{"id":"https://openalex.org/W2292577134","doi":"https://doi.org/10.1109/robio.2015.7419029","title":"Development and optimization of the build-in torque sensor for harmonic drive","display_name":"Development and optimization of the build-in torque sensor for harmonic drive","publication_year":2015,"publication_date":"2015-12-01","ids":{"openalex":"https://openalex.org/W2292577134","doi":"https://doi.org/10.1109/robio.2015.7419029","mag":"2292577134"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2015.7419029","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2015.7419029","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 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/A5101554633","display_name":"Xuezhu Wang","orcid":"https://orcid.org/0000-0003-1417-1030"},"institutions":[{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xuezhu Wang","raw_affiliation_strings":["University of Chinese Academy of Sciences, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070903796","display_name":"Long Cui","orcid":"https://orcid.org/0000-0003-4107-8093"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Long Cui","raw_affiliation_strings":["State Key Laboratory of Robotics, Chinese Academy of Sciences, Shenyang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics, Chinese Academy of Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103622468","display_name":"Hongyi Li","orcid":"https://orcid.org/0009-0004-2579-4684"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongyi Li","raw_affiliation_strings":["State Key Laboratory of Robotics, Chinese Academy of Sciences, Shenyang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics, Chinese Academy of Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102943351","display_name":"Yuechao Wang","orcid":"https://orcid.org/0009-0004-5846-6396"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuechao Wang","raw_affiliation_strings":["State Key Laboratory of Robotics, Chinese Academy of Sciences, Shenyang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics, Chinese Academy of Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"22","issue":null,"first_page":"1774","last_page":"1779"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9948999881744385,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9948999881744385,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.9947999715805054,"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/T11062","display_name":"Gear and Bearing Dynamics Analysis","score":0.9894999861717224,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/harmonic-drive","display_name":"Harmonic drive","score":0.90555340051651},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.8479396104812622},{"id":"https://openalex.org/keywords/strain-gauge","display_name":"Strain gauge","score":0.8148984909057617},{"id":"https://openalex.org/keywords/damping-torque","display_name":"Damping torque","score":0.7173470854759216},{"id":"https://openalex.org/keywords/direct-torque-control","display_name":"Direct torque control","score":0.5661459565162659},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5460623502731323},{"id":"https://openalex.org/keywords/harmonic","display_name":"Harmonic","score":0.49715331196784973},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.48411476612091064},{"id":"https://openalex.org/keywords/stall-torque","display_name":"Stall torque","score":0.4648515284061432},{"id":"https://openalex.org/keywords/finite-element-method","display_name":"Finite element method","score":0.4357256591320038},{"id":"https://openalex.org/keywords/harmonic-analysis","display_name":"Harmonic analysis","score":0.41422000527381897},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3790573477745056},{"id":"https://openalex.org/keywords/electronic-engineering","display_name":"Electronic engineering","score":0.26411008834838867},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.2527664303779602},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.23436421155929565},{"id":"https://openalex.org/keywords/voltage","display_name":"Voltage","score":0.16481700539588928},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.16220319271087646},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.1466904878616333},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11064791679382324},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.09640154242515564},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.06822726130485535}],"concepts":[{"id":"https://openalex.org/C2777105549","wikidata":"https://www.wikidata.org/wiki/Q751500","display_name":"Harmonic drive","level":2,"score":0.90555340051651},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.8479396104812622},{"id":"https://openalex.org/C60584519","wikidata":"https://www.wikidata.org/wiki/Q610723","display_name":"Strain