{"id":"https://openalex.org/W3190677890","doi":"https://doi.org/10.1109/lra.2021.3097655","title":"On Energy-Preserving Motion in Twisted String Actuators","display_name":"On Energy-Preserving Motion in Twisted String Actuators","publication_year":2021,"publication_date":"2021-08-03","ids":{"openalex":"https://openalex.org/W3190677890","doi":"https://doi.org/10.1109/lra.2021.3097655","mag":"3190677890"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2021.3097655","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3097655","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/A5026030084","display_name":"Simeon Nedelchev","orcid":"https://orcid.org/0000-0003-1588-8260"},"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":true,"raw_author_name":"Simeon Nedelchev","raw_affiliation_strings":["Institute of Robotics and Computer Vision, Innopolis University, Innopolis, Russia"],"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Computer Vision, Innopolis University, Innopolis, Russia","institution_ids":["https://openalex.org/I4210116741"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112515798","display_name":"Valeria Skvortsova","orcid":null},"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":"Valeria Skvortsova","raw_affiliation_strings":["Institute of Robotics and Computer Vision, Innopolis University, Innopolis, Russia"],"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Computer Vision, Innopolis University, Innopolis, Russia","institution_ids":["https://openalex.org/I4210116741"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030354708","display_name":"Boris Guryev","orcid":null},"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":"Boris Guryev","raw_affiliation_strings":["Institute of Robotics and Computer Vision, Innopolis University, Innopolis, Russia"],"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Computer Vision, Innopolis University, Innopolis, Russia","institution_ids":["https://openalex.org/I4210116741"]}]},{"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":["Institute of Robotics and Computer Vision, Innopolis University, Innopolis, Russia"],"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Computer Vision, 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, KAIST, Daejeon, South Korea"],"affiliations":[{"raw_affiliation_string":"Department of Civil and Environmental Engineering, KAIST, Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5026030084"],"corresponding_institution_ids":["https://openalex.org/I4210116741"],"apc_list":null,"apc_paid":null,"fwci":0.0846,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.38272589,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"6","issue":"4","first_page":"7406","last_page":"7412"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","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"}},"topics":[{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9980000257492065,"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":0.987500011920929,"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/control-theory","display_name":"Control theory (sociology)","score":0.8305850028991699},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6709443926811218},{"id":"https://openalex.org/keywords/payload","display_name":"Payload (computing)","score":0.6630960702896118},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6255111694335938},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.6159339547157288},{"id":"https://openalex.org/keywords/string","display_name":"String (physics)","score":0.6145012974739075},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5736821293830872},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5394187569618225},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5270823836326599},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.47878921031951904},{"id":"https://openalex.org/keywords/energy","display_name":"Energy (signal processing)","score":0.47596806287765503},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4484975039958954},{"id":"https://openalex.org/keywords/mechanical-energy","display_name":"Mechanical energy","score":0.43103542923927307},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4247225522994995},{"id":"https://openalex.org/keywords/amplitude","display_name":"Amplitude","score":0.4100686013698578},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.32870766520500183},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2732451260089874},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.14113500714302063},{"id":"https://openalex.org/keywords/power","display_name":"Power (physics)","score":0.10928380489349365},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10572803020477295}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8305850028991699},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6709443926811218},{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.6630960702896118},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6255111694335938},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6159339547157288},{"id":"https://openalex.org/C157486923","wikidata":"https://www.wikidata.org/wiki/Q1376436","display_name":"String (physics)","level":2,"score":0.6145012974739075},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5736821293830872},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5394187569618225},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5270823836326599},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.47878921031951904},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.47596806287765503},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4484975039958954},{"id":"https://openalex.org/C107240024","wikidata":"https://www.wikidata.org/wiki/Q184550","display_name":"Mechanical energy","level":3,"score":0.43103542923927307},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4247225522994995},{"id":"https://openalex.org/C180205008","wikidata":"https://www.wikidata.org/wiki/Q159190","display_name":"Amplitude","level":2,"score":0.4100686013698578},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.32870766520500183},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2732451260089874},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.14113500714302063},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.10928380489349365},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10572803020477295},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","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/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2021.3097655","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3097655","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":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.8999999761581421}],"awards":[{"id":"https://openalex.org/G3864913760","display_name":null,"funder_award_id":"19-58-51014","funder_id":"https://openalex.org/F4320322120","funder_display_name":"National Research Foundation of Korea"}],"funders":[{"id":"https://openalex.org/F4320321079","display_name":"Russian Foundation for Basic Research","ror":"https://ror.org/02mh1ke95"},{"id":"https://openalex.org/F4320322120","display_name":"National Research Foundation of Korea","ror":"https://ror.org/013aysd81"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W120243950","https://openalex.org/W1590980019","https://openalex.org/W1838974152","https://openalex.org/W1976091374","https://openalex.org/W2038439784","https://openalex.org/W2060179185","https://openalex.org/W2101742065","https://openalex.org/W2111683789","https://openalex.org/W2120336617","https://openalex.org/W2152383438","https://openalex.org/W2167044893","https://openalex.org/W2347340684","https://openalex.org/W2417153562","https://openalex.org/W2570357259","https://openalex.org/W2980509777","https://openalex.org/W2996327486","https://openalex.org/W3004202185","https://openalex.org/W3020019805","https://openalex.org/W3041731142","https://openalex.org/W3118674150","https://openalex.org/W6682686474","https://openalex.org/W6788330203"],"related_works":["https://openalex.org/W1535080110","https://openalex.org/W306312984","https://openalex.org/W857189463","https://openalex.org/W2979675132","https://openalex.org/W2790520092","https://openalex.org/W4306309337","https://openalex.org/W20648474","https://openalex.org/W2109516765","https://openalex.org/W4233552388","https://openalex.org/W2521417941"],"abstract_inverted_index":{"Many":[0],"applications":[1,149],"require":[2,151],"robotic":[3,148],"end-effectors":[4],"and":[5,15,78,90,154],"mechanisms":[6],"to":[7,28,42,52,56,123],"move":[8],"along":[9],"periodic":[10,152],"trajectories":[11],"of":[12,44,82,88,101,105,128,138],"given":[13],"amplitude":[14],"frequency.":[16],"If":[17],"motion":[18],"parameters":[19],"are":[20],"known":[21],"in":[22,32,69,147],"advance,":[23],"it":[24,120],"might":[25],"be":[26,145],"beneficial":[27],"design":[29,94],"the":[30,45],"mechanism":[31],"such":[33],"a":[34,131,136],"way":[35],"that":[36,43,49,98,119,150],"its":[37,75],"natural":[38,65],"frequency":[39],"is":[40,99],"close":[41],"desired":[46,106],"trajectory":[47],"so":[48],"controller":[50,97,156],"needs":[51],"provide":[53],"minimal":[54],"effort":[55],"generate":[57],"sustained":[58],"oscillations.":[59],"In":[60],"this":[61,83],"letter,":[62],"we":[63],"investigate":[64],"nonlinear":[66],"oscillatory":[67,126],"behavior":[68],"twisted":[70],"string":[71],"actuators":[72],"(TSA),":[73],"describing":[74],"mathematical":[76],"model":[77],"providing":[79],"experimental":[80],"verification":[81],"phenomenon":[84],"based":[85],"on":[86,112],"observations":[87],"dynamics":[89],"energy.":[91],"We":[92],"also":[93],"an":[95],"energy-preserving":[96],"capable":[100],"generating":[102],"undamped":[103,125],"oscillations":[104],"magnitude":[107],"even":[108],"under":[109],"severe":[110],"constraints":[111],"actuator":[113],"torque.":[114],"Experimental":[115],"study":[116],"has":[117],"demonstrated":[118],"was":[121],"possible":[122],"induce":[124],"response":[127],"TSA":[129],"with":[130],"2-kg":[132],"payload":[133],"while":[134],"applying":[135],"maximum":[137],"6":[139],"mNm":[140],"motor":[141],"torque,":[142],"which":[143],"can":[144],"used":[146],"motions":[153],"high":[155],"efficiency,":[157],"like":[158],"legged":[159],"robots.":[160]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2021,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
