{"id":"https://openalex.org/W2054760718","doi":"https://doi.org/10.1109/robio.2011.6181553","title":"Biomimetic design of musculoskeletal humanoid knee joint with patella and screw-home mechanism","display_name":"Biomimetic design of musculoskeletal humanoid knee joint with patella and screw-home mechanism","publication_year":2011,"publication_date":"2011-12-01","ids":{"openalex":"https://openalex.org/W2054760718","doi":"https://doi.org/10.1109/robio.2011.6181553","mag":"2054760718"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2011.6181553","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2011.6181553","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Biomimetics","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/A5044477785","display_name":"Yuki Asano","orcid":"https://orcid.org/0000-0003-2115-1417"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Yuki Asano","raw_affiliation_strings":["Graduate School of Information Science and Technology, University of Tokyo, Bunkyo, Tokyo, Japan","Graduate School of Interdisciplinary Information Studies, and Graduate School of Information Science and Technology, University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo, 113-8656, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science and Technology, University of Tokyo, Bunkyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Graduate School of Interdisciplinary Information Studies, and Graduate School of Information Science and Technology, University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo, 113-8656, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056194941","display_name":"Hironori Mizoguchi","orcid":null},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hironori Mizoguchi","raw_affiliation_strings":["Graduate School of Information Science and Technology, University of Tokyo, Bunkyo, Tokyo, Japan","Graduate School of Interdisciplinary Information Studies, and Graduate School of Information Science and Technology, University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo, 113-8656, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science and Technology, University of Tokyo, Bunkyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Graduate School of Interdisciplinary Information Studies, and Graduate School of Information Science and Technology, University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo, 113-8656, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075737110","display_name":"Masahiko Osada","orcid":"https://orcid.org/0000-0003-1552-9428"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masahiko Osada","raw_affiliation_strings":["Graduate School of Information Science and Technology, University of Tokyo, Bunkyo, Tokyo, Japan","Graduate School of Interdisciplinary Information Studies, and Graduate School of Information Science and Technology, University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo, 113-8656, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science and Technology, University of Tokyo, Bunkyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Graduate School of Interdisciplinary Information Studies, and Graduate School of Information Science and Technology, University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo, 113-8656, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063137732","display_name":"Toyotaka Kozuki","orcid":null},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Toyotaka Kozuki","raw_affiliation_strings":["Graduate School of Information Science and Technology, University of Tokyo, Bunkyo, Tokyo, Japan","Graduate School of Interdisciplinary Information Studies, and Graduate School of Information Science and Technology, University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo, 113-8656, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science and Technology, University of Tokyo, Bunkyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Graduate School of Interdisciplinary Information Studies, and Graduate School of Information Science and Technology, University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo, 113-8656, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074513731","display_name":"Junichi Urata","orcid":null},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Junichi Urata","raw_affiliation_strings":["Graduate School of Information Science and Technology, University of Tokyo, Bunkyo, Tokyo, Japan","Graduate School of Interdisciplinary Information Studies, and Graduate School of Information Science and Technology, University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo, 113-8656, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science and Technology, University of Tokyo, Bunkyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Graduate School of Interdisciplinary Information Studies, and Graduate School of Information Science and Technology, University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo, 113-8656, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026592866","display_name":"Tamon Izawa","orcid":null},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tamon Izawa","raw_affiliation_strings":["Graduate School of Information Science and Technology, University of Tokyo, Bunkyo, Tokyo, Japan","Graduate School of Interdisciplinary Information Studies, and Graduate School of Information Science and Technology, University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo, 113-8656, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science and Technology, University of Tokyo, Bunkyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Graduate School of Interdisciplinary Information Studies, and Graduate School of Information Science and Technology, University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo, 113-8656, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100885682","display_name":"Yuto Nakanishi","orcid":null},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yuto Nakanishi","raw_affiliation_strings":["Graduate School of Information Science and Technology, University of Tokyo, Bunkyo, Tokyo, Japan","Graduate School of Interdisciplinary Information Studies, and Graduate School of Information Science and Technology, University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo, 113-8656, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science and Technology, University of Tokyo, Bunkyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Graduate School of Interdisciplinary Information Studies, and Graduate School of Information Science and Technology, University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo, 113-8656, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101836795","display_name":"Kei Okada","orcid":"https://orcid.org/0000-0001-6606-6692"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kei Okada","raw_affiliation_strings":["Graduate School of Information Science and Technology, University of Tokyo, Bunkyo, Tokyo, Japan","Graduate School of Interdisciplinary Information Studies, and Graduate School of Information Science and Technology, University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo, 113-8656, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science and Technology, University of Tokyo, Bunkyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Graduate School of Interdisciplinary Information Studies, and Graduate School of Information Science and Technology, University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo, 113-8656, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5047218430","display_name":"Masayuki