{"id":"https://openalex.org/W4407781914","doi":"https://doi.org/10.1109/lra.2025.3544056","title":"Dual-Tendon Routing: Tendon Routing for Under-Actuated Tendon-Driven Soft Hand-Wearable Robot","display_name":"Dual-Tendon Routing: Tendon Routing for Under-Actuated Tendon-Driven Soft Hand-Wearable Robot","publication_year":2025,"publication_date":"2025-02-20","ids":{"openalex":"https://openalex.org/W4407781914","doi":"https://doi.org/10.1109/lra.2025.3544056"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3544056","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3544056","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/A5073228214","display_name":"Byungchul Kim","orcid":"https://orcid.org/0000-0002-4659-3310"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]},{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["KR","US"],"is_corresponding":true,"raw_author_name":"Byungchul Kim","raw_affiliation_strings":["Biorobotics Laboratory, School of Mechanical Engineering / Soft Robotics Research Center (SRRC) / IAMD / Institute of Engineering Research, Seoul National University (SNU), Seoul, South Korea","Biorobotics Laboratory, School of Mechanical Engineering / Soft Robotics Research Center (SRRC) / IAMD / Institute of Engineering Research, Seoul National University (SNU), Gwanak-ro 1, Gwanak-gu, Seoul, South Korea"],"affiliations":[{"raw_affiliation_string":"Biorobotics Laboratory, School of Mechanical Engineering / Soft Robotics Research Center (SRRC) / IAMD / Institute of Engineering Research, Seoul National University (SNU), Seoul, South Korea","institution_ids":["https://openalex.org/I4210116723"]},{"raw_affiliation_string":"Biorobotics Laboratory, School of Mechanical Engineering / Soft Robotics Research Center (SRRC) / IAMD / Institute of Engineering Research, Seoul National University (SNU), Gwanak-ro 1, Gwanak-gu, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000005502","display_name":"Useok Jeong","orcid":"https://orcid.org/0000-0001-9856-2711"},"institutions":[{"id":"https://openalex.org/I49946491","display_name":"Hyundai Motors (South Korea)","ror":"https://ror.org/016kvft77","country_code":"KR","type":"company","lineage":["https://openalex.org/I197312522","https://openalex.org/I49946491"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Useok Jeong","raw_affiliation_strings":["SNU, Seoul, South Korea","Hyundai Motor Company, South Korea"],"affiliations":[{"raw_affiliation_string":"SNU, Seoul, South Korea","institution_ids":[]},{"raw_affiliation_string":"Hyundai Motor Company, South Korea","institution_ids":["https://openalex.org/I49946491"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5062631070","display_name":"Kyu\u2010Jin Cho","orcid":"https://orcid.org/0000-0003-2555-5048"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]},{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["KR","US"],"is_corresponding":false,"raw_author_name":"Kyu-Jin Cho","raw_affiliation_strings":["Biorobotics Laboratory, School of Mechanical Engineering / Soft Robotics Research Center (SRRC) / IAMD / Institute of Engineering Research, Seoul National University (SNU), Seoul, South Korea","Biorobotics Laboratory, School of Mechanical Engineering / Soft Robotics Research Center (SRRC) / IAMD / Institute of Engineering Research, Seoul National University (SNU), Gwanak-ro 1, Gwanak-gu, Seoul, South Korea"],"affiliations":[{"raw_affiliation_string":"Biorobotics Laboratory, School of Mechanical Engineering / Soft Robotics Research Center (SRRC) / IAMD / Institute of Engineering Research, Seoul National University (SNU), Seoul, South Korea","institution_ids":["https://openalex.org/I4210116723"]},{"raw_affiliation_string":"Biorobotics Laboratory, School of Mechanical Engineering / Soft Robotics Research Center (SRRC) / IAMD / Institute of Engineering Research, Seoul National University (SNU), Gwanak-ro 1, Gwanak-gu, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5073228214"],"corresponding_institution_ids":["https://openalex.org/I139264467","https://openalex.org/I4210116723"],"apc_list":null,"apc_paid":null,"fwci":2.5776,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.88062924,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":"10","issue":"4","first_page":"3612","last_page":"3619"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9951000213623047,"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":0.9951000213623047,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9891999959945679,"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/T11274","display_name":"Botulinum Toxin and Related Neurological Disorders","score":0.9890999794006348,"subfield":{"id":"https://openalex.org/subfields/2728","display_name":"Neurology"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/tendon","display_name":"Tendon","score":0.783941924571991},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5432487726211548},{"id":"https://openalex.org/keywords/wearable-computer","display_name":"Wearable computer","score":0.5198096036911011},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5013904571533203},{"id":"https://openalex.org/keywords/routing","display_name":"Routing (electronic design automation)","score":0.47901982069015503},{"id":"https://openalex.org/keywords/dual","display_name":"Dual (grammatical number)","score":0.4533580541610718},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.3370814323425293},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.32299983501434326},{"id":"https://openalex.org/keywords/anatomy","display_name":"Anatomy","score":0.28656020760536194},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.16496118903160095},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12932881712913513},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.11683037877082825}],"concepts":[{"id":"https://openalex.org/C2780105995","wikidata":"https://www.wikidata.org/wiki/Q232358","display_name":"Tendon","level":2,"score":0.783941924571991},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5432487726211548},{"id":"https://openalex.org/C150594956","wikidata":"https://www.wikidata.org/wiki/Q1334829","display_name":"Wearable