{"id":"https://openalex.org/W4403276761","doi":"https://doi.org/10.1109/lra.2024.3477096","title":"Coaxial Integrated Tendon-Driven Actuator: Design, Modeling, Control, and Performance Analysis","display_name":"Coaxial Integrated Tendon-Driven Actuator: Design, Modeling, Control, and Performance Analysis","publication_year":2024,"publication_date":"2024-10-09","ids":{"openalex":"https://openalex.org/W4403276761","doi":"https://doi.org/10.1109/lra.2024.3477096"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3477096","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3477096","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/A5072953565","display_name":"Di Zhao","orcid":"https://orcid.org/0000-0003-0856-7522"},"institutions":[{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Di Zhao","raw_affiliation_strings":["Key Laboratory of Bionic Engineering (Ministry of Education), Jilin University, Changchun, China","The Key Laboratory of Bionic Engineering (Ministry of Education), Jilin University, Changchun, China"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of Bionic Engineering (Ministry of Education), Jilin University, Changchun, China","institution_ids":["https://openalex.org/I194450716"]},{"raw_affiliation_string":"The Key Laboratory of Bionic Engineering (Ministry of Education), Jilin University, Changchun, China","institution_ids":["https://openalex.org/I194450716"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Xinbo Wang","orcid":"https://orcid.org/0009-0001-2814-954X"},"institutions":[{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xinbo Wang","raw_affiliation_strings":["Key Laboratory of Bionic Engineering (Ministry of Education), Jilin University, Changchun, China","The Key Laboratory of Bionic Engineering (Ministry of Education), Jilin University, Changchun, China"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of Bionic Engineering (Ministry of Education), Jilin University, Changchun, China","institution_ids":["https://openalex.org/I194450716"]},{"raw_affiliation_string":"The Key Laboratory of Bionic Engineering (Ministry of Education), Jilin University, Changchun, China","institution_ids":["https://openalex.org/I194450716"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021026939","display_name":"Lei Ren","orcid":"https://orcid.org/0000-0003-3222-2102"},"institutions":[{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lei Ren","raw_affiliation_strings":["Key Laboratory of Bionic Engineering (Ministry of Education), Jilin University, Changchun, China","The Key Laboratory of Bionic Engineering (Ministry of Education), Jilin University, Changchun, China"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of Bionic Engineering (Ministry of Education), Jilin University, Changchun, China","institution_ids":["https://openalex.org/I194450716"]},{"raw_affiliation_string":"The Key Laboratory of Bionic Engineering (Ministry of Education), Jilin University, Changchun, China","institution_ids":["https://openalex.org/I194450716"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064955660","display_name":"Kunyang Wang","orcid":"https://orcid.org/0000-0003-3807-3697"},"institutions":[{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kunyang Wang","raw_affiliation_strings":["Key Laboratory of Bionic Engineering (Ministry of Education), Jilin University, Changchun, China","The Key Laboratory of Bionic Engineering (Ministry of Education), Jilin University, Changchun, China"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of Bionic Engineering (Ministry of Education), Jilin University, Changchun, China","institution_ids":["https://openalex.org/I194450716"]},{"raw_affiliation_string":"The Key Laboratory of Bionic Engineering (Ministry of Education), Jilin University, Changchun, China","institution_ids":["https://openalex.org/I194450716"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100389643","display_name":"Luquan Ren","orcid":"https://orcid.org/0000-0003-1102-8482"},"institutions":[{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Luquan Ren","raw_affiliation_strings":["Key Laboratory of Bionic Engineering (Ministry of Education), Jilin University, Changchun, China","The Key Laboratory of Bionic Engineering (Ministry of Education), Jilin University, Changchun, China"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of Bionic Engineering (Ministry of Education), Jilin University, Changchun, China","institution_ids":["https://openalex.org/I194450716"]},{"raw_affiliation_string":"The Key Laboratory of Bionic Engineering (Ministry of Education), Jilin