{"id":"https://openalex.org/W2960151612","doi":"https://doi.org/10.1109/lra.2019.2928772","title":"Single-Motor-Based Bidirectional Twisted String Actuation With Variable Radius Pulleys","display_name":"Single-Motor-Based Bidirectional Twisted String Actuation With Variable Radius Pulleys","publication_year":2019,"publication_date":"2019-07-15","ids":{"openalex":"https://openalex.org/W2960151612","doi":"https://doi.org/10.1109/lra.2019.2928772","mag":"2960151612"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2019.2928772","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2019.2928772","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-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/A5102883964","display_name":"Muhammad Arshad Khan","orcid":"https://orcid.org/0000-0002-9795-1050"},"institutions":[{"id":"https://openalex.org/I35886859","display_name":"Korea University of Technology and Education","ror":"https://ror.org/053nycv62","country_code":"KR","type":"education","lineage":["https://openalex.org/I35886859"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Muhammad Arshad Khan","raw_affiliation_strings":["School of Mechanical Engineering, Korea University of Technology and Education, Cheonan, South Korea"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Korea University of Technology and Education, Cheonan, South Korea","institution_ids":["https://openalex.org/I35886859"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044560238","display_name":"Bhivraj Suthar","orcid":"https://orcid.org/0000-0002-0561-2984"},"institutions":[{"id":"https://openalex.org/I35886859","display_name":"Korea University of Technology and Education","ror":"https://ror.org/053nycv62","country_code":"KR","type":"education","lineage":["https://openalex.org/I35886859"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Bhivraj Suthar","raw_affiliation_strings":["School of Mechanical Engineering, Korea University of Technology and Education, Cheonan, South Korea"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Korea University of Technology and Education, Cheonan, South Korea","institution_ids":["https://openalex.org/I35886859"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023663334","display_name":"Igor Gaponov","orcid":"https://orcid.org/0000-0001-8824-578X"},"institutions":[{"id":"https://openalex.org/I4210116741","display_name":"Innopolis University","ror":"https://ror.org/02b7jh107","country_code":"RU","type":"education","lineage":["https://openalex.org/I4210116741"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Igor Gaponov","raw_affiliation_strings":["Faculty of Computer Science and Engineering, Innopolis University, Innopolis, Russia"],"affiliations":[{"raw_affiliation_string":"Faculty of Computer Science and Engineering, Innopolis University, Innopolis, Russia","institution_ids":["https://openalex.org/I4210116741"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5019438521","display_name":"Jee-Hwan Ryu","orcid":"https://orcid.org/0000-0002-6497-7115"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jee-Hwan Ryu","raw_affiliation_strings":["Department of Civil and Environmental Engineering, Korea Advanced Institute of Science and Technology, Daejeon, South Korea"],"affiliations":[{"raw_affiliation_string":"Department of Civil and Environmental Engineering, Korea Advanced Institute of Science and Technology, Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5102883964"],"corresponding_institution_ids":["https://openalex.org/I35886859"],"apc_list":null,"apc_paid":null,"fwci":0.5959,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.65259188,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"4","issue":"4","first_page":"3735","last_page":"3741"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9994000196456909,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9994000196456909,"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":0.9970999956130981,"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":0.9950000047683716,"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/pulley","display_name":"Pulley","score":0.9672505855560303},{"id":"https://openalex.org/keywords/radius","display_name":"RADIUS","score":0.6990716457366943},{"id":"https://openalex.org/keywords/displacement","display_name":"Displacement (psychology)","score":0.578703761100769},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5585132241249084},{"id":"https://openalex.org/keywords/string","display_name":"String (physics)","score":0.5428275465965271},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5382364392280579},{"id":"https://openalex.org/keywords/constant","display_name":"Constant (computer programming)","score":0.5187340378761292},{"id":"https://openalex.org/keywords/transmission","display_name":"Transmission (telecommunications)","score":0.5109909772872925},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5061470866203308},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.493913471698761},{"id":"https://openalex.org/keywords/variable","display_name":"Variable (mathematics)","score":0.4409610331058502},{"id":"https://openalex.org/keywords/continuously-variable-transmission","display_name":"Continuously variable transmission","score":0.4390449523925781},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.42881354689598083},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.3783678114414215},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.2523835003376007},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.24882909655570984},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.23417261242866516},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23157688975334167},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.12308362126350403},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.07774427533149719}],"concepts":[{"id":"https://openalex.org/C171937826","wikidata":"https://www.wikidata.org/wiki/Q48378","display_name":"Pulley","level":2,"score":0.9672505855560303},{"id":"https://openalex.org/C178635117","wikidata":"https://www.wikidata.org/wiki/Q747499","display_name":"RADIUS","level":2,"score":0.6990716457366943},{"id":"https://openalex.org/C107551265","wikidata":"https://www.wikidata.org/wiki/Q1458245","display_name":"Displacement (psychology)","level":2,"score":0.578703761100769},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5585132241249084},{"id":"https://openalex.org/C157486923","wikidata":"https://www.wikidata.org/wiki/Q1376436","display_name":"String (physics)","level":2,"score":0.5428275465965271},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5382364392280579},{"id":"https://openalex.org/C2777027219","wikidata":"https://www.wikidata.org/wiki/Q1284190","display_name":"Constant (computer programming)","level":2,"score":0.5187340378761292},{"id":"https://openalex.org/C761482","wikidata":"https://www.wikidata.org/wiki/Q118093","display_name":"Transmission (telecommunications)","level":2,"score":0.5109909772872925},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5061470866203308},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.493913471698761},{"id":"https://openalex.org/C182365436","wikidata":"https://www.wikidata.org/wiki/Q50701","display_name":"Variable (mathematics)","level":2,"score":0.4409610331058502},{"id":"https://openalex.org/C193235527","wikidata":"https://www.wikidata.org/wiki/Q863787","display_name":"Continuously variable transmission","level":3,"score":0.4390449523925781},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.42881354689598083},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.3783678114414215},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.2523835003376007},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.24882909655570984},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.23417261242866516},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23157688975334167},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.12308362126350403},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.07774427533149719},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C542102704","wikidata":"https://www.wikidata.org/wiki/Q183257","display_name":"Psychotherapist","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/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","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/lra.2019.2928772","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2019.2928772","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.6899999976158142}],"awards":[{"id":"https://openalex.org/G4623205638","display_name":null,"funder_award_id":"NRF-2016R1E1A1A02921594","funder_id":"https://openalex.org/F4320322347","funder_display_name":"Ministry of Science ICT and Future Planning"}],"funders":[{"id":"https://openalex.org/F4320322120","display_name":"National Research Foundation of Korea","ror":"https://ror.org/013aysd81"},{"id":"https://openalex.org/F4320322347","display_name":"Ministry of Science ICT and Future Planning","ror":"https://ror.org/032e49973"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1574619971","https://openalex.org/W1971594203","https://openalex.org/W1985695480","https://openalex.org/W1991761189","https://openalex.org/W2024848799","https://openalex.org/W2026685952","https://openalex.org/W2038439784","https://openalex.org/W2042114829","https://openalex.org/W2129936198","https://openalex.org/W2197302844","https://openalex.org/W2212066078","https://openalex.org/W2544194884","https://openalex.org/W2570357259","https://openalex.org/W2572646513","https://openalex.org/W2594031419"],"related_works":["https://openalex.org/W2016349838","https://openalex.org/W1977064387","https://openalex.org/W2588621270","https://openalex.org/W2150805624","https://openalex.org/W2898514150","https://openalex.org/W2189982071","https://openalex.org/W2064660815","https://openalex.org/W187273561","https://openalex.org/W1131123265","https://openalex.org/W2552509930"],"abstract_inverted_index":{"In":[0],"this":[1],"letter,":[2],"we":[3,60],"proposed":[4],"a":[5,23,48,76,94],"variable":[6],"radius":[7],"pulley":[8,87],"(VRP)":[9],"to":[10,28,111],"linearize":[11],"input-output":[12],"behavior":[13],"of":[14,22,35,42,96],"twisted":[15,36,70],"string":[16,37,71],"actuators":[17],"(TSAs).":[18],"With":[19],"the":[20,30,62,86,105,119,128],"help":[21],"VRP,":[24],"it":[25],"is":[26,53],"possible":[27],"make":[29],"inherently":[31],"nonlinear":[32],"transmission":[33,44,72,107],"ratio":[34,108],"constant.":[38],"This":[39],"enables":[40],"design":[41,78],"bidirectional":[43,69,99],"systems":[45,73],"driven":[46],"by":[47],"single":[49],"motor,":[50],"much":[51],"like":[52],"done":[54],"in":[55,68,93],"conventional":[56],"belt":[57],"transmissions.":[58],"Herein,":[59],"analyze":[61],"limitations":[63],"on":[64,81],"employing":[65],"constant-radius":[66],"pulleys":[67],"and":[74,88,98,130],"propose":[75],"VRP":[77],"methodology":[79],"based":[80],"TSA":[82],"kinematics.":[83],"We":[84],"manufactured":[85],"evaluated":[89],"its":[90],"performance":[91],"experimentally":[92],"series":[95],"unidirectional":[97],"actuations.":[100],"The":[101],"experiments":[102],"demonstrated":[103],"that":[104],"resultant":[106],"from":[109,118],"motor":[110],"load":[112],"remained":[113],"nearly":[114],"constant":[115],"as":[116],"expected":[117],"simulation":[120],"results.":[121],"Different":[122],"statistical":[123],"measures":[124],"for":[125],"error":[126],"between":[127],"experimental":[129],"simulated":[131],"results":[132],"were":[133],"also":[134],"calculated.":[135]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":3},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
