{"id":"https://openalex.org/W2090122906","doi":"https://doi.org/10.1109/iros.2010.5650546","title":"An asymmetric stiffness model of a human hand","display_name":"An asymmetric stiffness model of a human hand","publication_year":2010,"publication_date":"2010-10-01","ids":{"openalex":"https://openalex.org/W2090122906","doi":"https://doi.org/10.1109/iros.2010.5650546","mag":"2090122906"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2010.5650546","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2010.5650546","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 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/A5112303426","display_name":"Satoko Abiko","orcid":null},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Satoko Abiko","raw_affiliation_strings":["Department of Aerospace Engineering, University of Tohoku, Sendai, Japan","Dept. of Aerospace Engineering, Tohoku University, Aramaki-aza Aoba 6-6-01, Sendai, 980-8579, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Aerospace Engineering, University of Tohoku, Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]},{"raw_affiliation_string":"Dept. of Aerospace Engineering, Tohoku University, Aramaki-aza Aoba 6-6-01, Sendai, 980-8579, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063403718","display_name":"Atsushi Konno","orcid":"https://orcid.org/0000-0003-3288-8844"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Atsushi Konno","raw_affiliation_strings":["Department of Aerospace Engineering, University of Tohoku, Sendai, Japan","Dept. of Aerospace Engineering, Tohoku University, Aramaki-aza Aoba 6-6-01, Sendai, 980-8579, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Aerospace Engineering, University of Tohoku, Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]},{"raw_affiliation_string":"Dept. of Aerospace Engineering, Tohoku University, Aramaki-aza Aoba 6-6-01, Sendai, 980-8579, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5083473038","display_name":"Masaru Uchiyama","orcid":null},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masaru Uchiyama","raw_affiliation_strings":["Department of Aerospace Engineering, University of Tohoku, Sendai, Japan","Dept. of Aerospace Engineering, Tohoku University, Aramaki-aza Aoba 6-6-01, Sendai, 980-8579, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Aerospace Engineering, University of Tohoku, Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]},{"raw_affiliation_string":"Dept. of Aerospace Engineering, Tohoku University, Aramaki-aza Aoba 6-6-01, Sendai, 980-8579, Japan","institution_ids":["https://openalex.org/I201537933"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.15753271,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"18","issue":null,"first_page":"5034","last_page":"5041"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.9998000264167786,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9998000264167786,"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/T10982","display_name":"Motor Control and Adaptation","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9976000189781189,"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/stiffness","display_name":"Stiffness","score":0.7461225390434265},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6281944513320923},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5727960467338562},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5692618489265442},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5094054341316223},{"id":"https://openalex.org/keywords/coactivation","display_name":"Coactivation","score":0.5087345242500305},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4990732669830322},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4575546979904175},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.45172423124313354},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3383104205131531},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2914850413799286},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.13432124257087708},{"id":"https://openalex.org/keywords/electromyography","display_name":"Electromyography","score":0.1124219000339508},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10573706030845642},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.10390552878379822}],"concepts":[{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.7461225390434265},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6281944513320923},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5727960467338562},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5692618489265442},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5094054341316223},{"id":"https://openalex.org/C2780060146","wikidata":"https://www.wikidata.org/wiki/Q637488","display_name":"Coactivation","level":3,"score":0.5087345242500305},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4990732669830322},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4575546979904175},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.45172423124313354},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3383104205131531},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2914850413799286},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.13432124257087708},{"id":"https://openalex.org/C2777515770","wikidata":"https://www.wikidata.org/wiki/Q507369","display_name":"Electromyography","level":2,"score":0.1124219000339508},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10573706030845642},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.10390552878379822},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"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/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2010.5650546","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2010.5650546","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W1506247397","https://openalex.org/W1967043237","https://openalex.org/W2039696452","https://openalex.org/W2053099831","https://openalex.org/W2084109206","https://openalex.org/W2101221529","https://openalex.org/W2104166416","https://openalex.org/W2115730616","https://openalex.org/W2116005591","https://openalex.org/W4251318673"],"related_works":["https://openalex.org/W1981611856","https://openalex.org/W2062961376","https://openalex.org/W2169802943","https://openalex.org/W2564564150","https://openalex.org/W4310014084","https://openalex.org/W1964290695","https://openalex.org/W1972971041","https://openalex.org/W2000196109","https://openalex.org/W2908794155","https://openalex.org/W2325848636"],"abstract_inverted_index":{"This":[0],"paper":[1,148],"presents":[2],"an":[3,108],"asymmetric":[4],"stiffness":[5,55,123,136,145,151],"characteristic":[6],"of":[7,21,61,74,107,124,134,137,153],"a":[8,38,50,75,98,125,138],"human":[9,12,23,39,43,51,76,126,139,155],"hand.":[10,127,140,156],"In":[11,112],"support":[13],"robotics":[14],"or":[15],"medical":[16],"robotics,":[17],"the":[18,92,122,135,143,154],"detail":[19],"comprehension":[20],"physical":[22],"body":[24,110],"is":[25,47,117],"important":[26],"to":[27,34,41],"develop":[28],"safe":[29],"and":[30,40,63,82,102,105],"high":[31],"performed":[32],"robots":[33],"work":[35],"cooperatively":[36],"with":[37],"replace":[42],"dexterous":[44],"tasks.":[45],"It":[46],"known":[48],"that":[49],"arm":[52],"generates":[53],"variable":[54],"depending":[56],"on":[57,97],"tasks":[58],"by":[59,89],"coactivation":[60],"agonist":[62],"antagonist":[64],"muscles.":[65],"Previous":[66],"related":[67],"researches":[68],"have":[69],"been":[70],"presented":[71],"impedance":[72],"characteristics":[73,86],"upper":[77],"limb":[78],"in":[79],"static":[80],"posture":[81],"dynamic":[83],"motion.":[84],"These":[85],"are":[87,95],"represented":[88],"ellipsoids.":[90],"However,":[91],"above":[93],"analyses":[94],"based":[96],"simple":[99],"muscle":[100],"model":[101,152],"conventional":[103],"kinematic":[104],"dynamics":[106],"articulated":[109],"system.":[111],"this":[113,147],"paper,":[114],"perturbation-excited":[115],"method":[116],"carried":[118],"out":[119],"for":[120],"estimating":[121],"The":[128],"experimental":[129],"results":[130],"demonstrate":[131],"nonlinear":[132,150],"property":[133],"To":[141],"illustrate":[142],"observed":[144],"characteristic,":[146],"proposes":[149]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2018,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
