{"id":"https://openalex.org/W2794014474","doi":"https://doi.org/10.1109/robio.2017.8324734","title":"Concept and mechanism of the tendon actuated versatile debris gripper","display_name":"Concept and mechanism of the tendon actuated versatile debris gripper","publication_year":2017,"publication_date":"2017-12-01","ids":{"openalex":"https://openalex.org/W2794014474","doi":"https://doi.org/10.1109/robio.2017.8324734","mag":"2794014474"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2017.8324734","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2017.8324734","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 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/A5077555903","display_name":"Nobutaka Tanishima","orcid":null},"institutions":[{"id":"https://openalex.org/I2800865746","display_name":"Japan Aerospace Exploration Agency","ror":"https://ror.org/059yhyy33","country_code":"JP","type":"facility","lineage":["https://openalex.org/I2800865746"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Nobutaka Tanishima","raw_affiliation_strings":["Research Unit II, Research and Development Directorate, Japan Aerospace Exploration Agency (JAXA), Ibaraki, JAPAN"],"affiliations":[{"raw_affiliation_string":"Research Unit II, Research and Development Directorate, Japan Aerospace Exploration Agency (JAXA), Ibaraki, JAPAN","institution_ids":["https://openalex.org/I2800865746"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022538157","display_name":"Daichi Hirano","orcid":"https://orcid.org/0000-0001-9886-5982"},"institutions":[{"id":"https://openalex.org/I2800865746","display_name":"Japan Aerospace Exploration Agency","ror":"https://ror.org/059yhyy33","country_code":"JP","type":"facility","lineage":["https://openalex.org/I2800865746"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Daichi Hirano","raw_affiliation_strings":["Research Unit II, Research and Development Directorate, Japan Aerospace Exploration Agency (JAXA), Ibaraki, JAPAN"],"affiliations":[{"raw_affiliation_string":"Research Unit II, Research and Development Directorate, Japan Aerospace Exploration Agency (JAXA), Ibaraki, JAPAN","institution_ids":["https://openalex.org/I2800865746"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080069487","display_name":"Toshimichi Tsumaki","orcid":null},"institutions":[{"id":"https://openalex.org/I2800865746","display_name":"Japan Aerospace Exploration Agency","ror":"https://ror.org/059yhyy33","country_code":"JP","type":"facility","lineage":["https://openalex.org/I2800865746"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Toshimichi Tsumaki","raw_affiliation_strings":["Research Unit II, Research and Development Directorate, Japan Aerospace Exploration Agency (JAXA), Ibaraki, JAPAN"],"affiliations":[{"raw_affiliation_string":"Research Unit II, Research and Development Directorate, Japan Aerospace Exploration Agency (JAXA), Ibaraki, JAPAN","institution_ids":["https://openalex.org/I2800865746"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5113803843","display_name":"Hiroki Kato","orcid":null},"institutions":[{"id":"https://openalex.org/I2800865746","display_name":"Japan Aerospace Exploration Agency","ror":"https://ror.org/059yhyy33","country_code":"JP","type":"facility","lineage":["https://openalex.org/I2800865746"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hiroki Kato","raw_affiliation_strings":["Research Unit II, Research and Development Directorate, Japan Aerospace Exploration Agency (JAXA), Ibaraki, JAPAN"],"affiliations":[{"raw_affiliation_string":"Research Unit II, Research and Development Directorate, Japan Aerospace Exploration Agency (JAXA), Ibaraki, JAPAN","institution_ids":["https://openalex.org/I2800865746"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5077555903"],"corresponding_institution_ids":["https://openalex.org/I2800865746"],"apc_list":null,"apc_paid":null,"fwci":1.0888,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.85233776,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"16","issue":null,"first_page":"2129","last_page":"2135"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11701","display_name":"Space Satellite Systems and Control","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T11701","display_name":"Space Satellite Systems and Control","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T10325","display_name":"Astro and Planetary Science","score":0.9991000294685364,"subfield":{"id":"https://openalex.org/subfields/3103","display_name":"Astronomy and Astrophysics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10406","display_name":"Planetary Science and Exploration","score":0.9973999857902527,"subfield":{"id":"https://openalex.org/subfields/3103","display_name":"Astronomy and Astrophysics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/space-debris","display_name":"Space debris","score":0.7825098037719727},{"id":"https://openalex.org/keywords/payload","display_name":"Payload (computing)","score":0.7119210958480835},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.6972478628158569},{"id":"https://openalex.org/keywords/spacecraft","display_name":"Spacecraft","score":0.6849818229675293},{"id":"https://openalex.org/keywords/boom","display_name":"Boom","score":0.5688502192497253},{"id":"https://openalex.org/keywords/debris","display_name":"Debris","score":0.564789891242981},{"id":"https://openalex.org/keywords/rocket","display_name":"Rocket (weapon)","score":0.5616247653961182},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.5442677736282349},{"id":"https://openalex.org/keywords/nozzle","display_name":"Nozzle","score":0.5247219204902649},{"id":"https://openalex.org/keywords/orbit","display_name":"Orbit (dynamics)","score":0.454891175031662},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4035978317260742},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3922804594039917},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.3600202202796936},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.3261515498161316},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.20457923412322998}],"concepts":[{"id":"https://openalex.org/C18949120","wikidata":"https://www.wikidata.org/wiki/Q275450","display_name":"Space debris","level":3,"score":0.7825098037719727},{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.7119210958480835},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.6972478628158569},{"id":"https://openalex.org/C29829512","wikidata":"https://www.wikidata.org/wiki/Q40218","display_name":"Spacecraft","level":2,"score":0.6849818229675293},{"id":"https://openalex.org/C141441539","wikidata":"https://www.wikidata.org/wiki/Q1970908","display_name":"Boom","level":2,"score":0.5688502192497253},{"id":"https://openalex.org/C2776023875","wikidata":"https://www.wikidata.org/wiki/Q637703","display_name":"Debris","level":2,"score":0.564789891242981},{"id":"https://openalex.org/C187878255","wikidata":"https://www.wikidata.org/wiki/Q2037215","display_name":"Rocket (weapon)","level":2,"score":0.5616247653961182},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.5442677736282349},{"id":"https://openalex.org/C56200935","wikidata":"https://www.wikidata.org/wiki/Q250840","display_name":"Nozzle","level":2,"score":0.5247219204902649},{"id":"https://openalex.org/C196644772","wikidata":"https://www.wikidata.org/wiki/Q3884964","display_name":"Orbit (dynamics)","level":2,"score":0.454891175031662},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4035978317260742},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3922804594039917},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.3600202202796936},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.3261515498161316},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.20457923412322998},{"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/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0},{"id":"https://openalex.org/C87717796","wikidata":"https://www.wikidata.org/wiki/Q146326","display_name":"Environmental engineering","level":1,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2017.8324734","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2017.8324734","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 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":17,"referenced_works":["https://openalex.org/W768267261","https://openalex.org/W1506581498","https://openalex.org/W1601890343","https://openalex.org/W2013858880","https://openalex.org/W2029909232","https://openalex.org/W2059441178","https://openalex.org/W2193339934","https://openalex.org/W2419131857","https://openalex.org/W2507759363","https://openalex.org/W2625797495","https://openalex.org/W2737533681","https://openalex.org/W2743283986","https://openalex.org/W3033811284","https://openalex.org/W6622541491","https://openalex.org/W6630222513","https://openalex.org/W6635949553","https://openalex.org/W6725344550"],"related_works":["https://openalex.org/W2024597437","https://openalex.org/W2587296717","https://openalex.org/W171204578","https://openalex.org/W1621964228","https://openalex.org/W3171469758","https://openalex.org/W2087792991","https://openalex.org/W885382963","https://openalex.org/W2125247431","https://openalex.org/W589139216","https://openalex.org/W4317584132"],"abstract_inverted_index":{"Space":[0],"debris":[1,32,52],"has":[2],"become":[3,31,65],"a":[4,50],"worldwide":[5],"problem":[6],"in":[7,86,109,133,137],"recent":[8],"years.":[9],"The":[10,88,117,139],"upper":[11,25,58],"stages":[12,26],"of":[13,21,27,60,111,125,141],"rocket":[14],"launch":[15],"vehicles":[16],"account":[17],"for":[18,42,123],"almost":[19],"half":[20],"the":[22,28,57,97,100,106,126,130,142,146],"debris.":[23],"Removing":[24],"rockets":[29,61,82],"that":[30,54,64,80],"is":[33,90,121],"very":[34],"effective.":[35],"However,":[36],"these":[37],"spacecrafts":[38,63,84],"are":[39,149],"not":[40],"designed":[41,91],"on-orbit":[43],"capture.":[44],"In":[45],"this":[46],"paper,":[47],"we":[48],"present":[49],"versatile":[51],"gripper":[53,70,89],"can":[55],"capture":[56,73,96],"stage":[59],"and":[62,78,83,103,113,145,151],"debris,":[66],"on":[67,93],"orbit.":[68],"This":[69],"aims":[71],"to":[72,95,128],"Payload":[74],"Attachment":[75],"Ring":[76],"(PAR)":[77],"nozzle":[79,104],"most":[81],"have":[85],"common.":[87],"based":[92],"caging":[94],"PAR":[98],"from":[99,105],"inner":[101],"side,":[102,108],"outer":[107],"case":[110],"position":[112],"attitude":[114],"errors":[115],"existing.":[116],"tendon":[118],"actuated":[119],"system":[120],"selected":[122],"actuation":[124],"gripper,":[127],"reduce":[129],"mass":[131],"property":[132],"considering":[134],"its":[135],"use":[136],"space.":[138],"mechanisms":[140],"extensional":[143],"boom":[144],"rotational":[147],"hand":[148],"proposed,":[150],"verified":[152],"experimentally.":[153]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}