{"id":"https://openalex.org/W2204738961","doi":"https://doi.org/10.1109/iros.2015.7354206","title":"A novel variable transmission with digital hydraulics","display_name":"A novel variable transmission with digital hydraulics","publication_year":2015,"publication_date":"2015-09-01","ids":{"openalex":"https://openalex.org/W2204738961","doi":"https://doi.org/10.1109/iros.2015.7354206","mag":"2204738961"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2015.7354206","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7354206","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5083017120","display_name":"Zhenyu Gan","orcid":"https://orcid.org/0000-0002-5972-9600"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zhenyu Gan","raw_affiliation_strings":["Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108543561","display_name":"Katelyn E. Fry","orcid":null},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Katelyn Fry","raw_affiliation_strings":["Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020611092","display_name":"R. Brent Gillespie","orcid":"https://orcid.org/0000-0002-1051-0026"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"R. Brent Gillespie","raw_affiliation_strings":["University of Michigan, Ann Arbor, MI, US"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Michigan, Ann Arbor, MI, US","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004156203","display_name":"C. David Remy","orcid":"https://orcid.org/0000-0002-4072-8034"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"C. David Remy","raw_affiliation_strings":["University of Michigan, Ann Arbor, MI, US"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Michigan, Ann Arbor, MI, US","institution_ids":["https://openalex.org/I27837315"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I27837315"],"apc_list":null,"apc_paid":null,"fwci":1.5854,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.83588543,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"5838","last_page":"5843"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9995999932289124,"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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9995999932289124,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9993000030517578,"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/T10675","display_name":"Mechanical Circulatory Support Devices","score":0.9925000071525574,"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/continuously-variable-transmission","display_name":"Continuously variable transmission","score":0.689577579498291},{"id":"https://openalex.org/keywords/transmission","display_name":"Transmission (telecommunications)","score":0.6706703901290894},{"id":"https://openalex.org/keywords/hydraulics","display_name":"Hydraulics","score":0.644468367099762},{"id":"https://openalex.org/keywords/hydraulic-machinery","display_name":"Hydraulic machinery","score":0.5891596674919128},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.541643500328064},{"id":"https://openalex.org/keywords/hydraulic-cylinder","display_name":"Hydraulic cylinder","score":0.5049739480018616},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4736971855163574},{"id":"https://openalex.org/keywords/transmission-system","display_name":"Transmission system","score":0.4490795135498047},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.43426308035850525},{"id":"https://openalex.org/keywords/variable","display_name":"Variable (mathematics)","score":0.42579036951065063},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.36694058775901794},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3304990530014038},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.23839017748832703},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1660957634449005},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.08947622776031494},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.08827149868011475},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.07674315571784973}],"concepts":[{"id":"https://openalex.org/C193235527","wikidata":"https://www.wikidata.org/wiki/Q863787","display_name":"Continuously variable transmission","level":3,"score":0.689577579498291},{"id":"https://openalex.org/C761482","wikidata":"https://www.wikidata.org/wiki/Q118093","display_name":"Transmission (telecommunications)","level":2,"score":0.6706703901290894},{"id":"https://openalex.org/C169961344","wikidata":"https://www.wikidata.org/wiki/Q177784","display_name":"Hydraulics","level":2,"score":0.644468367099762},{"id":"https://openalex.org/C11394606","wikidata":"https://www.wikidata.org/wiki/Q1972552","display_name":"Hydraulic machinery","level":2,"score":0.5891596674919128},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.541643500328064},{"id":"https://openalex.org/C48431260","wikidata":"https://www.wikidata.org/wiki/Q2318337","display_name":"Hydraulic cylinder","level":2,"score":0.5049739480018616},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4736971855163574},{"id":"https://openalex.org/C113608303","wikidata":"https://www.wikidata.org/wiki/Q1056835","display_name":"Transmission system","level":3,"score":0.4490795135498047},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.43426308035850525},{"id":"https://openalex.org/C182365436","wikidata":"https://www.wikidata.org/wiki/Q50701","display_name":"Variable (mathematics)","level":2,"score":0.42579036951065063},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.36694058775901794},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3304990530014038},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.23839017748832703},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1660957634449005},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.08947622776031494},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.08827149868011475},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.07674315571784973},{"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/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2015.7354206","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7354206","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.712.1560","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.712.1560","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://ram-lab.engin.umich.edu/Publications_PDF/2015_IROS_KatelynZhenyu.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6399999856948853,"id":"https://metadata.un.org/sdg/6","display_name":"Clean water and sanitation"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":9,"referenced_works":["https://openalex.org/W59441132","https://openalex.org/W1554436968","https://openalex.org/W1980780059","https://openalex.org/W1984929297","https://openalex.org/W2070966067","https://openalex.org/W2094696235","https://openalex.org/W2108191411","https://openalex.org/W2129676351","https://openalex.org/W2136919195"],"related_works":["https://openalex.org/W4253799350","https://openalex.org/W2792282506","https://openalex.org/W2245035613","https://openalex.org/W2369528190","https://openalex.org/W2023500737","https://openalex.org/W2394004307","https://openalex.org/W2965049960","https://openalex.org/W1481161491","https://openalex.org/W1989331068","https://openalex.org/W2393674099"],"abstract_inverted_index":{"This":[0,56],"paper":[1],"presents":[2],"a":[3,52,58,67,103,148],"novel":[4],"variable":[5,39],"transmission":[6,80,106,118,143],"system":[7],"that":[8,102],"is":[9,44,131],"based":[10],"on":[11,61],"the":[12,18,62,84,113,138,141,145],"concept":[13],"of":[14,22,41,115,125,140,147],"digital":[15],"hydraulics.":[16],"In":[17],"proposed":[19,142],"system,":[20],"sets":[21],"rolling-diaphragm":[23],"cylinders":[24,43],"are":[25,120],"mounted":[26],"via":[27,46],"different":[28,79],"effective":[29],"lever":[30],"arms":[31],"to":[32,51],"an":[33,93],"input":[34],"and":[35,65,91,129],"output":[36],"joint.":[37],"A":[38],"subset":[40],"these":[42],"connected":[45],"three-way":[47],"two-position":[48],"on/off":[49],"valves":[50],"common":[53],"hydraulic":[54,63,69],"manifold.":[55],"introduces":[57],"controllable":[59],"constraint":[60,87],"flow":[64,86],"creates":[66],"programmable":[68],"transmission.":[70],"With":[71],"three":[72],"single-acting":[73],"cylinders,":[74],"we":[75,100,136],"could":[76],"realize":[77],"37":[78],"ratios.":[81],"We":[82],"investigated":[83],"nonholonomic":[85],"analytically,":[88],"in":[89,144],"simulation,":[90],"with":[92,122],"experimental":[94],"prototype.":[95],"Using":[96],"water":[97],"as":[98],"fluid,":[99],"show":[101,137],"very":[104],"stiff":[105],"(124.2":[107],"Nm/rad)":[108],"can":[109],"be":[110],"achieved":[111],"within":[112],"range":[114],"\u00b16\u00b0.":[116],"Theoretical":[117],"ratios":[119],"tracked":[121],"R-squared":[123],"values":[124],"more":[126],"than":[127,133],"0.996":[128],"backlash":[130],"smaller":[132],"1.4%.":[134],"Furthermore,":[135],"applicability":[139],"simulation":[146],"body-powered":[149],"knee-ankle":[150],"exoskeleton.":[151]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2016,"cited_by_count":3}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}
