{"id":"https://openalex.org/W4206342993","doi":"https://doi.org/10.1109/lra.2022.3143231","title":"Permanent-Magnetically Amplified Brake Mechanism Compensated and Stroke-Shortened by a Multistage Nonlinear Spring","display_name":"Permanent-Magnetically Amplified Brake Mechanism Compensated and Stroke-Shortened by a Multistage Nonlinear Spring","publication_year":2022,"publication_date":"2022-01-14","ids":{"openalex":"https://openalex.org/W4206342993","doi":"https://doi.org/10.1109/lra.2022.3143231"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2022.3143231","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2022.3143231","pdf_url":"https://ieeexplore.ieee.org/ielx7/7083369/9750005/09682518.pdf","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","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":true,"oa_status":"hybrid","oa_url":"https://ieeexplore.ieee.org/ielx7/7083369/9750005/09682518.pdf","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":"https://orcid.org/0000-0003-3231-164X","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":"https://orcid.org/0000-0003-2035-0617","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":"https://orcid.org/0000-0002-6675-4214","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/A5027242904","display_name":"Kazuki Abe","orcid":"https://orcid.org/0000-0001-5308-4859"},"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":"Kazuki Abe","raw_affiliation_strings":["Graduate School of Information Sciences, Tohoku University, Sendai, Japan"],"raw_orcid":"https://orcid.org/0000-0001-5308-4859","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":"https://orcid.org/0000-0002-6826-9722","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":"https://orcid.org/0000-0002-5571-4276","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":0.0967,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.3136291,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"7","issue":"3","first_page":"6266","last_page":"6273"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":1.0,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":1.0,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9918000102043152,"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/T11486","display_name":"Micro and Nano Robotics","score":0.9915000200271606,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/brake","display_name":"Brake","score":0.6918237805366516},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.5771406888961792},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.5741264224052429},{"id":"https://openalex.org/keywords/brake-pad","display_name":"Brake pad","score":0.5739858150482178},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5705019235610962},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5694720149040222},{"id":"https://openalex.org/keywords/magnet","display_name":"Magnet","score":0.5634121894836426},{"id":"https://openalex.org/keywords/displacement","display_name":"Displacement (psychology)","score":0.48616644740104675},{"id":"https://openalex.org/keywords/spring","display_name":"Spring (device)","score":0.48347049951553345},{"id":"https://openalex.org/keywords/electromagnetic-coil","display_name":"Electromagnetic coil","score":0.4792889952659607},{"id":"https://openalex.org/keywords/stroke","display_name":"Stroke (engine)","score":0.46867069602012634},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.463161826133728},{"id":"https://openalex.org/keywords/power","display_name":"Power (physics)","score":0.448889821767807},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.4424901604652405},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.42884600162506104},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.380169540643692},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.360340416431427},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.2575334310531616},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.23178976774215698}],"concepts":[{"id":"https://openalex.org/C2780999251","wikidata":"https://www.wikidata.org/wiki/Q17022503","display_name":"Brake","level":2,"score":0.6918237805366516},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.5771406888961792},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.5741264224052429},{"id":"https://openalex.org/C34975823","wikidata":"https://www.wikidata.org/wiki/Q908233","display_name":"Brake pad","level":3,"score":0.5739858150482178},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5705019235610962},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5694720149040222},{"id":"https://openalex.org/C16389437","wikidata":"https://www.wikidata.org/wiki/Q11421","display_name":"Magnet","level":2,"score":0.5634121894836426},{"id":"https://openalex.org/C107551265","wikidata":"https://www.wikidata.org/wiki/Q1458245","display_name":"Displacement (psychology)","level":2,"score":0.48616644740104675},{"id":"https://openalex.org/C2778712887","wikidata":"https://www.wikidata.org/wiki/Q102836","display_name":"Spring (device)","level":2,"score":0.48347049951553345},{"id":"https://openalex.org/C30403606","wikidata":"https://www.wikidata.org/wiki/Q2981904","display_name":"Electromagnetic coil","level":2,"score":0.4792889952659607},{"id":"https://openalex.org/C2780645631","wikidata":"https://www.wikidata.org/wiki/Q671554","display_name":"Stroke (engine)","level":2,"score":0.46867069602012634},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.463161826133728},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.448889821767807},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.4424901604652405},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.42884600162506104},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.380169540643692},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.360340416431427},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.2575334310531616},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.23178976774215698},{"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/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"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/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/C542102704","wikidata":"https://www.wikidata.org/wiki/Q183257","display_name":"Psychotherapist","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2022.3143231","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2022.3143231","pdf_url":"https://ieeexplore.ieee.org/ielx7/7083369/9750005/09682518.pdf","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1109/lra.2022.3143231","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2022.3143231","pdf_url":"https://ieeexplore.ieee.org/ielx7/7083369/9750005/09682518.pdf","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.9100000262260437,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"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/F4320334764","display_name":"Japan Society for the Promotion of Science","ror":"https://ror.org/00hhkn466"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4206342993.pdf","grobid_xml":"https://content.openalex.org/works/W4206342993.grobid-xml"},"referenced_works_count":23,"referenced_works":["https://openalex.org/W157371795","https://openalex.org/W166502692","https://openalex.org/W1230911058","https://openalex.org/W2021609843","https://openalex.org/W2057237849","https://openalex.org/W2062834669","https://openalex.org/W2068204417","https://openalex.org/W2077179727","https://openalex.org/W2139841931","https://openalex.org/W2168479024","https://openalex.org/W2325115274","https://openalex.org/W2327971318","https://openalex.org/W2333879352","https://openalex.org/W2335545562","https://openalex.org/W2605695343","https://openalex.org/W2620006222","https://openalex.org/W2975672497","https://openalex.org/W2996762049","https://openalex.org/W3010055963","https://openalex.org/W3029130457","https://openalex.org/W3089598255","https://openalex.org/W4212875080","https://openalex.org/W6606343892"],"related_works":["https://openalex.org/W2923631298","https://openalex.org/W2360313491","https://openalex.org/W2365107808","https://openalex.org/W4311043472","https://openalex.org/W2385569900","https://openalex.org/W2379114042","https://openalex.org/W2370588366","https://openalex.org/W2351120199","https://openalex.org/W2391969909","https://openalex.org/W3425653"],"abstract_inverted_index":{"Electromagnetic":[0],"(EM)":[1],"brakes":[2],"are":[3],"widely":[4],"used":[5,127],"but":[6],"consume":[7],"electricity":[8],"continuously":[9],"to":[10,54,85,114,181],"maintain":[11],"their":[12],"activated":[13],"state.":[14],"In":[15],"this":[16],"letter,":[17],"for":[18,39,50,128,137,150],"efficient":[19],"braking":[20,136],"and":[21,25,108,116],"idling":[22],"of":[23,31,42,65,92,122,157,167,189],"robots":[24],"vehicles,":[26],"we":[27],"proposed":[28,67,159],"a":[29,32,36,59,72],"concept":[30],"brake":[33,47,52,125],"mechanism":[34,68],"using":[35],"permanent":[37],"magnet":[38],"the":[40,43,51,66,77,87,98,105,142,155,158,164,168,171,182,186],"amplification":[41],"pressing":[44],"force":[45],"between":[46],"pads,":[48],"allowing":[49],"torque":[53],"be":[55],"steplessly":[56],"regulated":[57],"by":[58,146],"minimal":[60],"external":[61],"force.":[62],"The":[63],"prototype":[64],"was":[69,132,175],"developed":[70],"with":[71],"newly":[73],"devised":[74],"compensation":[75],"spring\u2014not":[76],"conventional":[78],"conical":[79],"coil":[80],"springs\u2014comprising":[81],"two":[82],"linear":[83],"springs":[84],"shorten":[86],"pad-detaching":[88],"stroke.":[89],"For":[90],"proof":[91],"concept,":[93],"evaluation":[94],"experiments":[95],"based":[96,162],"on":[97,163],"Japanese":[99],"Industrial":[100],"Standards":[101],"were":[102,126],"conducted.":[103],"Both":[104],"maximum":[106],"static":[107],"average":[109],"dynamic":[110],"friction":[111],"torques":[112],"increased":[113,145],"161.0%":[115],"192.9%,":[117],"respectively,":[118],"when":[119,135,148],"identical":[120],"pads":[121],"an":[123],"EM":[124,184],"comparison.":[129],"Power":[130],"saving":[131],"also":[133],"achieved":[134],"longer":[138],"than":[139],"0.43":[140],"s;":[141],"torque\u2013energy":[143],"efficiency":[144],"8.7":[147],"measured":[149],"1.0":[151],"s,":[152],"successfully":[153],"revealing":[154],"effectiveness":[156],"principle.":[160],"Further,":[161],"force\u2013displacement":[165],"characteristic":[166],"compensated":[169],"magnet,":[170],"theoretical":[172],"response":[173],"time":[174],"numerically":[176],"analyzed":[177],"as":[178],"13.6":[179],"ms\u2014comparable":[180],"contrasted":[183],"brake\u2014validating":[185],"actual":[187],"behavior":[188],"14.0":[190],"ms.":[191]},"counts_by_year":[{"year":2022,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}