University, Changchun, China","institution_ids":["https://openalex.org/I194450716"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5072953565"],"corresponding_institution_ids":["https://openalex.org/I194450716"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.16957373,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"9","issue":"11","first_page":"10692","last_page":"10699"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.6367999911308289,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.6367999911308289,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.7031944990158081},{"id":"https://openalex.org/keywords/coaxial","display_name":"Coaxial","score":0.7000302076339722},{"id":"https://openalex.org/keywords/tendon","display_name":"Tendon","score":0.5350592732429504},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4391600489616394},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.42017969489097595},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.415728360414505},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.32849621772766113},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.31542617082595825},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.10805916786193848},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.09248360991477966},{"id":"https://openalex.org/keywords/anatomy","display_name":"Anatomy","score":0.08305132389068604},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.06353998184204102}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7031944990158081},{"id":"https://openalex.org/C51221625","wikidata":"https://www.wikidata.org/wiki/Q1751466","display_name":"Coaxial","level":2,"score":0.7000302076339722},{"id":"https://openalex.org/C2780105995","wikidata":"https://www.wikidata.org/wiki/Q232358","display_name":"Tendon","level":2,"score":0.5350592732429504},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4391600489616394},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.42017969489097595},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.415728360414505},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.32849621772766113},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.31542617082595825},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.10805916786193848},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.09248360991477966},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.08305132389068604},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.06353998184204102}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2024.3477096","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3477096","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":0.7099999785423279}],"awards":[{"id":"https://openalex.org/G7373407820","display_name":null,"funder_award_id":"52021003","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8965705428","display_name":null,"funder_award_id":"91948302","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W639480188","https://openalex.org/W1967843104","https://openalex.org/W1980543431","https://openalex.org/W2003177125","https://openalex.org/W2056288214","https://openalex.org/W2063149136","https://openalex.org/W2101372425","https://openalex.org/W2119796324","https://openalex.org/W2216198263","https://openalex.org/W2511416341","https://openalex.org/W2765218414","https://openalex.org/W2777101122","https://openalex.org/W2810747011","https://openalex.org/W2890718803","https://openalex.org/W3041765268","https://openalex.org/W3102920211","https://openalex.org/W3125795670","https://openalex.org/W3174860320","https://openalex.org/W4210892739","https://openalex.org/W4322730818"],"related_works":["https://openalex.org/W1967632292","https://openalex.org/W2001698569","https://openalex.org/W2084249261","https://openalex.org/W2086551297","https://openalex.org/W2090778568","https://openalex.org/W2071309596","https://openalex.org/W2897218905","https://openalex.org/W4234906596","https://openalex.org/W4229591372","https://openalex.org/W2071544734"],"abstract_inverted_index":{"In":[0],"this":[1],"letter,":[2],"a":[3,16,63,84,105,131,139],"novel":[4],"tendon-driven":[5],"actuator":[6,20,36,52,126],"is":[7,75,89,127],"presented":[8],"for":[9],"anthropomimetic":[10],"robots,":[11],"mimicking":[12],"the":[13,51,81,111,116,124,150],"functionality":[14],"of":[15,96,115,129,135,142,152],"spindle":[17],"muscle.":[18],"This":[19],"can":[21,29],"contract":[22],"and":[23,25,32,44,57,83,91,99,113],"relax,":[24],"its":[26],"tension":[27,47,79,86,134,156],"output":[28],"be":[30],"measured":[31],"controlled.":[33],"The":[34,119],"proposed":[35,90,117,125],"features":[37],"an":[38,45,54],"innovative":[39],"space-saving":[40],"co-axial":[41],"winding":[42],"mechanism":[43],"integrated":[46,55],"feedback":[48],"sensor.":[49],"Furthermore,":[50],"incorporates":[53],"controller":[56],"motor":[58],"driving":[59],"circuit,":[60],"powered":[61],"by":[62],"brushless":[64],"direct":[65],"current":[66],"motor.":[67],"A":[68],"custom-designed":[69],"sensor":[70],"comprising":[71],"four":[72],"load":[73],"cells":[74],"employed":[76],"to":[77,109],"measure":[78],"in":[80],"tendon,":[82],"closed-loop":[85,155],"control":[87],"method":[88],"validated.":[92],"Tests,":[93],"including":[94],"evaluations":[95],"dynamic":[97],"performance":[98],"transient":[100],"response,":[101],"are":[102],"conducted":[103],"on":[104],"custom-built":[106],"test":[107,120],"bench":[108],"verify":[110],"feasibility":[112],"efficacy":[114],"design.":[118],"results":[121],"indicate":[122],"that":[123],"capable":[128],"producing":[130],"maximum":[132],"tendon":[133],"300":[136],"N":[137],"with":[138],"power":[140],"density":[141],"0.92":[143],"W/cm<sup":[144],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[145],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">3</sup>,":[146],"while":[147],"also":[148],"facilitating":[149],"realization":[151],"backdrivability":[153],"through":[154],"control.":[157]},"counts_by_year":[],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-10-10T00:00:00"}