{"id":"https://openalex.org/W4416664368","doi":"https://doi.org/10.1109/lra.2025.3632606","title":"A Light-Weight Cable-Driven Anthropomorphic Manipulator: Decoupling Design, Kinematics Modeling and Stiffness Analysis","display_name":"A Light-Weight Cable-Driven Anthropomorphic Manipulator: Decoupling Design, Kinematics Modeling and Stiffness Analysis","publication_year":2025,"publication_date":"2025-11-14","ids":{"openalex":"https://openalex.org/W4416664368","doi":"https://doi.org/10.1109/lra.2025.3632606"},"language":null,"primary_location":{"id":"doi:10.1109/lra.2025.3632606","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3632606","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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/A5019936956","display_name":"Lei Yan","orcid":"https://orcid.org/0000-0003-1493-7147"},"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":"Lei Yan","raw_affiliation_strings":["School of Robotics and Advanced Manufacture, Harbin Institute of Technology, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0003-1493-7147","affiliations":[{"raw_affiliation_string":"School of Robotics and Advanced Manufacture, Harbin Institute of Technology, Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109179073","display_name":"Zhenxing Zheng","orcid":"https://orcid.org/0009-0003-0076-2275"},"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":"Ziye Zheng","raw_affiliation_strings":["School of Robotics and Advanced Manufacture, Harbin Institute of Technology, Shenzhen, China"],"raw_orcid":"https://orcid.org/0009-0003-0076-2275","affiliations":[{"raw_affiliation_string":"School of Robotics and Advanced Manufacture, Harbin Institute of Technology, Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Bowen Zhou","orcid":"https://orcid.org/0009-0004-3414-6267"},"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":"Bowen Zhou","raw_affiliation_strings":["School of Robotics and Advanced Manufacture, Harbin Institute of Technology, Shenzhen, China"],"raw_orcid":"https://orcid.org/0009-0004-3414-6267","affiliations":[{"raw_affiliation_string":"School of Robotics and Advanced Manufacture, Harbin Institute of Technology, Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113632532","display_name":"Ping Xia","orcid":"https://orcid.org/0009-0009-1451-2895"},"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":"Pengfei Xia","raw_affiliation_strings":["School of Robotics and Advanced Manufacture, Harbin Institute of Technology, Shenzhen, China"],"raw_orcid":"https://orcid.org/0009-0009-1451-2895","affiliations":[{"raw_affiliation_string":"School of Robotics and Advanced Manufacture, Harbin Institute of Technology, Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5035195155","display_name":"Wenfu Xu","orcid":"https://orcid.org/0000-0001-8218-6061"},"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":"Wenfu Xu","raw_affiliation_strings":["School of Robotics and Advanced Manufacture, Harbin Institute of Technology, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0001-8218-6061","affiliations":[{"raw_affiliation_string":"School of Robotics and Advanced Manufacture, Harbin Institute of Technology, Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I204983213"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.23487359,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"11","issue":"1","first_page":"530","last_page":"537"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.5054000020027161,"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":0.5054000020027161,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.15150000154972076,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.10809999704360962,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7620000243186951},{"id":"https://openalex.org/keywords/decoupling","display_name":"Decoupling (probability)","score":0.6995999813079834},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6725999712944031},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6256999969482422},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.5450999736785889},{"id":"https://openalex.org/keywords/payload","display_name":"Payload (computing)","score":0.5146999955177307},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.4749999940395355},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.3596000075340271},{"id":"https://openalex.org/keywords/forward-kinematics","display_name":"Forward kinematics","score":0.3440999984741211}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7620000243186951},{"id":"https://openalex.org/C205606062","wikidata":"https://www.wikidata.org/wiki/Q5249645","display_name":"Decoupling (probability)","level":2,"score":0.6995999813079834},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6725999712944031},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6256999969482422},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.5450999736785889},{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.5146999955177307},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.4749999940395355},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4207000136375427},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.41850000619888306},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.3596000075340271},{"id":"https://openalex.org/C160970401","wikidata":"https://www.wikidata.org/wiki/Q1423222","display_name":"Forward kinematics","level":4,"score":0.3440999984741211},{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.3407000005245209},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.3278000056743622},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.31049999594688416},{"id":"https://openalex.org/C62837456","wikidata":"https://www.wikidata.org/wiki/Q678308","display_name":"Kinematic