{"id":"https://openalex.org/W4392502297","doi":"https://doi.org/10.1109/lra.2024.3374170","title":"A Parallel SCARA Robot With Low-Impedance Backdrivability and a Remotely Operated Gripper With Unlimited Rotation","display_name":"A Parallel SCARA Robot With Low-Impedance Backdrivability and a Remotely Operated Gripper With Unlimited Rotation","publication_year":2024,"publication_date":"2024-03-06","ids":{"openalex":"https://openalex.org/W4392502297","doi":"https://doi.org/10.1109/lra.2024.3374170"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3374170","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3374170","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/A5094079092","display_name":"Mario Philip Lapierre","orcid":"https://orcid.org/0009-0002-8496-5282"},"institutions":[{"id":"https://openalex.org/I43406934","display_name":"Universit\u00e9 Laval","ror":"https://ror.org/04sjchr03","country_code":"CA","type":"education","lineage":["https://openalex.org/I43406934"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Mario Philip Lapierre","raw_affiliation_strings":["Department of Mechanical Engineering, Université Laval, Québec, QC, Canada"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Université Laval, Québec, QC, Canada","institution_ids":["https://openalex.org/I43406934"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5055839781","display_name":"Cl\u00e9ment Gosselin","orcid":"https://orcid.org/0000-0001-7422-4515"},"institutions":[{"id":"https://openalex.org/I43406934","display_name":"Universit\u00e9 Laval","ror":"https://ror.org/04sjchr03","country_code":"CA","type":"education","lineage":["https://openalex.org/I43406934"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Cl\u00e9ment Gosselin","raw_affiliation_strings":["Department of Mechanical Engineering, Université Laval, Québec, QC, Canada"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Université Laval, Québec, QC, Canada","institution_ids":["https://openalex.org/I43406934"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5094079092"],"corresponding_institution_ids":["https://openalex.org/I43406934"],"apc_list":null,"apc_paid":null,"fwci":0.9008,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.68079476,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":98},"biblio":{"volume":"9","issue":"4","first_page":"3980","last_page":"3987"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9998000264167786,"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":0.9998000264167786,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9975000023841858,"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"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9973000288009644,"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/scara","display_name":"SCARA","score":0.9669470191001892},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.580142080783844},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.5296245217323303},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4594472646713257},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.38796496391296387},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.2242547869682312},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1766323447227478},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.08115056157112122}],"concepts":[{"id":"https://openalex.org/C158732272","wikidata":"https://www.wikidata.org/wiki/Q1484792","display_name":"SCARA","level":3,"score":0.9669470191001892},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.580142080783844},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.5296245217323303},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4594472646713257},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.38796496391296387},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.2242547869682312},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1766323447227478},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.08115056157112122}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2024.3374170","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3374170","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":[{"score":0.5600000023841858,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[{"id":"https://openalex.org/G195695597","display_name":null,"funder_award_id":"DG-89715","funder_id":"https://openalex.org/F4320334593","funder_display_name":"Natural Sciences and Engineering Research Council of Canada"}],"funders":[{"id":"https://openalex.org/F4320334593","display_name":"Natural Sciences and Engineering Research Council of Canada","ror":"https://ror.org/01h531d29"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W938007590","https://openalex.org/W1982117611","https://openalex.org/W1983996098","https://openalex.org/W2094537981","https://openalex.org/W2124940285","https://openalex.org/W2129504387","https://openalex.org/W2214212631","https://openalex.org/W2299033933","https://openalex.org/W2329362779","https://openalex.org/W2575763268","https://openalex.org/W2802530948","https://openalex.org/W2807219771","https://openalex.org/W2811051152","https://openalex.org/W2963079523","https://openalex.org/W3116598312","https://openalex.org/W3215848761","https://openalex.org/W4237138202","https://openalex.org/W4244813500","https://openalex.org/W4249593761","https://openalex.org/W4286375052"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W152605265","https://openalex.org/W3095489175","https://openalex.org/W2573045761","https://openalex.org/W2791240990","https://openalex.org/W1486209696","https://openalex.org/W4230747644","https://openalex.org/W3169911176","https://openalex.org/W1968617831"],"abstract_inverted_index":{"This":[0,42],"letter":[1],"presents":[2],"a":[3,10,94,108,153],"backdrivable":[4],"(4+1)-degree-of-freedom":[5],"SCARA":[6],"parallel":[7],"robot":[8,29,133],"including":[9,107],"remotely":[11,36],"operated":[12,37],"gripper":[13,38,49],"with":[14,102],"unlimited":[15,56],"rotation":[16,57],"for":[17,144],"intuitive":[18,145],"sensorless":[19],"low-impedance":[20],"physical":[21],"human-robot":[22,146],"interaction.":[23],"The":[24,61,91,124],"kinematic":[25,86],"modelling":[26],"of":[27,47,58,75,88,93,110,119,131,152],"the":[28,34,45,48,51,59,67,76,85,89,103,111,114,117,128,132,150],"is":[30,40,78,96],"first":[31],"recalled":[32],"and":[33,66,116,121,134,137],"novel":[35],"mechanism":[39,43],"presented.":[41,98],"allows":[44],"operation":[46],"from":[50],"base":[52],"actuators":[53],"while":[54],"allowing":[55],"end-effector.":[60],"Jacobian":[62],"matrices":[63],"are":[64,69,105],"derived":[65],"singularities":[68],"briefly":[70],"discussed.":[71],"A":[72],"geometric":[73],"description":[74],"workspace":[77],"then":[79,97],"developed":[80],"to":[81],"provide":[82],"insight":[83],"into":[84],"design":[87,92],"robot.":[90],"prototype":[95,104],"Experimental":[99],"results":[100,125],"obtained":[101],"provided,":[106],"demonstration":[109],"force":[112],"capabilities,":[113,139],"backdrivability":[115],"execution":[118],"grasping":[120,138],"pick-and-place":[122],"tasks.":[123],"clearly":[126],"demonstrate":[127],"low":[129],"impedance":[130],"its":[135],"motion":[136],"which":[140],"make":[141],"it":[142],"ideal":[143],"interaction":[147],"without":[148],"requiring":[149],"use":[151],"force/torque":[154],"sensor.":[155]},"counts_by_year":[{"year":2025,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}