gauge","level":2,"score":0.8148984909057617},{"id":"https://openalex.org/C40226289","wikidata":"https://www.wikidata.org/wiki/Q5212950","display_name":"Damping torque","level":5,"score":0.7173470854759216},{"id":"https://openalex.org/C109871850","wikidata":"https://www.wikidata.org/wiki/Q1227571","display_name":"Direct torque control","level":4,"score":0.5661459565162659},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5460623502731323},{"id":"https://openalex.org/C127934551","wikidata":"https://www.wikidata.org/wiki/Q1148098","display_name":"Harmonic","level":2,"score":0.49715331196784973},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.48411476612091064},{"id":"https://openalex.org/C17348537","wikidata":"https://www.wikidata.org/wiki/Q7597300","display_name":"Stall torque","level":5,"score":0.4648515284061432},{"id":"https://openalex.org/C135628077","wikidata":"https://www.wikidata.org/wiki/Q220184","display_name":"Finite element method","level":2,"score":0.4357256591320038},{"id":"https://openalex.org/C131770355","wikidata":"https://www.wikidata.org/wiki/Q876215","display_name":"Harmonic analysis","level":2,"score":0.41422000527381897},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3790573477745056},{"id":"https://openalex.org/C24326235","wikidata":"https://www.wikidata.org/wiki/Q126095","display_name":"Electronic engineering","level":1,"score":0.26411008834838867},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.2527664303779602},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.23436421155929565},{"id":"https://openalex.org/C165801399","wikidata":"https://www.wikidata.org/wiki/Q25428","display_name":"Voltage","level":2,"score":0.16481700539588928},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.16220319271087646},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.1466904878616333},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11064791679382324},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.09640154242515564},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.06822726130485535},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C80962145","wikidata":"https://www.wikidata.org/wiki/Q207450","display_name":"Induction motor","level":3,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2015.7419029","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2015.7419029","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/17","display_name":"Partnerships for the goals","score":0.5199999809265137}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W1985286812","https://openalex.org/W1997233780","https://openalex.org/W2023514062","https://openalex.org/W2040861318","https://openalex.org/W2056652013","https://openalex.org/W2099915711","https://openalex.org/W2136905281","https://openalex.org/W2139566979","https://openalex.org/W2150024155","https://openalex.org/W2150783677","https://openalex.org/W2154192606","https://openalex.org/W2164956082","https://openalex.org/W2168944337","https://openalex.org/W6675251542"],"related_works":["https://openalex.org/W2114550905","https://openalex.org/W3113939018","https://openalex.org/W2107398868","https://openalex.org/W2362527675","https://openalex.org/W2164275535","https://openalex.org/W2158120472","https://openalex.org/W2348287894","https://openalex.org/W2328640053","https://openalex.org/W2351274206","https://openalex.org/W2129122470"],"abstract_inverted_index":{"The":[0,116],"development":[1],"of":[2,8,17,41,57,62,68,95,110],"human-robot":[3],"cooperation":[4],"and":[5,65,86,123],"the":[6,15,39,42,48,55,69,92,108],"demand":[7],"high-precision":[9],"robot":[10],"control":[11],"have":[12],"increasingly":[13],"spurred":[14],"usage":[16],"joint":[18],"torque":[19,23,74,79,118],"sensors.":[20],"A":[21],"build-in":[22],"sensor":[24],"for":[25,113],"harmonic":[26],"drive":[27],"is":[28,51,81,97,104,121],"researched":[29],"in":[30],"this":[31],"paper,":[32],"which":[33,103],"utilizes":[34],"strain":[35,49,63,94,111],"gauges":[36,64,112],"attached":[37],"to":[38,44,83,106],"surface":[40],"flexspline":[43,96],"measure":[45],"torque.":[46],"As":[47],"signal":[50],"significantly":[52],"affected":[53],"by":[54,99,125],"rotation":[56],"wave":[58],"generator,":[59],"positioning":[60],"error":[61],"uneven":[66],"distribution":[67],"load":[70],"torque,":[71],"a":[72],"new":[73],"sensing":[75,119],"technique":[76,120],"with":[77],"on-line":[78],"estimation":[80],"developed":[82],"eliminate":[84],"disturbance":[85],"achieve":[87],"better":[88],"measurement":[89],"precision.":[90],"Meanwhile,":[91],"dynamic":[93],"obtained":[98],"finite":[100],"element":[101],"method,":[102],"utilized":[105],"optimize":[107],"layout":[109],"lower":[114],"disturbance.":[115],"proposed":[117],"implemented":[122],"verified":[124],"experimental":[126],"results.":[127]},"counts_by_year":[{"year":2018,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}