{"id":"https://openalex.org/W2126004325","doi":"https://doi.org/10.1109/robio.2009.5420587","title":"Optimized design method of three-axis force sensor for robot fingers","display_name":"Optimized design method of three-axis force sensor for robot fingers","publication_year":2009,"publication_date":"2009-12-01","ids":{"openalex":"https://openalex.org/W2126004325","doi":"https://doi.org/10.1109/robio.2009.5420587","mag":"2126004325"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2009.5420587","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2009.5420587","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":"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/A5108935538","display_name":"Hiroko OSHIMA","orcid":null},"institutions":[{"id":"https://openalex.org/I133984924","display_name":"Doshisha University","ror":"https://ror.org/01fxdkm29","country_code":"JP","type":"education","lineage":["https://openalex.org/I133984924"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Hiroko Oshima","raw_affiliation_strings":["Doshisha University, Kyotanabe, Kyoto, Japan","Doshisha University, Tataramiyakodani 1-3 Kyotanabe city, Kyoto, Japan"],"affiliations":[{"raw_affiliation_string":"Doshisha University, Kyotanabe, Kyoto, Japan","institution_ids":["https://openalex.org/I133984924"]},{"raw_affiliation_string":"Doshisha University, Tataramiyakodani 1-3 Kyotanabe city, Kyoto, Japan","institution_ids":["https://openalex.org/I133984924"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052012326","display_name":"Nobutaka TSUJIUCHI","orcid":null},"institutions":[{"id":"https://openalex.org/I133984924","display_name":"Doshisha University","ror":"https://ror.org/01fxdkm29","country_code":"JP","type":"education","lineage":["https://openalex.org/I133984924"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Nobutaka Tsujiuchi","raw_affiliation_strings":["Faculty of Engineering and Science, Doshisha University, Kyotanabe, Kyoto, Japan","Faculty of Engineering and Science, Doshisha University, Tataramiyakodani 1-3 Kyotanabe city, Kyoto, Japan"],"affiliations":[{"raw_affiliation_string":"Faculty of Engineering and Science, Doshisha University, Kyotanabe, Kyoto, Japan","institution_ids":["https://openalex.org/I133984924"]},{"raw_affiliation_string":"Faculty of Engineering and Science, Doshisha University, Tataramiyakodani 1-3 Kyotanabe city, Kyoto, Japan","institution_ids":["https://openalex.org/I133984924"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038390680","display_name":"Takayuki KOIZUMI","orcid":"https://orcid.org/0000-0001-7066-1793"},"institutions":[{"id":"https://openalex.org/I133984924","display_name":"Doshisha University","ror":"https://ror.org/01fxdkm29","country_code":"JP","type":"education","lineage":["https://openalex.org/I133984924"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Takayuki Koizumi","raw_affiliation_strings":["Faculty of Engineering and Science, Doshisha University, Kyotanabe, Kyoto, Japan","Faculty of Engineering and Science, Doshisha University, Tataramiyakodani 1-3 Kyotanabe city, Kyoto, Japan"],"affiliations":[{"raw_affiliation_string":"Faculty of Engineering and Science, Doshisha University, Kyotanabe, Kyoto, Japan","institution_ids":["https://openalex.org/I133984924"]},{"raw_affiliation_string":"Faculty of Engineering and Science, Doshisha University, Tataramiyakodani 1-3 Kyotanabe city, Kyoto, Japan","institution_ids":["https://openalex.org/I133984924"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101728063","display_name":"Yuichiro Hayashi","orcid":"https://orcid.org/0000-0001-5430-6329"},"institutions":[{"id":"https://openalex.org/I133984924","display_name":"Doshisha University","ror":"https://ror.org/01fxdkm29","country_code":"JP","type":"education","lineage":["https://openalex.org/I133984924"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yuichiro Hayashi","raw_affiliation_strings":["Faculty of Engineering and Science, Doshisha University, Kyotanabe, Kyoto, Japan","Faculty of Engineering and Science, Doshisha University, Tataramiyakodani 1-3 Kyotanabe city, Kyoto, Japan"],"affiliations":[{"raw_affiliation_string":"Faculty of Engineering and Science, Doshisha University, Kyotanabe, Kyoto, Japan","institution_ids":["https://openalex.org/I133984924"]},{"raw_affiliation_string":"Faculty of Engineering and Science, Doshisha University, Tataramiyakodani 1-3 Kyotanabe city, Kyoto, Japan","institution_ids":["https://openalex.org/I133984924"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101926797","display_name":"Akihiko Ito","orcid":"https://orcid.org/0000-0001-5265-0791"},"institutions":[{"id":"https://openalex.org/I66906201","display_name":"University of Yamanashi","ror":"https://ror.org/059x21724","country_code":"JP","type":"education","lineage":["https://openalex.org/I66906201"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Akihito Ito","raw_affiliation_strings":["Faculty of Engineering, University of Yamanashi, Chouhu, Yamanashi, Japan","Faculty of Engineering, University of Yamanashi, Takeda 4-3-11, Chouhu city"],"affiliations":[{"raw_affiliation_string":"Faculty of Engineering, University of Yamanashi, Chouhu, Yamanashi, Japan","institution_ids":["https://openalex.org/I66906201"]},{"raw_affiliation_string":"Faculty of Engineering, University of Yamanashi, Takeda 4-3-11, Chouhu city","institution_ids":["https://openalex.org/I66906201"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5070857829","display_name":"Youtaro Tsuchiya","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Youtaro Tsuchiya","raw_affiliation_strings":["Tagihan, Uji, Kyoto, Japan","Tecgihan, Nishinohata 1-22, Okubosho, Uji city, Kyoto, Japan"],"affiliations":[{"raw_affiliation_string":"Tagihan, Uji, Kyoto, Japan","institution_ids":[]},{"raw_affiliation_string":"Tecgihan, Nishinohata 1-22, Okubosho, Uji city, Kyoto, Japan","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5108935538"],"corresponding_institution_ids":["https://openalex.org/I133984924"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.19853135,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"700","last_page":"705"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11159","display_name":"Manufacturing