chain","level":3,"score":0.30480000376701355},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.30309998989105225},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.3009999990463257},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.29789999127388},{"id":"https://openalex.org/C134222618","wikidata":"https://www.wikidata.org/wiki/Q2713132","display_name":"Mass distribution","level":3,"score":0.2944999933242798},{"id":"https://openalex.org/C2779797317","wikidata":"https://www.wikidata.org/wiki/Q906997","display_name":"Plunger","level":2,"score":0.2847000062465668},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.2800999879837036},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.2793999910354614},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.27900001406669617},{"id":"https://openalex.org/C5643039","wikidata":"https://www.wikidata.org/wiki/Q3819341","display_name":"Revolute joint","level":3,"score":0.26759999990463257},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.26510000228881836},{"id":"https://openalex.org/C122041747","wikidata":"https://www.wikidata.org/wiki/Q838611","display_name":"Ball (mathematics)","level":2,"score":0.2533999979496002}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3632606","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3632606","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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/G4753184890","display_name":null,"funder_award_id":"2025A1515010180","funder_id":"https://openalex.org/F4320337111","funder_display_name":"Basic and Applied Basic Research Foundation of Guangdong Province"}],"funders":[{"id":"https://openalex.org/F4320337111","display_name":"Basic and Applied Basic Research Foundation of Guangdong Province","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1966869906","https://openalex.org/W1972048784","https://openalex.org/W1976270646","https://openalex.org/W1978360037","https://openalex.org/W2018020788","https://openalex.org/W2078962607","https://openalex.org/W2087999934","https://openalex.org/W2217152720","https://openalex.org/W2614975689","https://openalex.org/W2615926487","https://openalex.org/W2747172592","https://openalex.org/W2803302411","https://openalex.org/W2906695929","https://openalex.org/W2909089990","https://openalex.org/W2909772305","https://openalex.org/W2910324469","https://openalex.org/W2954862597","https://openalex.org/W3094081872","https://openalex.org/W3111083025","https://openalex.org/W3118744054","https://openalex.org/W4210722620","https://openalex.org/W4321612058","https://openalex.org/W4383066146","https://openalex.org/W4392251596","https://openalex.org/W4392397258","https://openalex.org/W4393139803","https://openalex.org/W4394698817","https://openalex.org/W4400111033"],"related_works":[],"abstract_inverted_index":{"Beyond":[0],"pick-place":[1],"and":[2,13,35,87,140,153,174,191],"quasi-static":[3],"manipulation,":[4],"robots":[5],"are":[6,65,159,194],"increasingly":[7],"expected":[8],"to":[9,84,95,99,171,197],"perform":[10],"more":[11],"interactive":[12],"dynamic":[14],"tasks":[15],"in":[16],"our":[17],"daily":[18],"life.":[19],"However,":[20],"it":[21],"is":[22],"still":[23],"very":[24],"challenging":[25],"for":[26],"the":[27,40,55,69,76,85,88,96,100,104,111,151,157,172,199],"traditional":[28],"manipulator":[29,52],"because":[30],"of":[31,61,71,79,91,114,124,144,156,166,201],"its":[32],"high":[33],"stiffness":[34,154],"large":[36],"mass/inertia.":[37],"To":[38],"address":[39],"above":[41],"issues,":[42],"this":[43],"paper":[44],"presents":[45],"a":[46,107,121,130,141],"7":[47],"DOF":[48],"light-weight":[49],"cable-driven":[50,101],"anthropomorphic":[51],"(CDAM)":[53],"with":[54],"following":[56],"characteristics.":[57],"First,":[58],"three":[59],"kinds":[60],"cable":[62],"decoupling":[63,102,173,183],"mechanisms":[64],"designed":[66],"based":[67],"on":[68],"principle":[70],"movable":[72],"pulley,":[73],"which":[74],"enables":[75],"actuator":[77,89],"distribution":[78,90],"shoulder,":[80],"elbow":[81],"joints":[82],"close":[83,94],"base":[86],"wrist":[92],"joint":[93],"elbow.":[97],"Owing":[98],"design,":[103],"CDAM":[105,158],"has":[106],"overall":[108],"mass":[109],"(without":[110],"fixed":[112],"base)":[113],"only":[115],"5.5":[116],"<inline-formula":[117,126,136,146],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[118,127,137,147],"xmlns:xlink=\"http://www.w3.org/1999/xlink\"><tex-math":[119,128,138,148],"notation=\"LaTeX\">$kg$</tex-math></inline-formula>,":[120],"maximum":[122,131,142],"speed":[123,192],"7.2":[125],"notation=\"LaTeX\">$m/s$</tex-math></inline-formula>,":[129],"end":[132],"acceleration":[133],"around":[134],"31":[135],"notation=\"LaTeX\">$m/s^{2}$</tex-math></inline-formula>":[139],"payload":[143,190],"4":[145],"notation=\"LaTeX\">$kg$</tex-math></inline-formula>.":[149],"Furthermore,":[150],"kinematics":[152,168],"model":[155],"established,":[160],"while":[161],"an":[162],"efficient":[163],"analytical":[164],"solution":[165],"inverse":[167],"exists":[169],"owing":[170],"compact":[175],"sphere-revolute-sphere":[176],"(SRS)":[177],"configuration":[178],"design.":[179],"Several":[180],"experiments,":[181],"including":[182],"accuracy,":[184,186],"positioning":[185],"repeatability,":[187],"trajectory":[188],"tracking,":[189],"tests,":[193],"carried":[195],"out":[196],"validate":[198],"performance":[200],"CDAM.":[202]},"counts_by_year":[],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-11-14T00:00:00"}