{"id":"https://openalex.org/W2104705273","doi":"https://doi.org/10.1109/robio.2009.5420498","title":"Fingertip stiffness control using antagonistic pairs of polyarticular tendons drive system","display_name":"Fingertip stiffness control using antagonistic pairs of polyarticular tendons drive system","publication_year":2009,"publication_date":"2009-12-01","ids":{"openalex":"https://openalex.org/W2104705273","doi":"https://doi.org/10.1109/robio.2009.5420498","mag":"2104705273"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2009.5420498","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2009.5420498","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5059350653","display_name":"Masahiro Iwaki","orcid":null},"institutions":[{"id":"https://openalex.org/I146399215","display_name":"University of Tsukuba","ror":"https://ror.org/02956yf07","country_code":"JP","type":"education","lineage":["https://openalex.org/I146399215"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masahiro Iwaki","raw_affiliation_strings":["Department of Intelligent Interaction Technologies, University of Tsukuba, Tsukuba, Japan","Department of Intelligent Interaction Technologies, University of Tsukuba, 1-1-1, Tennodai, Tsukuba, 305-8573, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Intelligent Interaction Technologies, University of Tsukuba, Tsukuba, Japan","institution_ids":["https://openalex.org/I146399215"]},{"raw_affiliation_string":"Department of Intelligent Interaction Technologies, University of Tsukuba, 1-1-1, Tennodai, Tsukuba, 305-8573, Japan","institution_ids":["https://openalex.org/I146399215"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067104092","display_name":"Yasuhisa Hasegawa","orcid":"https://orcid.org/0000-0001-9917-098X"},"institutions":[{"id":"https://openalex.org/I146399215","display_name":"University of Tsukuba","ror":"https://ror.org/02956yf07","country_code":"JP","type":"education","lineage":["https://openalex.org/I146399215"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yasuhisa Hasegawa","raw_affiliation_strings":["Graduate School of Systems and Information Engineering, University of Tsukuba, Japan","Graduated School of Systems and Information Engineering, University of Tsukuba#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Systems and Information Engineering, University of Tsukuba, Japan","institution_ids":["https://openalex.org/I146399215"]},{"raw_affiliation_string":"Graduated School of Systems and Information Engineering, University of Tsukuba#TAB#","institution_ids":["https://openalex.org/I146399215"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5039658736","display_name":"Yoshiyuki Sankai","orcid":"https://orcid.org/0000-0002-6345-1541"},"institutions":[{"id":"https://openalex.org/I146399215","display_name":"University of Tsukuba","ror":"https://ror.org/02956yf07","country_code":"JP","type":"education","lineage":["https://openalex.org/I146399215"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yoshiyuki Sankai","raw_affiliation_strings":["Graduate School of Systems and Information Engineering, University of Tsukuba, Japan","Graduated School of Systems and Information Engineering, University of Tsukuba#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Systems and Information Engineering, University of Tsukuba, Japan","institution_ids":["https://openalex.org/I146399215"]},{"raw_affiliation_string":"Graduated School of Systems and Information Engineering, University of Tsukuba#TAB#","institution_ids":["https://openalex.org/I146399215"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I146399215"],"apc_list":null,"apc_paid":null,"fwci":3.3783,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.91853933,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"925","last_page":"930"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.9994999766349792,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9994999766349792,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9993000030517578,"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/T10982","display_name":"Motor Control and Adaptation","score":0.9987999796867371,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.8295625448226929},{"id":"https://openalex.org/keywords/tendon","display_name":"Tendon","score":0.7086951732635498},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6180787086486816},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5320571064949036},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5058571696281433},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4667392671108246},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.44692936539649963},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.41558265686035156},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.40025776624679565},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.3991584777832031},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.354422390460968},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.35209715366363525},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.31006014347076416},{"id":"https://openalex.org/keywords/anatomy","display_name":"Anatomy","score":0.11104458570480347},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.08620104193687439}],"concepts":[{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.8295625448226929},{"id":"https://openalex.org/C2780105995","wikidata":"https://www.wikidata.org/wiki/Q232358","display_name":"Tendon","level":2,"score":0.7086951732635498},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6180787086486816},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5320571064949036},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5058571696281433},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4667392671108246},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.44692936539649963},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.41558265686035156},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.40025776624679565},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.3991584777832031},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.354422390460968},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.35209715366363525},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.31006014347076416},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.11104458570480347},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.08620104193687439},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2009.5420498","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2009.5420498","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":9,"referenced_works":["https://openalex.org/W1421206701","https://openalex.org/W1856925845","https://openalex.org/W1989776767","https://openalex.org/W2057879210","https://openalex.org/W2084224953","https://openalex.org/W2118805535","https://openalex.org/W2159866884","https://openalex.org/W2168180942","https://openalex.org/W6628211819"],"related_works":["https://openalex.org/W585100505","https://openalex.org/W2045352797","https://openalex.org/W2280685604","https://openalex.org/W1993699589","https://openalex.org/W2106268159","https://openalex.org/W2036845782","https://openalex.org/W4200326729","https://openalex.org/W2770783682","https://openalex.org/W202540107","https://openalex.org/W4200089920"],"abstract_inverted_index":{"This":[0,101],"paper":[1],"proposes":[2],"a":[3,15,19,25,33,75,78,98,104,109,147],"tendon":[4,105,120,140],"driven":[5,106,121,141],"system":[6,107,122,142],"with":[7,123],"antagonistic":[8,124],"pairs":[9,125],"of":[10,18,24,46,77,108,118,126],"polyarticular":[11,127],"tendons":[12,128],"to":[13,32,68,146],"simulate":[14],"variable":[16,64],"stiffness":[17,23,65,76,145],"human":[20,79,110,148],"fingertip.":[21],"The":[22,63],"robot":[26],"finger":[27,111],"should":[28],"be":[29,82],"adjusted":[30],"according":[31],"situation":[34],"that":[35,137],"includes":[36],"large":[37],"position":[38],"errors":[39,45],"or":[40,60],"collisions,":[41],"because":[42],"it":[43,90,133],"tolerates":[44],"object":[47],"positions":[48],"and":[49,54,71,112],"dimensions":[50],"in":[51,58,97],"assembly":[52],"task":[53],"absorbs":[55],"collision":[56],"energy":[57],"hitting":[59],"catching":[61],"task.":[62],"therefore":[66],"contributes":[67],"stable":[69],"grasping":[70],"dexterous":[72],"manipulation.":[73],"Besides,":[74],"fingertip":[80],"can":[81],"controlled":[83],"by":[84],"consciously":[85],"contracting":[86],"antagonist":[87],"muscles":[88],"when":[89],"does":[91],"not":[92],"contact":[93],"anything":[94],"such":[95],"as":[96],"preshaping":[99],"phase.":[100],"study":[102],"simplifies":[103],"then":[113],"searches":[114],"feasible":[115],"parameter":[116],"settings":[117],"the":[119,138],"through":[129],"numerical":[130],"simulations.":[131],"Finally":[132],"is":[134],"experimentally":[135],"confirmed":[136],"proposed":[139],"has":[143],"similar":[144],"finger.":[149]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
