{"id":"https://openalex.org/W2027569446","doi":"https://doi.org/10.1109/iros.2005.1545261","title":"Design of anthropomorphic 4-DOF tactile interaction manipulator with passive joints","display_name":"Design of anthropomorphic 4-DOF tactile interaction manipulator with passive joints","publication_year":2005,"publication_date":"2005-01-01","ids":{"openalex":"https://openalex.org/W2027569446","doi":"https://doi.org/10.1109/iros.2005.1545261","mag":"2027569446"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2005.1545261","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2005.1545261","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2005 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5088241337","display_name":"Hiroo Iwata","orcid":"https://orcid.org/0000-0001-6155-3811"},"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":"H. Iwata","raw_affiliation_strings":["Department of Mechanical Engineering, Waseda University, Shinjuku, Tokyo, Japan","Dept. of Mech. Eng., Waseda Univ., Tokyo (Japan)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Waseda University, Shinjuku, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]},{"raw_affiliation_string":"Dept. of Mech. Eng., Waseda Univ., Tokyo (Japan)","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039299312","display_name":"Seiji Kobashi","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":"S. Kobashi","raw_affiliation_strings":["Department of Mechanical Engineering, Waseda University, Shinjuku, Tokyo, Japan","Dept. of Mech. Eng., Waseda Univ., Tokyo (Japan)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Waseda University, Shinjuku, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]},{"raw_affiliation_string":"Dept. of Mech. Eng., Waseda Univ., Tokyo (Japan)","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088919095","display_name":"Takanori Aono","orcid":"https://orcid.org/0000-0003-2592-5301"},"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":"T. Aono","raw_affiliation_strings":["Department of Mechanical Engineering, Waseda University, Shinjuku, Tokyo, Japan","Dept. of Mech. Eng., Waseda Univ., Tokyo (Japan)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Waseda University, Shinjuku, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]},{"raw_affiliation_string":"Dept. of Mech. Eng., Waseda Univ., Tokyo (Japan)","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":"S. Sugano","raw_affiliation_strings":["Department of Mechanical Engineering, Waseda University, Shinjuku, Tokyo, Japan","Dept. of Mech. Eng., Waseda Univ., Tokyo (Japan)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Waseda University, Shinjuku, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]},{"raw_affiliation_string":"Dept. of Mech. Eng., Waseda Univ., Tokyo (Japan)","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":26,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1785","last_page":"1790"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9994999766349792,"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":0.9994999766349792,"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":0.9983000159263611,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9958999752998352,"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/contact-force","display_name":"Contact force","score":0.6952862739562988},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6425864696502686},{"id":"https://openalex.org/keywords/tactile-sensor","display_name":"Tactile sensor","score":0.6192455291748047},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.5411320328712463},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.511094868183136},{"id":"https://openalex.org/keywords/interference","display_name":"Interference (communication)","score":0.4646437168121338},{"id":"https://openalex.org/keywords/elbow","display_name":"Elbow","score":0.4596630334854126},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.43447864055633545},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.43095824122428894},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.40821754932403564},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3385935425758362},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.18584606051445007},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.0964060127735138}],"concepts":[{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.6952862739562988},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6425864696502686},{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.6192455291748047},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.5411320328712463},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.511094868183136},{"id":"https://openalex.org/C32022120","wikidata":"https://www.wikidata.org/wiki/Q797225","display_name":"Interference (communication)","level":3,"score":0.4646437168121338},{"id":"https://openalex.org/C2781184374","wikidata":"https://www.wikidata.org/wiki/Q42586","display_name":"Elbow","level":2,"score":0.4596630334854126},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.43447864055633545},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.43095824122428894},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.40821754932403564},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3385935425758362},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.18584606051445007},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0964060127735138},{"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/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C127162648","wikidata":"https://www.wikidata.org/wiki/Q16858953","display_name":"Channel (broadcasting)","level":2,"score":0.0},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2005.1545261","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2005.1545261","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2005 IEEE/RSJ International Conference on Intelligent Robots and Systems","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":14,"referenced_works":["https://openalex.org/W1666054468","https://openalex.org/W1844761640","https://openalex.org/W1901260711","https://openalex.org/W2022813413","https://openalex.org/W2096569962","https://openalex.org/W2130883172","https://openalex.org/W2142992961","https://openalex.org/W2144092287","https://openalex.org/W2151109745","https://openalex.org/W2153118493","https://openalex.org/W2157820065","https://openalex.org/W2164898903","https://openalex.org/W2166368135","https://openalex.org/W2171284299"],"related_works":["https://openalex.org/W1960616769","https://openalex.org/W3128324021","https://openalex.org/W4289656195","https://openalex.org/W2124146082","https://openalex.org/W2121836998","https://openalex.org/W2709287450","https://openalex.org/W2040114039","https://openalex.org/W2221525596","https://openalex.org/W2027665490","https://openalex.org/W2106712047"],"abstract_inverted_index":{"In":[0],"this":[1,49],"paper,":[2],"we":[3],"describe":[4],"the":[5,57,82,91,94,112],"design":[6],"method":[7],"of":[8,48,73,90,117],"an":[9],"anthropomorphic":[10],"4-DOF":[11],"tactile":[12,102,120],"interaction":[13,66],"manipulator":[14,50,83,113],"with":[15,36,100,128],"mechanically":[16],"passive":[17],"joints":[18],"allowing":[19],"robots":[20],"to":[21,61],"accomplish":[22],"high":[23,84,115],"performance":[24,116],"force-following":[25,118],"and":[26,34,41,46,78,96,119,126,130],"tactile-based":[27],"contact":[28,35,65,106,127],"state":[29],"recognition":[30],"despite":[31],"physical":[32,124],"interference":[33,125],"humans":[37,129],"occurring":[38],"at":[39,42],"links":[40],"joints.":[43],"The":[44],"shape":[45],"appearance":[47],"was":[51],"based":[52],"on":[53,56],"statistical":[54],"data":[55],"Japanese":[58],"male":[59],"physique":[60],"allow":[62],"for":[63],"human-like":[64],"recognition.":[67],"Joint":[68],"are":[69,98],"passively":[70],"compliant,":[71],"consisting":[72],"a":[74],"mechanical":[75],"leaf":[76],"spring":[77],"rotary":[79],"damper":[80],"giving":[81],"passivity.":[85],"Cylindrical":[86],"or":[87],"spherical":[88],"surfaces":[89],"body":[92],"including":[93],"elbow":[95],"wrist":[97],"overlaid":[99],"distributed":[101],"sensors":[103],"acquiring":[104],"accurate":[105],"information.":[107],"Evaluation":[108],"experiments":[109],"indicate":[110],"that":[111],"provides":[114],"stimulation":[121],"measurement":[122],"during":[123],"confirmed":[131],"its":[132],"effectiveness":[133],"in":[134],"improving":[135],"human/robot":[136],"symbiosis.":[137]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":1},{"year":2013,"cited_by_count":3},{"year":2012,"cited_by_count":3}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
