{"id":"https://openalex.org/W4205621683","doi":"https://doi.org/10.1109/lra.2022.3142907","title":"A Modular Lockable Mechanism for Tendon-Driven Robots: Design, Modeling and Characterization","display_name":"A Modular Lockable Mechanism for Tendon-Driven Robots: Design, Modeling and Characterization","publication_year":2022,"publication_date":"2022-01-13","ids":{"openalex":"https://openalex.org/W4205621683","doi":"https://doi.org/10.1109/lra.2022.3142907"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2022.3142907","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3142907","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/A5115592964","display_name":"Botao Lin","orcid":null},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Botao Lin","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Harbin Institute of Technology (Shenzhen), Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Harbin Institute of Technology (Shenzhen), Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048709541","display_name":"Jiaole Wang","orcid":"https://orcid.org/0000-0002-0941-8003"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiaole Wang","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Harbin Institute of Technology (Shenzhen), Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Harbin Institute of Technology (Shenzhen), Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100731554","display_name":"Shuang Song","orcid":"https://orcid.org/0000-0002-3490-9752"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuang Song","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Harbin Institute of Technology (Shenzhen), Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Harbin Institute of Technology (Shenzhen), Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100451269","display_name":"Bing Li","orcid":"https://orcid.org/0000-0002-5055-8921"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bing Li","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Harbin Institute of Technology (Shenzhen), Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Harbin Institute of Technology (Shenzhen), Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5021531143","display_name":"Max Q.\u2010H. Meng","orcid":"https://orcid.org/0000-0002-5255-5898"},"institutions":[{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]},{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]},{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Max Q.-H. Meng","raw_affiliation_strings":["Department of Electronic Engineering, The Chinese University of Hong Kong, Hong Kong","Department of Electronic and Electrical Engineering, Southern University of Science and Technology in Shenzhen, Shenzhen, China","Shenzhen Research Institute of The Chinese University of Hong Kong, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Department of Electronic Engineering, The Chinese University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"Department of Electronic and Electrical Engineering, Southern University of Science and Technology in Shenzhen, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]},{"raw_affiliation_string":"Shenzhen Research Institute of The Chinese University of Hong Kong, Shenzhen, China","institution_ids":["https://openalex.org/I4210116924"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5115592964"],"corresponding_institution_ids":["https://openalex.org/I204983213"],"apc_list":null,"apc_paid":null,"fwci":2.4433,"has_fulltext":false,"cited_by_count":33,"citation_normalized_percentile":{"value":0.88648717,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":"7","issue":"2","first_page":"2023","last_page":"2030"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9965999722480774,"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/T11301","display_name":"Advanced Surface Polishing Techniques","score":0.9937999844551086,"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/modular-design","display_name":"Modular design","score":0.8896637558937073},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.7800621390342712},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7488770484924316},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.7263928055763245},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6309458613395691},{"id":"https://openalex.org/keywords/self-reconfiguring-modular-robot","display_name":"Self-reconfiguring modular robot","score":0.585218071937561},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.5708381533622742},{"id":"https://openalex.org/keywords/tendon","display_name":"Tendon","score":0.5667575001716614},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49799489974975586},{"id":"https://openalex.org/keywords/joint-stiffness","display_name":"Joint