{"id":"https://openalex.org/W4317383346","doi":"https://doi.org/10.1109/robio55434.2022.10012009","title":"Design and analysis of cable-driven robotic arm with variable stiffness modular joint","display_name":"Design and analysis of cable-driven robotic arm with variable stiffness modular joint","publication_year":2022,"publication_date":"2022-12-05","ids":{"openalex":"https://openalex.org/W4317383346","doi":"https://doi.org/10.1109/robio55434.2022.10012009"},"language":"en","primary_location":{"id":"doi:10.1109/robio55434.2022.10012009","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/robio55434.2022.10012009","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":"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/A5111037933","display_name":"Jianyin Tang","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Jianyin Tang","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100569439","display_name":"Tao Hong","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hong Tao","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004976847","display_name":"Xinhan Zhuang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xinhan Zhuang","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100349981","display_name":"Cheng Yang","orcid":"https://orcid.org/0000-0002-8087-3367"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yang Cheng","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100568783","display_name":"Hang Xiao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hang Xiao","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100440735","display_name":"Kun Xu","orcid":"https://orcid.org/0000-0001-6267-2548"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kun Xu","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5059209683","display_name":"Xilun Ding","orcid":"https://orcid.org/0000-0002-9752-3937"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xilun Ding","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5111037933"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.642,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.67016492,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1843","last_page":"1848"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9998000264167786,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9998000264167786,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9904000163078308,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9897000193595886,"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/robotic-arm","display_name":"Robotic arm","score":0.7604248523712158},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.6812512874603271},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.6780045032501221},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.6046022772789001},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5848800539970398},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5706367492675781},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5579765439033508},{"id":"https://openalex.org/keywords/joint-stiffness","display_name":"Joint stiffness","score":0.5301559567451477},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.47248902916908264},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.438407838344574},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4176272749900818},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.39825356006622314},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.24966102838516235},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.16284871101379395},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12027108669281006},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08820381760597229},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.0647137463092804}],"concepts":[{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.7604248523712158},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.6812512874603271},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.6780045032501221},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.6046022772789001},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5848800539970398},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5706367492675781},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5579765439033508},{"id":"https://openalex.org/C2781415944","wikidata":"https://www.wikidata.org/wiki/Q559210","display_name":"Joint stiffness","level":3,"score":0.5301559567451477},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.47248902916908264},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.438407838344574},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4176272749900818},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.39825356006622314},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.24966102838516235},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.16284871101379395},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12027108669281006},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08820381760597229},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0647137463092804},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio55434.2022.10012009","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/robio55434.2022.10012009","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":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W2008342119","https://openalex.org/W2049268291","https://openalex.org/W2073136132","https://openalex.org/W2096003909","https://openalex.org/W2108154420","https://openalex.org/W2111253117","https://openalex.org/W2128137193","https://openalex.org/W2129936198","https://openalex.org/W2154200048","https://openalex.org/W2169100281","https://openalex.org/W2333868129","https://openalex.org/W2467303390","https://openalex.org/W2902682211","https://openalex.org/W2980482372","https://openalex.org/W4212918703"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2371519816","https://openalex.org/W2043154226","https://openalex.org/W2369529107","https://openalex.org/W2109948066","https://openalex.org/W2329043542","https://openalex.org/W1678858522","https://openalex.org/W3195090107","https://openalex.org/W2909376268","https://openalex.org/W2123708745"],"abstract_inverted_index":{"This":[0],"paper":[1],"describes":[2],"a":[3,17,39,65,147,158],"robotic":[4,13,19,82,145,153,160],"arm":[5,14,20,31,154,161],"that":[6],"allows":[7],"for":[8],"safe":[9],"human-robot":[10],"interaction.":[11],"The":[12,45,98],"is":[15,51,60,155,168],"essentially":[16],"cable-driven":[18,27,159],"with":[21,89,108,163],"passive":[22,99],"variable":[23,90,104,164],"stiffness":[24,34,46,91,105,110,165],"features;":[25],"the":[26,30,48,55,72,81,95,103,113,141,144,151],"section":[28],"of":[29,47,57,102,143,150],"maintains":[32],"high":[33],"and":[35,67,85,122],"strength":[36],"by":[37],"utilizing":[38],"unique":[40],"lightweight":[41],"tension":[42,73],"amplification":[43,74],"system.":[44],"joints,":[49],"which":[50,76],"intimately":[52],"related":[53],"to":[54,79],"performance":[56],"motion":[58],"control,":[59],"quadratically":[61],"amplified.":[62],"We":[63],"propose":[64],"1-DOF":[66],"3-DOF":[68,96],"joint":[69,107,166],"mechanism":[70],"using":[71],"method,":[75],"we":[77],"combine":[78],"construct":[80],"arm's":[83],"elbow":[84],"wrist.":[86],"Modular":[87],"joints":[88],"are":[92],"used":[93],"in":[94,134],"shoulder.":[97],"compliant":[100],"parts":[101],"modular":[106],"progressive":[109],"could":[111],"make":[112],"actuator":[114],"inherently":[115],"soft":[116],"at":[117,125],"low":[118],"contact":[119],"torque":[120,128],"levels":[121],"significantly":[123],"stiffer":[124],"higher":[126],"interaction":[127],"levels,":[129],"resolving":[130],"common":[131],"design":[132],"trade-offs":[133],"linear":[135],"series":[136],"elastic":[137],"actuators.":[138],"To":[139],"assess":[140],"workspace":[142],"arm,":[146],"kinematic":[148],"model":[149],"7-DOF":[152],"built.":[156],"Finally,":[157],"prototype":[162],"module":[167],"developed.":[169]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":2}],"updated_date":"2026-03-27T14:29:43.386196","created_date":"2025-10-10T00:00:00"}