{"id":"https://openalex.org/W2124941144","doi":"https://doi.org/10.1109/iros.2009.5354302","title":"Design of a novel 3 degree of freedom robotic joint","display_name":"Design of a novel 3 degree of freedom robotic joint","publication_year":2009,"publication_date":"2009-10-01","ids":{"openalex":"https://openalex.org/W2124941144","doi":"https://doi.org/10.1109/iros.2009.5354302","mag":"2124941144"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2009.5354302","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354302","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5068922201","display_name":"Mark L. Guckert","orcid":null},"institutions":[{"id":"https://openalex.org/I125749732","display_name":"Western University","ror":"https://ror.org/02grkyz14","country_code":"CA","type":"education","lineage":["https://openalex.org/I125749732"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Mark L. Guckert","raw_affiliation_strings":["Department of Mechanical and Materials Engineering, University of Western Ontario, London, ONT, Canada","Canadian Surgical Technologies and Advanced Robotics (CSTAR), 339 Windermere Road, London, ON, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Materials Engineering, University of Western Ontario, London, ONT, Canada","institution_ids":["https://openalex.org/I125749732"]},{"raw_affiliation_string":"Canadian Surgical Technologies and Advanced Robotics (CSTAR), 339 Windermere Road, London, ON, Canada","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5039782206","display_name":"Michael D. Naish","orcid":"https://orcid.org/0000-0001-7603-7182"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Michael D. Naish","raw_affiliation_strings":["CSTAR, the Department of Mechanical and Materials Engineering, and the Department of Electrical and Computer Engineering, UWO, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CSTAR, the Department of Mechanical and Materials Engineering, and the Department of Electrical and Computer Engineering, UWO, Canada","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.5402,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.86246307,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9998000264167786,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9998000264167786,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9988999962806702,"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":0.7276719808578491},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7160924077033997},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5844963192939758},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.5495681166648865},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5404499769210815},{"id":"https://openalex.org/keywords/miniaturization","display_name":"Miniaturization","score":0.538334310054779},{"id":"https://openalex.org/keywords/gravitational-singularity","display_name":"Gravitational singularity","score":0.5120616555213928},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4615035653114319},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4563570022583008},{"id":"https://openalex.org/keywords/mechanical-system","display_name":"Mechanical system","score":0.451445996761322},{"id":"https://openalex.org/keywords/degree","display_name":"Degree (music)","score":0.4401867687702179},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.42478853464126587},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.4236515164375305},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.27330535650253296},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2595018744468689},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.21197909116744995},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.20671778917312622},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.13374045491218567},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1293489933013916},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.09565293788909912},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.08411866426467896},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.0733625590801239}],"concepts":[{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.7276719808578491},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7160924077033997},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5844963192939758},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.5495681166648865},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5404499769210815},{"id":"https://openalex.org/C57528182","wikidata":"https://www.wikidata.org/wiki/Q1271842","display_name":"Miniaturization","level":2,"score":0.538334310054779},{"id":"https://openalex.org/C12843","wikidata":"https://www.wikidata.org/wiki/Q201721","display_name":"Gravitational singularity","level":2,"score":0.5120616555213928},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4615035653114319},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4563570022583008},{"id":"https://openalex.org/C171912257","wikidata":"https://www.wikidata.org/wiki/Q11019","display_name":"Mechanical system","level":2,"score":0.451445996761322},{"id":"https://openalex.org/C2775997480","wikidata":"https://www.wikidata.org/wiki/Q586277","display_name":"Degree (music)","level":2,"score":0.4401867687702179},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.42478853464126587},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.4236515164375305},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.27330535650253296},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2595018744468689},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.21197909116744995},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.20671778917312622},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.13374045491218567},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1293489933013916},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.09565293788909912},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.08411866426467896},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0733625590801239},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2009.5354302","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354302","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.7799999713897705}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W78294952","https://openalex.org/W1564897360","https://openalex.org/W1603253317","https://openalex.org/W1743837293","https://openalex.org/W1973288124","https://openalex.org/W1985121850","https://openalex.org/W1988273910","https://openalex.org/W2000616516","https://openalex.org/W2057879210","https://openalex.org/W2127918612","https://openalex.org/W2140031923","https://openalex.org/W2151420688","https://openalex.org/W2163063471","https://openalex.org/W2167501464","https://openalex.org/W2172097582","https://openalex.org/W2331696589","https://openalex.org/W2837576288","https://openalex.org/W3217246742","https://openalex.org/W4246143142"],"related_works":["https://openalex.org/W2348807422","https://openalex.org/W2361025757","https://openalex.org/W2050837474","https://openalex.org/W4241592276","https://openalex.org/W2926730772","https://openalex.org/W1532462972","https://openalex.org/W2010267052","https://openalex.org/W2603460611","https://openalex.org/W3095199650","https://openalex.org/W2314512229"],"abstract_inverted_index":{"Spherical":[0],"joints":[1],"have":[2],"evolved":[3],"into":[4],"a":[5,21,26,104],"critical":[6],"component":[7],"of":[8,20,30,44,60,80,94,110],"many":[9],"robotic":[10,112],"systems,":[11],"often":[12],"used":[13,66],"to":[14,67],"provide":[15],"dexterity":[16],"at":[17],"the":[18,42,45,61,81,100,108],"wrist":[19],"manipulator.":[22],"In":[23],"this":[24],"work,":[25],"novel":[27],"3":[28,92],"degree":[29],"freedom":[31],"spherical":[32],"joint":[33,48,62,82,101],"is":[34,49,97],"proposed,":[35],"actuated":[36],"by":[37],"tendons":[38],"that":[39,85,99],"run":[40],"along":[41],"surface":[43],"sphere.":[46],"The":[47,56],"mechanically":[50],"simple":[51],"and":[52,58,65,71,77],"avoids":[53],"mechanical":[54],"singularities.":[55],"kinematics":[57],"mechanics":[59],"are":[63],"modeled":[64],"develop":[68],"both":[69],"open":[70],"closed":[72],"loop":[73],"control":[74],"systems.":[75],"Simulated":[76],"experimental":[78],"assessment":[79],"performance":[83],"demonstrates":[84],"it":[86],"can":[87],"be":[88,103],"successfully":[89],"controlled":[90],"in":[91,107],"degrees":[93],"freedom.":[95],"It":[96],"expected":[98],"will":[102],"useful":[105],"option":[106],"development":[109],"emerging":[111],"applications,":[113],"particularly":[114],"those":[115],"requiring":[116],"miniaturization.":[117]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