stiffness","score":0.49324721097946167},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.39376991987228394},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3338516354560852},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3289448618888855},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2498515546321869},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.1814444363117218},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.12282824516296387},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.10493886470794678},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10139593482017517},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.07030972838401794}],"concepts":[{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.8896637558937073},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.7800621390342712},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7488770484924316},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.7263928055763245},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6309458613395691},{"id":"https://openalex.org/C49603950","wikidata":"https://www.wikidata.org/wiki/Q17165512","display_name":"Self-reconfiguring modular robot","level":5,"score":0.585218071937561},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.5708381533622742},{"id":"https://openalex.org/C2780105995","wikidata":"https://www.wikidata.org/wiki/Q232358","display_name":"Tendon","level":2,"score":0.5667575001716614},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49799489974975586},{"id":"https://openalex.org/C2781415944","wikidata":"https://www.wikidata.org/wiki/Q559210","display_name":"Joint stiffness","level":3,"score":0.49324721097946167},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.39376991987228394},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3338516354560852},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3289448618888855},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2498515546321869},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.1814444363117218},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.12282824516296387},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.10493886470794678},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10139593482017517},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.07030972838401794},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","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/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2022.3142907","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3142907","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":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W1517588719","https://openalex.org/W1994168595","https://openalex.org/W2015106839","https://openalex.org/W2027637252","https://openalex.org/W2059944434","https://openalex.org/W2091311907","https://openalex.org/W2101667962","https://openalex.org/W2116103418","https://openalex.org/W2129918473","https://openalex.org/W2284390012","https://openalex.org/W2295179809","https://openalex.org/W2419648237","https://openalex.org/W2520982900","https://openalex.org/W2564941590","https://openalex.org/W2763080578","https://openalex.org/W2789029145","https://openalex.org/W2794141247","https://openalex.org/W2800478000","https://openalex.org/W2816488237","https://openalex.org/W2888394177","https://openalex.org/W2890621394","https://openalex.org/W2897656849","https://openalex.org/W2967379086","https://openalex.org/W2985537613","https://openalex.org/W2999697312","https://openalex.org/W3005971243","https://openalex.org/W3014113596","https://openalex.org/W3030378837","https://openalex.org/W3082870860","https://openalex.org/W3090215588","https://openalex.org/W3128066131","https://openalex.org/W3133904961","https://openalex.org/W3168574912","https://openalex.org/W3194369447"],"related_works":["https://openalex.org/W2720417647","https://openalex.org/W4225163935","https://openalex.org/W86933508","https://openalex.org/W2765089336","https://openalex.org/W2663455904","https://openalex.org/W2313074614","https://openalex.org/W2130464959","https://openalex.org/W2166742878","https://openalex.org/W2883992449","https://openalex.org/W1942058526"],"abstract_inverted_index":{"Surgical":[0],"robots":[1],"with":[2],"variable":[3,69],"stiffness":[4,29],"can":[5,23,74],"provide":[6],"more":[7],"stable":[8],"configurations":[9],"during":[10],"minimally-invasive":[11],"surgery.This":[12],"letter":[13],"presents":[14],"a":[15,60,64],"new":[16],"design":[17],"of":[18,30,56,92,112,119,123],"modular":[19,58,79,125],"lockable":[20],"mechanism":[21,46,115],"which":[22],"be":[24,75],"used":[25],"to":[26],"change":[27],"the":[28,53,68,78,93,105,109,113,117,120,124],"tendon-driven":[31,61,126],"surgical":[32],"robots.":[33,127],"Locking":[34],"and":[35,44,67,88,102,116],"unlocking":[36],"are":[37],"simply":[38],"actuated":[39],"by":[40,77],"pulling":[41],"one":[42],"tendon,":[43],"each":[45],"has":[47,63],"several":[48],"fixed":[49],"locking":[50,110],"angles":[51],"on":[52,104],"joint.":[54],"Consisting":[55],"this":[57],"mechanism,":[59],"robot":[62,72,94],"larger":[65],"workspace":[66],"stiffness.":[70],"The":[71],"shape":[73,89],"maintained":[76],"mechanisms":[80],"rather":[81],"than":[82],"continuous":[83],"external":[84],"input.":[85],"Both":[86],"kinematic":[87],"compensation":[90],"models":[91,122],"have":[95,107],"also":[96],"been":[97],"proposed.":[98],"Results":[99],"from":[100],"simulations":[101],"experiments":[103],"prototype":[106],"validated":[108],"capability":[111],"proposed":[114,121],"accuracy":[118]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":16},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":3}],"updated_date":"2026-03-18T14:38:29.013473","created_date":"2025-10-10T00:00:00"}