computer","level":2,"score":0.5198096036911011},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5013904571533203},{"id":"https://openalex.org/C74172769","wikidata":"https://www.wikidata.org/wiki/Q1446839","display_name":"Routing (electronic design automation)","level":2,"score":0.47901982069015503},{"id":"https://openalex.org/C2780980858","wikidata":"https://www.wikidata.org/wiki/Q110022","display_name":"Dual (grammatical number)","level":2,"score":0.4533580541610718},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.3370814323425293},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.32299983501434326},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.28656020760536194},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.16496118903160095},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12932881712913513},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.11683037877082825},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0},{"id":"https://openalex.org/C124952713","wikidata":"https://www.wikidata.org/wiki/Q8242","display_name":"Literature","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3544056","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3544056","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":[{"id":"https://openalex.org/G5530092921","display_name":null,"funder_award_id":"RS2024-00357718","funder_id":"https://openalex.org/F4320322120","funder_display_name":"National Research Foundation of Korea"},{"id":"https://openalex.org/G897513064","display_name":null,"funder_award_id":"RS-2023-00208052","funder_id":"https://openalex.org/F4320322120","funder_display_name":"National Research Foundation of Korea"}],"funders":[{"id":"https://openalex.org/F4320322120","display_name":"National Research Foundation of Korea","ror":"https://ror.org/013aysd81"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W1966780058","https://openalex.org/W1967700357","https://openalex.org/W1994380917","https://openalex.org/W2007170601","https://openalex.org/W2025501099","https://openalex.org/W2099892262","https://openalex.org/W2155337985","https://openalex.org/W2158145254","https://openalex.org/W2164575107","https://openalex.org/W2169448366","https://openalex.org/W2591221953","https://openalex.org/W2592675881","https://openalex.org/W2747172592","https://openalex.org/W2761143270","https://openalex.org/W2807254784","https://openalex.org/W2890904573","https://openalex.org/W2904422212","https://openalex.org/W2907896586","https://openalex.org/W2910151678","https://openalex.org/W2991371150","https://openalex.org/W3009586947","https://openalex.org/W3011782672","https://openalex.org/W3024601918","https://openalex.org/W3036156867","https://openalex.org/W3090236267","https://openalex.org/W3121118331","https://openalex.org/W3129032694","https://openalex.org/W3156013968","https://openalex.org/W3188960515","https://openalex.org/W4214843456","https://openalex.org/W4283214325","https://openalex.org/W4376133339","https://openalex.org/W4386702958","https://openalex.org/W4401553317","https://openalex.org/W4405778912"],"related_works":["https://openalex.org/W2294565841","https://openalex.org/W2045352797","https://openalex.org/W2280685604","https://openalex.org/W3204276839","https://openalex.org/W2106268159","https://openalex.org/W2036845782","https://openalex.org/W4200326729","https://openalex.org/W2770783682","https://openalex.org/W202540107","https://openalex.org/W4229671472"],"abstract_inverted_index":{"The":[0,102,120,147],"under-actuated":[1],"tendon-driven":[2],"mechanism":[3],"enables":[4,152],"the":[5,15,29,96,114,124,133,137,153,160],"development":[6],"of":[7,104],"light":[8],"and":[9,25,37,44,57,88,135],"compact":[10,165],"hand-wearable":[11,118],"robots":[12,16,69],"by":[13],"allowing":[14],"to":[17,61,94,113,140,156],"assist":[18],"in":[19,163],"adaptive":[20],"motions.":[21],"However,":[22],"tendon":[23,30,126,149],"friction":[24,122],"elongation":[26],"accumulate":[27],"as":[28],"passes":[31],"through":[32,110],"many":[33],"joints,":[34],"causing":[35],"hysteresis":[36,131],"detrimental":[38],"effects":[39],"on":[40],"tension":[41,154],"distribution,":[42],"reliability,":[43,86],"efficiency.":[45],"To":[46],"mitigate":[47],"these":[48],"issues,":[49],"we":[50],"present":[51],"a":[52,58,116,144,164],"Dual-Tendon":[53],"routing":[54,150],"(DTR)":[55],"method":[56],"novel":[59],"approach":[60],"generate":[62],"<inline-formula":[63,72],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[64,73],"xmlns:xlink=\"http://www.w3.org/1999/xlink\"><tex-math":[65,74],"notation=\"LaTeX\">$2^{n+1}-1$</tex-math></inline-formula>":[66],"DTRs":[67],"for":[68],"that":[70],"actuate":[71],"notation=\"LaTeX\">$n$</tex-math></inline-formula>":[75],"fingers.":[76],"This":[77],"letter":[78],"also":[79,151],"introduces":[80],"five":[81],"performance":[82],"factors\u2014adaptability,":[83],"torsional":[84],"balance,":[85],"efficiency,":[87],"transmission":[89],"ratio\u2014that":[90],"can":[91],"be":[92,141,157],"used":[93],"find":[95],"optimal":[97],"routings":[98],"among":[99],"derived":[100],"DTRs.":[101],"effectiveness":[103],"our":[105],"proposed":[106],"framework":[107],"is":[108],"demonstrated":[109],"its":[111],"application":[112],"Exo-Glove,":[115],"soft":[117],"robot.":[119],"reduced":[121],"at":[123,132,159],"flexion":[125],"improves":[127],"under-actuation":[128],"performance,":[129],"reduces":[130],"flexor,":[134],"allows":[136],"active":[138],"extensor":[139],"replaced":[142],"with":[143],"passive":[145],"tendon.":[146],"changed":[148],"sensor":[155],"located":[158],"wearing":[161],"part":[162],"size.":[166]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":2}],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-10-10T00:00:00"}