Inaba","orcid":"https://orcid.org/0000-0003-1273-1567"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masayuki Inaba","raw_affiliation_strings":["Graduate School of Information Science and Technology, University of Tokyo, Bunkyo, Tokyo, Japan","Graduate School of Interdisciplinary Information Studies, and Graduate School of Information Science and Technology, University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo, 113-8656, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science and Technology, University of Tokyo, Bunkyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Graduate School of Interdisciplinary Information Studies, and Graduate School of Information Science and Technology, University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo, 113-8656, Japan","institution_ids":["https://openalex.org/I74801974"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":9,"corresponding_author_ids":["https://openalex.org/A5044477785"],"corresponding_institution_ids":["https://openalex.org/I74801974"],"apc_list":null,"apc_paid":null,"fwci":0.2099,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.57435154,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"2","issue":null,"first_page":"1813","last_page":"1818"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998999834060669,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9998999834060669,"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":0.9976000189781189,"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":0.9771000146865845,"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/mechanism","display_name":"Mechanism (biology)","score":0.7271857261657715},{"id":"https://openalex.org/keywords/knee-joint","display_name":"Knee Joint","score":0.7176820635795593},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.6352235078811646},{"id":"https://openalex.org/keywords/linkage","display_name":"Linkage (software)","score":0.6192649006843567},{"id":"https://openalex.org/keywords/patella","display_name":"Patella","score":0.6061861515045166},{"id":"https://openalex.org/keywords/controllability","display_name":"Controllability","score":0.570117712020874},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5440711975097656},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.5165807008743286},{"id":"https://openalex.org/keywords/patellofemoral-joint","display_name":"Patellofemoral joint","score":0.46486005187034607},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4523906409740448},{"id":"https://openalex.org/keywords/ankle","display_name":"Ankle","score":0.43437063694000244},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.3463910222053528},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.330544650554657},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2843821048736572},{"id":"https://openalex.org/keywords/orthodontics","display_name":"Orthodontics","score":0.20915919542312622},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.20235636830329895},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1606784462928772},{"id":"https://openalex.org/keywords/anatomy","display_name":"Anatomy","score":0.156816303730011},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.13657155632972717},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1112392246723175},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.06523874402046204},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.0633593499660492}],"concepts":[{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.7271857261657715},{"id":"https://openalex.org/C2908736133","wikidata":"https://www.wikidata.org/wiki/Q37425","display_name":"Knee Joint","level":2,"score":0.7176820635795593},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.6352235078811646},{"id":"https://openalex.org/C31266012","wikidata":"https://www.wikidata.org/wiki/Q6554340","display_name":"Linkage (software)","level":3,"score":0.6192649006843567},{"id":"https://openalex.org/C2780368125","wikidata":"https://www.wikidata.org/wiki/Q229081","display_name":"Patella","level":2,"score":0.6061861515045166},{"id":"https://openalex.org/C48209547","wikidata":"https://www.wikidata.org/wiki/Q1331104","display_name":"Controllability","level":2,"score":0.570117712020874},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5440711975097656},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.5165807008743286},{"id":"https://openalex.org/C3019391314","wikidata":"https://www.wikidata.org/wiki/Q37425","display_name":"Patellofemoral joint","level":3,"score":0.46486005187034607},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4523906409740448},{"id":"https://openalex.org/C2778640784","wikidata":"https://www.wikidata.org/wiki/Q168002","display_name":"Ankle","level":2,"score":0.43437063694000244},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.3463910222053528},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.330544650554657},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2843821048736572},{"id":"https://openalex.org/C29694066","wikidata":"https://www.wikidata.org/wiki/Q118301","display_name":"Orthodontics","level":1,"score":0.20915919542312622},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.20235636830329895},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1606784462928772},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.156816303730011},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.13657155632972717},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1112392246723175},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.06523874402046204},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0633593499660492},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2011.6181553","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2011.6181553","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Biomimetics","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":10,"referenced_works":["https://openalex.org/W1539256618","https://openalex.org/W1558521349","https://openalex.org/W1602339573","https://openalex.org/W2014548877","https://openalex.org/W2061578829","https://openalex.org/W2099589908","https://openalex.org/W2116655729","https://openalex.org/W2135402084","https://openalex.org/W2172023907","https://openalex.org/W6632105829"],"related_works":["https://openalex.org/W2527674270","https://openalex.org/W2122722039","https://openalex.org/W2019203953","https://openalex.org/W3091242668","https://openalex.org/W3096909261","https://openalex.org/W4380089747","https://openalex.org/W2386570546","https://openalex.org/W2466145229","https://openalex.org/W4200322526","https://openalex.org/W2433879187"],"abstract_inverted_index":{"We":[0],"are":[1],"trying":[2],"to":[3],"create":[4],"a":[5,12,20,50],"novel":[6],"musculoskeletal":[7],"humanoid":[8],"robot":[9],"which":[10,24],"has":[11,36],"humanlike":[13,66],"structure.":[14],"In":[15],"this":[16],"paper,":[17],"we":[18,69],"present":[19],"new":[21],"knee":[22,34,59],"joint":[23,35],"is":[25,48,56,63],"usually":[26],"simplified":[27],"in":[28],"robotics":[29],"for":[30,49,57,64],"high":[31],"controllability.":[32],"The":[33],"three":[37,74],"human":[38],"mimetic":[39],"points,":[40],"patella,":[41],"screw-home":[42],"mechanism":[43,55],"and":[44],"four-linked":[45],"linkage.":[46],"Patella":[47],"longer":[51],"moment":[52],"arm.":[53],"Screw-home":[54],"locking":[58],"joint.":[60],"Four-linked":[61],"linkage":[62],"making":[65],"motion.":[67],"Furthermore,":[68],"confirmed":[70],"those":[71],"performances":[72],"by":[73],"experiments.":[75]},"counts_by_year":[{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":2},{"year":2019,"cited_by_count":5},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}