{"id":"https://openalex.org/W3129856550","doi":"https://doi.org/10.1109/lra.2021.3060383","title":"Internally-Balanced Displacement-Force Converter for Stepless Control of Spring Deformation Compensated by Cam With Variable Pressure Angle","display_name":"Internally-Balanced Displacement-Force Converter for Stepless Control of Spring Deformation Compensated by Cam With Variable Pressure Angle","publication_year":2021,"publication_date":"2021-02-20","ids":{"openalex":"https://openalex.org/W3129856550","doi":"https://doi.org/10.1109/lra.2021.3060383","mag":"3129856550"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2021.3060383","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3060383","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/A5046712576","display_name":"Tori SHIMIZU","orcid":"https://orcid.org/0000-0003-3231-164X"},"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":"Tori Shimizu","raw_affiliation_strings":["Graduate School of Information Sciences, Tohoku University, Sendai, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Information Sciences, Tohoku University, Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016736580","display_name":"Kenjiro Tadakuma","orcid":"https://orcid.org/0000-0003-2035-0617"},"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":"Kenjiro Tadakuma","raw_affiliation_strings":["Graduate School of Information Sciences, Tohoku University, Sendai, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Information Sciences, Tohoku University, Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015409351","display_name":"Masahiro WATANABE","orcid":"https://orcid.org/0000-0002-6675-4214"},"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":"Masahiro Watanabe","raw_affiliation_strings":["Graduate School of Information Sciences, Tohoku University, Sendai, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Information Sciences, Tohoku University, Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029091541","display_name":"Eri TAKANE","orcid":"https://orcid.org/0000-0002-4009-5361"},"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":"Eri Takane","raw_affiliation_strings":["Graduate School of Information Sciences, Tohoku University, Sendai, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Information Sciences, Tohoku University, Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003204631","display_name":"Masashi Konyo","orcid":"https://orcid.org/0000-0002-6826-9722"},"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":"Masashi Konyo","raw_affiliation_strings":["Graduate School of Information Sciences, Tohoku University, Sendai, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Information Sciences, Tohoku University, Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5014118063","display_name":"Satosh\u0131 Tadokoro","orcid":"https://orcid.org/0000-0002-5571-4276"},"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":"Satoshi Tadokoro","raw_affiliation_strings":["Graduate School of Information Sciences, Tohoku University, Sendai, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Information Sciences, Tohoku University, Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I201537933"],"apc_list":null,"apc_paid":null,"fwci":0.1655,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.41671013,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"6","issue":"3","first_page":"4576","last_page":"4583"},"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9987999796867371,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9939000010490417,"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/pulley","display_name":"Pulley","score":0.6716461777687073},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6712492108345032},{"id":"https://openalex.org/keywords/spring","display_name":"Spring (device)","score":0.6579064130783081},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.6181075572967529},{"id":"https://openalex.org/keywords/displacement","display_name":"Displacement (psychology)","score":0.6122394800186157},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.6064663529396057},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5741016864776611},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.5406664609909058},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.5100868344306946},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.4885938763618469},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.4880146086215973},{"id":"https://openalex.org/keywords/deformation","display_name":"Deformation (meteorology)","score":0.4717358350753784},{"id":"https://openalex.org/keywords/compression","display_name":"Compression (physics)","score":0.4272170066833496},{"id":"https://openalex.org/keywords/reversing","display_name":"Reversing","score":0.42159438133239746},{"id":"https://openalex.org/keywords/mechanics","display_name":"Mechanics","score":0.3644377589225769},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.35613149404525757},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.35603877902030945},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.30074477195739746},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.2611437737941742},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.24408400058746338},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18290206789970398},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.17985641956329346},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.17478039860725403},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.14312729239463806},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.12538263201713562}],"concepts":[{"id":"https://openalex.org/C171937826","wikidata":"https://www.wikidata.org/wiki/Q48378","display_name":"Pulley","level":2,"score":0.6716461777687073},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6712492108345032},{"id":"https://openalex.org/C2778712887","wikidata":"https://www.wikidata.org/wiki/Q102836","display_name":"Spring (device)","level":2,"score":0.6579064130783081},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.6181075572967529},{"id":"https://openalex.org/C107551265","wikidata":"https://www.wikidata.org/wiki/Q1458245","display_name":"Displacement (psychology)","level":2,"score":0.6122394800186157},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.6064663529396057},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5741016864776611},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.5406664609909058},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.5100868344306946},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.4885938763618469},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.4880146086215973},{"id":"https://openalex.org/C204366326","wikidata":"https://www.wikidata.org/wiki/Q3027650","display_name":"Deformation (meteorology)","level":2,"score":0.4717358350753784},{"id":"https://openalex.org/C180016635","wikidata":"https://www.wikidata.org/wiki/Q2712821","display_name":"Compression (physics)","level":2,"score":0.4272170066833496},{"id":"https://openalex.org/C2781085045","wikidata":"https://www.wikidata.org/wiki/Q7318308","display_name":"Reversing","level":2,"score":0.42159438133239746},{"id":"https://openalex.org/C57879066","wikidata":"https://www.wikidata.org/wiki/Q41217","display_name":"Mechanics","level":1,"score":0.3644377589225769},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.35613149404525757},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.35603877902030945},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.30074477195739746},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.2611437737941742},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.24408400058746338},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18290206789970398},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.17985641956329346},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.17478039860725403},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.14312729239463806},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.12538263201713562},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C153294291","wikidata":"https://www.wikidata.org/wiki/Q25261","display_name":"Meteorology","level":1,"score":0.0},{"id":"https://openalex.org/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C542102704","wikidata":"https://www.wikidata.org/wiki/Q183257","display_name":"Psychotherapist","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2021.3060383","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3060383","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":0.8100000023841858}],"awards":[{"id":"https://openalex.org/G7511513047","display_name":"\u5185\u90e8\u529b\u88dc\u511f\u306b\u3088\u308a\u5fae\u5c0f\u64cd\u4f5c\u529b\u306e\u307f\u3067\u5909\u4f4d\u3092\u6975\u9ad8\u628a\u6301\u529b\u3078\u8d85\u9023\u7d9a\u7684\u5909\u63db\u53ef\u80fd\u306a\u30b0\u30ea\u30c3\u30d1\u6a5f\u69cb","funder_award_id":"20J20184","funder_id":"https://openalex.org/F4320334764","funder_display_name":"Japan Society for the Promotion of Science"}],"funders":[{"id":"https://openalex.org/F4320320912","display_name":"Ministry of Education, Culture, Sports, Science and Technology","ror":"https://ror.org/048rj2z13"},{"id":"https://openalex.org/F4320334764","display_name":"Japan Society for the Promotion of Science","ror":"https://ror.org/00hhkn466"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W166502692","https://openalex.org/W571629765","https://openalex.org/W1519954258","https://openalex.org/W1976710538","https://openalex.org/W2000827963","https://openalex.org/W2003390255","https://openalex.org/W2016354421","https://openalex.org/W2075160030","https://openalex.org/W2315451208","https://openalex.org/W2325115274","https://openalex.org/W2333879352","https://openalex.org/W2334546038","https://openalex.org/W2963418127","https://openalex.org/W2975672497","https://openalex.org/W2996114691","https://openalex.org/W2996762049","https://openalex.org/W3003657498","https://openalex.org/W3035847082","https://openalex.org/W3089598255","https://openalex.org/W4244000702","https://openalex.org/W6766182814"],"related_works":["https://openalex.org/W2354780065","https://openalex.org/W3011985225","https://openalex.org/W2482155543","https://openalex.org/W2475618665","https://openalex.org/W4224280204","https://openalex.org/W2380977331","https://openalex.org/W2373606770","https://openalex.org/W1995189325","https://openalex.org/W2885769062","https://openalex.org/W2157702526"],"abstract_inverted_index":{"The":[0],"force":[1,94,125],"required":[2,126],"to":[3,45,66,91,156,159,192],"drive":[4],"a":[5,34,50,70,77,82,87,116,179,184,189],"mechanism":[6,182],"can":[7],"be":[8,46,170],"compensated":[9],"by":[10,49,108,136],"adding":[11],"an":[12],"equivalent":[13],"load":[14,27],"in":[15,58,101],"the":[16,21,26,31,39,42,67,92,96,102,106,109,122,128,131,149,173,194,197],"opposite":[17],"direction.":[18],"By":[19],"reversing":[20],"input":[22],"and":[23,72,145,163],"output":[24],"of":[25,33,41,69,105,120,130,183,196],"compensation,":[28],"we":[29,75],"proposed":[30],"concept":[32],"displacement-force":[35,198],"converter":[36],"that":[37,85,148],"enables":[38],"deformation":[40],"elastic":[43],"element":[44],"controlled":[47],"steplessly":[48],"minimal":[51],"external":[52],"force.":[53],"Its":[54],"principle":[55],"was":[56,133,176],"proved":[57],"our":[59],"previous":[60],"study,":[61],"but":[62],"challenges":[63],"arose":[64],"owing":[65],"use":[68],"wire":[71,190],"pulley.":[73],"Here,":[74],"introduce":[76],"new":[78],"compensation":[79,88],"method":[80],"using":[81],"noncircular":[83],"cam":[84,107],"generates":[86],"torque":[89],"due":[90],"contact":[93],"from":[95,154],"follower,":[97],"which":[98],"is":[99],"split":[100],"tangential":[103],"direction":[104],"pressure":[110],"angle":[111],"varying":[112],"at":[113],"rotation.":[114],"Using":[115],"prototype":[117,174],"for":[118,127],"proof":[119],"concept,":[121],"maximum":[123],"control":[124],"extension":[129,144],"spring":[132],"successfully":[134],"reduced":[135],"23.2%.":[137],"Furthermore,":[138],"uniform":[139],"forces":[140],"were":[141],"obtained":[142],"between":[143,151],"compression":[146],"so":[147],"difference":[150],"them":[152],"decreased":[153],"543%":[155],"49%":[157],"relative":[158],"compression.":[160],"Thus,":[161],"actuators":[162],"current":[164],"supplies":[165],"requiring":[166],"less":[167],"power":[168],"could":[169],"selected.":[171],"Moreover,":[172],"model":[175],"incorporated":[177],"into":[178],"variable":[180],"stiffness":[181],"soft":[185],"robotic":[186],"gripper":[187],"as":[188],"tensioner":[191],"show":[193],"expandability":[195],"converter.":[199]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
