{"id":"https://openalex.org/W4317382682","doi":"https://doi.org/10.1109/robio55434.2022.10011725","title":"Kinematic and Static Analyses of Tendon-driven Surgical Robots with Lockable Joints","display_name":"Kinematic and Static Analyses of Tendon-driven Surgical Robots with Lockable Joints","publication_year":2022,"publication_date":"2022-12-05","ids":{"openalex":"https://openalex.org/W4317382682","doi":"https://doi.org/10.1109/robio55434.2022.10011725"},"language":"en","primary_location":{"id":"doi:10.1109/robio55434.2022.10011725","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio55434.2022.10011725","pdf_url":null,"source":{"id":"https://openalex.org/S4363607789","display_name":"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 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/A5019486176","display_name":"Batao Lin","orcid":null},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Batao Lin","raw_affiliation_strings":["Harbin Institute of Technology (Shenzhen),School of Mechanical Engineering and Automation,Shenzhen,China,528400"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology (Shenzhen),School of Mechanical Engineering and Automation,Shenzhen,China,528400","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035368566","display_name":"Tinghua Zhang","orcid":"https://orcid.org/0000-0001-8559-4458"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tinghua Zhang","raw_affiliation_strings":["Harbin Institute of Technology (Shenzhen),School of Mechanical Engineering and Automation,Shenzhen,China,528400"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology (Shenzhen),School of Mechanical Engineering and Automation,Shenzhen,China,528400","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100731554","display_name":"Shuang Song","orcid":"https://orcid.org/0000-0002-3490-9752"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuang Song","raw_affiliation_strings":["Harbin Institute of Technology (Shenzhen),School of Mechanical Engineering and Automation,Shenzhen,China,528400"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology (Shenzhen),School of Mechanical Engineering and Automation,Shenzhen,China,528400","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048709541","display_name":"Jiaole Wang","orcid":"https://orcid.org/0000-0002-0941-8003"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiaole Wang","raw_affiliation_strings":["Harbin Institute of Technology (Shenzhen),School of Mechanical Engineering and Automation,Shenzhen,China,528400"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology (Shenzhen),School of Mechanical Engineering and Automation,Shenzhen,China,528400","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I204983213"],"apc_list":null,"apc_paid":null,"fwci":0.4891,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.65888089,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"259","last_page":"265"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","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/T10868","display_name":"Soft Robotics and Applications","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/T10653","display_name":"Robot Manipulation and Learning","score":0.9919000267982483,"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/T11301","display_name":"Advanced Surface Polishing Techniques","score":0.9743000268936157,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7433810830116272},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7314232587814331},{"id":"https://openalex.org/keywords/statics","display_name":"Statics","score":0.6574715971946716},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.6189635396003723},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.5801297426223755},{"id":"https://openalex.org/keywords/robot-calibration","display_name":"Robot calibration","score":0.5733331441879272},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4809971749782562},{"id":"https://openalex.org/keywords/tendon","display_name":"Tendon","score":0.47158920764923096},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3527483344078064},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3492216467857361},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3079879879951477},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.16976085305213928},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1559523046016693},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.07478174567222595},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.06670808792114258}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7433810830116272},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7314232587814331},{"id":"https://openalex.org/C35441770","wikidata":"https://www.wikidata.org/wiki/Q169019","display_name":"Statics","level":2,"score":0.6574715971946716},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.6189635396003723},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.5801297426223755},{"id":"https://openalex.org/C192299074","wikidata":"https://www.wikidata.org/wiki/Q2160034","display_name":"Robot calibration","level":5,"score":0.5733331441879272},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4809971749782562},{"id":"https://openalex.org/C2780105995","wikidata":"https://www.wikidata.org/wiki/Q232358","display_name":"Tendon","level":2,"score":0.47158920764923096},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3527483344078064},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3492216467857361},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3079879879951477},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.16976085305213928},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1559523046016693},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.07478174567222595},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.06670808792114258},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio55434.2022.10011725","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio55434.2022.10011725","pdf_url":null,"source":{"id":"https://openalex.org/S4363607789","display_name":"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1601667748","https://openalex.org/W1976354053","https://openalex.org/W2017544813","https://openalex.org/W2053614949","https://openalex.org/W2070225085","https://openalex.org/W2101667962","https://openalex.org/W2121744551","https://openalex.org/W2129918473","https://openalex.org/W2131150943","https://openalex.org/W2142271163","https://openalex.org/W2148365664","https://openalex.org/W2184993170","https://openalex.org/W2284390012","https://openalex.org/W2553241245","https://openalex.org/W2618733545","https://openalex.org/W2728251804","https://openalex.org/W2738226159","https://openalex.org/W2816488237","https://openalex.org/W2909729638","https://openalex.org/W3094186510","https://openalex.org/W3165472471","https://openalex.org/W4205621683"],"related_works":["https://openalex.org/W2048576502","https://openalex.org/W4205370188","https://openalex.org/W2033943413","https://openalex.org/W2157600580","https://openalex.org/W2158374453","https://openalex.org/W2076290979","https://openalex.org/W2792156965","https://openalex.org/W2771857660","https://openalex.org/W2106617478","https://openalex.org/W2142955042"],"abstract_inverted_index":{"With":[0,104],"large":[1],"workspace":[2],"and":[3,29,37,90],"slim":[4],"body,":[5],"tendon-driven":[6,19,41],"surgical":[7],"robots":[8,20],"are":[9],"widely":[10],"studied":[11],"for":[12,18],"minimally-invasive":[13],"surgery.":[14],"Current":[15],"research":[16],"trend":[17],"includes":[21],"more":[22],"advanced":[23],"functions":[24],"such":[25],"as":[26],"variable":[27],"stiffness":[28],"lockable":[30,44],"joint.":[31],"This":[32],"paper":[33],"analyzes":[34],"the":[35,40,56,61,63,66,76,80,99,111,114],"kinematics":[36,64],"statics":[38],"of":[39,60,65,79,113],"robot":[42,67,73,81,115],"with":[43,70],"joints":[45],"which":[46,82],"we":[47,107],"proposed":[48],"in":[49],"our":[50],"previous":[51],"work.":[52],"We":[53],"first":[54],"introduce":[55],"joint":[57],"locking":[58],"function":[59],"robot,":[62],"is":[68,83,88,119],"analyzed":[69],"three":[71],"representative":[72],"states.":[74],"Then":[75],"static":[77],"model":[78,100],"based":[84],"on":[85],"Euler-Bernoulli":[86],"equation":[87],"derived":[89],"validated":[91],"by":[92],"experiments.":[93],"The":[94],"experimental":[95],"results":[96],"show":[97],"that":[98],"has":[101],"high":[102],"accuracy.":[103],"this":[105],"model,":[106],"can":[108],"accurately":[109],"predict":[110],"deformation":[112],"when":[116],"external":[117],"force":[118],"applied.":[120]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
