[51,132],"in":[52,64,89,125],"two":[59],"configured":[63],"an":[65],"antagonistic":[66],"pair":[67],"actuators.":[69],"Positioning":[70],"accuracy":[71],"and":[72,86,101,118],"smoothness":[73,104],"joint's":[76],"motion":[77,106],"influenced":[79],"nonlinear":[81],"characteristics":[82],"friction":[88],"mechanism.":[91],"To":[92],"compensate":[93],"disturbances,":[96],"used":[98],"disturbance":[99],"observer,":[100],"additionally":[102],"enhance":[103],"controlling":[108],"unwinding":[110],"torque":[111],"opposing":[113],"actuator.":[114],"The":[115],"proposed":[120],"algorithm":[122],"are":[123,135],"explained":[124],"paper,":[127],"experimental":[128],"results":[129],"positioning":[133],"presented.":[136]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}