{"id":"https://openalex.org/W7129076353","doi":"https://doi.org/10.1109/lra.2026.3665071","title":"Dual Variable-Radius Drum for Transmission Ratio Linearization and Stroke Enhancement in Twisted String Actuators","display_name":"Dual Variable-Radius Drum for Transmission Ratio Linearization and Stroke Enhancement in Twisted String Actuators","publication_year":2026,"publication_date":"2026-02-16","ids":{"openalex":"https://openalex.org/W7129076353","doi":"https://doi.org/10.1109/lra.2026.3665071"},"language":null,"primary_location":{"id":"doi:10.1109/lra.2026.3665071","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3665071","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/A5045677351","display_name":"Juyeong Seo","orcid":null},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Juyeong Seo","raw_affiliation_strings":["Department of Civil and Environmental Engineering, KAIST, Daejeon, South Korea"],"affiliations":[{"raw_affiliation_string":"Department of Civil and Environmental Engineering, KAIST, Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103185702","display_name":"JaeHyung Jang","orcid":"https://orcid.org/0000-0002-2478-0940"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"JaeHyung Jang","raw_affiliation_strings":["Department of Civil and Environmental Engineering, KAIST, Daejeon, South Korea"],"affiliations":[{"raw_affiliation_string":"Department of Civil and Environmental Engineering, KAIST, Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015076743","display_name":"Seungjoon Baek","orcid":"https://orcid.org/0000-0002-3160-550X"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Seungjoon Baek","raw_affiliation_strings":["Robotics Program, KAIST, Daejeon, South Korea"],"affiliations":[{"raw_affiliation_string":"Robotics Program, KAIST, Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5126161067","display_name":"Jee-Hwan Ryu","orcid":null},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jee-Hwan Ryu","raw_affiliation_strings":["Department of Civil and Environmental Engineering, KAIST, Daejeon, South Korea"],"affiliations":[{"raw_affiliation_string":"Department of Civil and Environmental Engineering, KAIST, Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5045677351"],"corresponding_institution_ids":["https://openalex.org/I157485424"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.45905357,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"11","issue":"4","first_page":"4529","last_page":"4536"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.7433000206947327,"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":0.7433000206947327,"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/T11525","display_name":"Piezoelectric Actuators and Control","score":0.06880000233650208,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.041999999433755875,"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/actuator","display_name":"Actuator","score":0.7379999756813049},{"id":"https://openalex.org/keywords/linearization","display_name":"Linearization","score":0.5703999996185303},{"id":"https://openalex.org/keywords/transmission","display_name":"Transmission (telecommunications)","score":0.5555999875068665},{"id":"https://openalex.org/keywords/drum","display_name":"Drum","score":0.5184999704360962},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.5145000219345093},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5128999948501587},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4887999892234802},{"id":"https://openalex.org/keywords/string","display_name":"String (physics)","score":0.4661000072956085},{"id":"https://openalex.org/keywords/stroke","display_name":"Stroke (engine)","score":0.460999995470047}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7379999756813049},{"id":"https://openalex.org/C11210021","wikidata":"https://www.wikidata.org/wiki/Q1520713","display_name":"Linearization","level":3,"score":0.5703999996185303},{"id":"https://openalex.org/C761482","wikidata":"https://www.wikidata.org/wiki/Q118093","display_name":"Transmission (telecommunications)","level":2,"score":0.5555999875068665},{"id":"https://openalex.org/C175845324","wikidata":"https://www.wikidata.org/wiki/Q2738285","display_name":"Drum","level":2,"score":0.5184999704360962},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.5145000219345093},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5128999948501587},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49129998683929443},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4887999892234802},{"id":"https://openalex.org/C157486923","wikidata":"https://www.wikidata.org/wiki/Q1376436","display_name":"String (physics)","level":2,"score":0.4661000072956085},{"id":"https://openalex.org/C2780645631","wikidata":"https://www.wikidata.org/wiki/Q671554","display_name":"Stroke (engine)","level":2,"score":0.460999995470047},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.445499986410141},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.4318000078201294},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4049000144004822},{"id":"https://openalex.org/C82558694","wikidata":"https://www.wikidata.org/wiki/Q1545619","display_name":"Aspect