Process and Optimization","score":0.9889000058174133,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/T11159","display_name":"Manufacturing Process and Optimization","score":0.9889000058174133,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/T11798","display_name":"Optimal Experimental Design Methods","score":0.9768999814987183,"subfield":{"id":"https://openalex.org/subfields/1803","display_name":"Management Science and Operations Research"},"field":{"id":"https://openalex.org/fields/18","display_name":"Decision Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T10848","display_name":"Advanced Multi-Objective Optimization Algorithms","score":0.9731000065803528,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.64107745885849},{"id":"https://openalex.org/keywords/finite-element-method","display_name":"Finite element method","score":0.6021084189414978},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5742670297622681},{"id":"https://openalex.org/keywords/strain-gauge","display_name":"Strain gauge","score":0.5498273372650146},{"id":"https://openalex.org/keywords/quadratic-programming","display_name":"Quadratic programming","score":0.442631334066391},{"id":"https://openalex.org/keywords/measure","display_name":"Measure (data warehouse)","score":0.44015175104141235},{"id":"https://openalex.org/keywords/sequential-quadratic-programming","display_name":"Sequential quadratic programming","score":0.4186720848083496},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3444983959197998},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.33795657753944397},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2834303081035614},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24909427762031555},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.17569950222969055},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.17315202951431274},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.07646319270133972}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.64107745885849},{"id":"https://openalex.org/C135628077","wikidata":"https://www.wikidata.org/wiki/Q220184","display_name":"Finite element method","level":2,"score":0.6021084189414978},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5742670297622681},{"id":"https://openalex.org/C60584519","wikidata":"https://www.wikidata.org/wiki/Q610723","display_name":"Strain gauge","level":2,"score":0.5498273372650146},{"id":"https://openalex.org/C81845259","wikidata":"https://www.wikidata.org/wiki/Q290117","display_name":"Quadratic programming","level":2,"score":0.442631334066391},{"id":"https://openalex.org/C2780009758","wikidata":"https://www.wikidata.org/wiki/Q6804172","display_name":"Measure (data warehouse)","level":2,"score":0.44015175104141235},{"id":"https://openalex.org/C198927703","wikidata":"https://www.wikidata.org/wiki/Q4373881","display_name":"Sequential quadratic programming","level":3,"score":0.4186720848083496},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3444983959197998},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.33795657753944397},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2834303081035614},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24909427762031555},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.17569950222969055},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.17315202951431274},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.07646319270133972},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2009.5420587","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2009.5420587","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":3,"referenced_works":["https://openalex.org/W2040000820","https://openalex.org/W2159458859","https://openalex.org/W2333164759"],"related_works":["https://openalex.org/W4206704743","https://openalex.org/W4313119266","https://openalex.org/W2164807043","https://openalex.org/W2019128690","https://openalex.org/W4231448069","https://openalex.org/W2128461291","https://openalex.org/W2355907103","https://openalex.org/W2270789747","https://openalex.org/W436931041","https://openalex.org/W1495847109"],"abstract_inverted_index":{"A":[0],"structural":[1],"optimization":[2],"method":[3,83,117,124,157],"of":[4,77,91,104,154],"a":[5,69,82,133,135],"three-axis":[6,36,42],"force":[7,37,136],"sensor":[8,49,61,87,137],"for":[9,72],"robot":[10,30,141],"fingers":[11,142],"is":[12,22,50,67,125,138,144,158],"proposed.":[13],"To":[14],"achieve":[15],"dexterous":[16],"hands":[17],"like":[18],"human":[19],"hands,":[20],"it":[21,73],"important":[23],"to":[24,84,127],"measure":[25],"the":[26,59,86,98,101,105,109,114,129,140,148,152,155],"forces":[27,43],"loaded":[28],"on":[29],"fingers.":[31],"We":[32],"have":[33],"been":[34,63],"developing":[35],"sensors":[38],"that":[39,143],"can":[40,53],"detect":[41],"simultaneously":[44],"with":[45],"strain":[46],"gauges.":[47],"This":[48],"small":[51],"and":[52,93,108,118,151],"be":[54],"produced":[55],"inexpensively.":[56],"However,":[57],"because":[58],"proposed":[60,99,156],"has":[62],"newly":[64],"devised,":[65],"there":[66],"neither":[68],"design":[70,90,130],"basis":[71],"nor":[74],"an":[75],"accumulation":[76],"know-how.":[78],"Therefore,":[79],"we":[80],"suggest":[81],"optimize":[85,128],"structure":[88],"using":[89],"experiments":[92],"finite":[94],"element":[95],"analysis.":[96],"In":[97],"method,":[100],"approximated":[102],"expressions":[103],"objective":[106],"function":[107],"constraints":[110],"are":[111],"generated":[112],"by":[113],"response":[115],"surface":[116],"FEA.":[119],"The":[120],"sequential":[121],"quadratic":[122],"programming":[123],"used":[126],"variables.":[131],"As":[132],"result,":[134],"designed":[139],"more":[145],"effective":[146],"than":[147],"prototype":[149],"sensor,":[150],"effectiveness":[153],"verified.":[159]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