ratio (aeronautics)","level":2,"score":0.3702999949455261},{"id":"https://openalex.org/C171937826","wikidata":"https://www.wikidata.org/wiki/Q48378","display_name":"Pulley","level":2,"score":0.34619998931884766},{"id":"https://openalex.org/C2777027219","wikidata":"https://www.wikidata.org/wiki/Q1284190","display_name":"Constant (computer programming)","level":2,"score":0.32670000195503235},{"id":"https://openalex.org/C2777210771","wikidata":"https://www.wikidata.org/wiki/Q4927124","display_name":"Block (permutation group theory)","level":2,"score":0.3190999925136566},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.31839999556541443},{"id":"https://openalex.org/C2780980858","wikidata":"https://www.wikidata.org/wiki/Q110022","display_name":"Dual (grammatical number)","level":2,"score":0.3084999918937683},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.29670000076293945},{"id":"https://openalex.org/C1486788","wikidata":"https://www.wikidata.org/wiki/Q1425051","display_name":"Linear actuator","level":3,"score":0.2957000136375427},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.2948000133037567},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.2648000121116638},{"id":"https://openalex.org/C41608201","wikidata":"https://www.wikidata.org/wiki/Q980509","display_name":"Embedding","level":2,"score":0.263700008392334},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.2554999887943268},{"id":"https://openalex.org/C24326235","wikidata":"https://www.wikidata.org/wiki/Q126095","display_name":"Electronic engineering","level":1,"score":0.250900000333786},{"id":"https://openalex.org/C20556612","wikidata":"https://www.wikidata.org/wiki/Q4469374","display_name":"Volume (thermodynamics)","level":2,"score":0.2502000033855438}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2026.3665071","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3665071","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":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1991761189","https://openalex.org/W2024907472","https://openalex.org/W2305725148","https://openalex.org/W2306179146","https://openalex.org/W2511416341","https://openalex.org/W2528203311","https://openalex.org/W2566790534","https://openalex.org/W2792264719","https://openalex.org/W2900438029","https://openalex.org/W2957333344","https://openalex.org/W2960151612","https://openalex.org/W2996650081","https://openalex.org/W3090528082","https://openalex.org/W3114694914","https://openalex.org/W3121118331","https://openalex.org/W4210596490","https://openalex.org/W4376639429","https://openalex.org/W4396712929"],"related_works":[],"abstract_inverted_index":{"Twisted":[0],"string":[1],"actuators":[2,8],"(TSAs)":[3],"have":[4],"emerged":[5],"as":[6,52,89],"promising":[7],"in":[9],"robotics":[10],"owing":[11],"to":[12,29,86,97,108,136],"their":[13,30,53],"compliant,":[14],"lightweight":[15],"nature,":[16],"and":[17,34,74,83,105,153,172,184],"high":[18],"transmission":[19,37,159],"ratios.":[20],"However,":[21],"practical":[22],"utilization":[23],"of":[24,180],"TSAs":[25],"remains":[26],"limited":[27,185],"due":[28],"restricted":[31],"stroke":[32,60,131],"length":[33],"intrinsically":[35],"nonlinear":[36,182],"ratio":[38,160],"(TR).":[39],"While":[40],"variable-radius":[41,70],"pulleys":[42],"(VRPs)":[43],"can":[44],"mitigate":[45],"these":[46],"issues,":[47],"they":[48],"exhibit":[49],"poor":[50],"scalability":[51,82],"volume":[54],"grows":[55],"disproportionately":[56],"with":[57,116,163],"the":[58,68],"required":[59],"or":[61],"compensation":[62],"TR":[63,183],"range.":[64],"This":[65,166],"paper":[66],"proposes":[67],"dual":[69],"drum":[71],"TSA":[72,111,138],"(DVRD-TSA)":[73],"mathematically":[75],"proves":[76],"that":[77,123,175],"its":[78,156],"architecture":[79],"offers":[80],"superior":[81],"compactness":[84],"compared":[85,106,135],"existing":[87],"mechanisms":[88],"performance":[90],"demands":[91],"increase.":[92],"For":[93],"a":[94,103,109,127,144,169,190],"baseline":[95],"comparison":[96],"validate":[98],"our":[99,124],"model,":[100],"we":[101],"fabricated":[102],"prototype":[104],"it":[107],"conventional":[110,137],"under":[112],"constant":[113],"load":[114],"conditions":[115],"identical":[117],"initial":[118],"length.":[119],"The":[120],"experiment":[121],"confirmed":[122],"DVRD-TSA":[125],"delivers":[126],"substantially":[128],"larger":[129],"linear":[130],"(210.3":[132],"mm,":[133,140],"72.5%)":[134],"(85.3":[139],"29.4%),":[141],"while":[142],"maintaining":[143],"comparable":[145],"peak":[146],"torque":[147],"(25.82":[148],"Nmm":[149],"vs.":[150],"24.21":[151],"Nmm),":[152],"successfully":[154],"tracks":[155],"target":[157],"near-constant":[158],"(1.475":[161],"rd/mm)":[162],"low":[164],"error.":[165],"work":[167],"presents":[168],"compact,":[170],"passive,":[171],"scalable":[173],"solution":[174],"overcomes":[176],"two":[177],"major":[178],"drawbacks":[179],"TSAs,":[181],"stroke,":[186],"thereby":[187],"making":[188],"them":[189],"more":[191],"compelling":[192],"option":[193],"for":[194],"robotic":[195],"applications.":[196]},"counts_by_year":[],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2026-02-17T00:00:00"}
