{"id":"https://openalex.org/W2153453761","doi":"https://doi.org/10.1109/robot.2004.1302454","title":"The design, fabrication, and characterization of millimeter scale motors for miniature direct drive robots","display_name":"The design, fabrication, and characterization of millimeter scale motors for miniature direct drive robots","publication_year":2004,"publication_date":"2004-01-01","ids":{"openalex":"https://openalex.org/W2153453761","doi":"https://doi.org/10.1109/robot.2004.1302454","mag":"2153453761"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2004.1302454","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2004.1302454","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004","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/A5110446308","display_name":"Jeremy A. Palmer","orcid":null},"institutions":[{"id":"https://openalex.org/I137902535","display_name":"North Carolina State University","ror":"https://ror.org/04tj63d06","country_code":"US","type":"education","lineage":["https://openalex.org/I137902535"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"J.A. Palmer","raw_affiliation_strings":["Center for Robotics and Intelligent Machines, Department of Electrical and Computer Engineering, North Carolina State University, Raleigh, NC, USA"],"affiliations":[{"raw_affiliation_string":"Center for Robotics and Intelligent Machines, Department of Electrical and Computer Engineering, North Carolina State University, Raleigh, NC, USA","institution_ids":["https://openalex.org/I137902535"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016802316","display_name":"James Mulling","orcid":null},"institutions":[{"id":"https://openalex.org/I137902535","display_name":"North Carolina State University","ror":"https://ror.org/04tj63d06","country_code":"US","type":"education","lineage":["https://openalex.org/I137902535"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"J.F. Mulling","raw_affiliation_strings":["Center for Robotics and Intelligent Machines, Department of Electrical and Computer Engineering, North Carolina State University, Raleigh, NC, USA"],"affiliations":[{"raw_affiliation_string":"Center for Robotics and Intelligent Machines, Department of Electrical and Computer Engineering, North Carolina State University, Raleigh, NC, USA","institution_ids":["https://openalex.org/I137902535"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089152529","display_name":"B. Dessent","orcid":null},"institutions":[{"id":"https://openalex.org/I137902535","display_name":"North Carolina State University","ror":"https://ror.org/04tj63d06","country_code":"US","type":"education","lineage":["https://openalex.org/I137902535"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"B. Dessent","raw_affiliation_strings":["Center for Robotics and Intelligent Machines, Department of Electrical and Computer Engineering, North Carolina State University, Raleigh, NC, USA"],"affiliations":[{"raw_affiliation_string":"Center for Robotics and Intelligent Machines, Department of Electrical and Computer Engineering, North Carolina State University, Raleigh, NC, USA","institution_ids":["https://openalex.org/I137902535"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010498003","display_name":"E. Grant","orcid":null},"institutions":[{"id":"https://openalex.org/I137902535","display_name":"North Carolina State University","ror":"https://ror.org/04tj63d06","country_code":"US","type":"education","lineage":["https://openalex.org/I137902535"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"E. Grant","raw_affiliation_strings":["Center for Robotics and Intelligent Machines, Department of Electrical and Computer Engineering, North Carolina State University, Raleigh, NC, USA"],"affiliations":[{"raw_affiliation_string":"Center for Robotics and Intelligent Machines, Department of Electrical and Computer Engineering, North Carolina State University, Raleigh, NC, USA","institution_ids":["https://openalex.org/I137902535"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072873289","display_name":"Jeffrey W. Eischen","orcid":"https://orcid.org/0000-0002-8387-1746"},"institutions":[{"id":"https://openalex.org/I137902535","display_name":"North Carolina State University","ror":"https://ror.org/04tj63d06","country_code":"US","type":"education","lineage":["https://openalex.org/I137902535"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"J.W. Eischen","raw_affiliation_strings":["Center for Robotics and Intelligent Machines, Department of Electrical and Computer Engineering, North Carolina State University, Raleigh, NC, USA"],"affiliations":[{"raw_affiliation_string":"Center for Robotics and Intelligent Machines, Department of Electrical and Computer Engineering, North Carolina State University, Raleigh, NC, USA","institution_ids":["https://openalex.org/I137902535"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011494045","display_name":"Alexei Gruverman","orcid":"https://orcid.org/0000-0003-0492-2750"},"institutions":[{"id":"https://openalex.org/I137902535","display_name":"North Carolina State University","ror":"https://ror.org/04tj63d06","country_code":"US","type":"education","lineage":["https://openalex.org/I137902535"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"A. Gruverman","raw_affiliation_strings":["Center for Robotics and Intelligent Machines, Department of Electrical and Computer Engineering, North Carolina State University, Raleigh, NC, USA"],"affiliations":[{"raw_affiliation_string":"Center for Robotics and Intelligent Machines, Department of Electrical and Computer Engineering, North Carolina State University, Raleigh, NC, USA","institution_ids":["https://openalex.org/I137902535"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017565283","display_name":"Angus I. Kingon","orcid":"https://orcid.org/0000-0002-0767-2892"},"institutions":[{"id":"https://openalex.org/I137902535","display_name":"North Carolina State University","ror":"https://ror.org/04tj63d06","country_code":"US","type":"education","lineage":["https://openalex.org/I137902535"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"A.I. Kingon","raw_affiliation_strings":["Center for Robotics and Intelligent Machines, Department of Electrical and Computer Engineering, North Carolina State University, Raleigh, NC, USA"],"affiliations":[{"raw_affiliation_string":"Center for Robotics and Intelligent Machines, Department of Electrical and Computer Engineering, North Carolina State University, Raleigh, NC, USA","institution_ids":["https://openalex.org/I137902535"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5074605796","display_name":"Paul D. Franzon","orcid":"https://orcid.org/0000-0002-6048-5770"},"institutions":[{"id":"https://openalex.org/I137902535","display_name":"North Carolina State University","ror":"https://ror.org/04tj63d06","country_code":"US","type":"education","lineage":["https://openalex.org/I137902535"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"P.D. Franzon","raw_affiliation_strings":["Center for Robotics and Intelligent Machines, Department of Electrical and Computer Engineering, North Carolina State University, Raleigh, NC, USA"],"affiliations":[{"raw_affiliation_string":"Center for Robotics and Intelligent Machines, Department of Electrical and Computer Engineering, North Carolina State University, Raleigh, NC, USA","institution_ids":["https://openalex.org/I137902535"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5110446308"],"corresponding_institution_ids":["https://openalex.org/I137902535"],"apc_list":null,"apc_paid":null,"fwci":0.8692,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.81629008,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"3674","issue":null,"first_page":"4668","last_page":"4673 Vol.5"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11525","display_name":"Piezoelectric Actuators and Control","score":1.0,"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"}},"topics":[{"id":"https://openalex.org/T11525","display_name":"Piezoelectric Actuators and Control","score":1.0,"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/T11255","display_name":"Microfluidic and Bio-sensing Technologies","score":0.9891999959945679,"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":0.9747999906539917,"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/unimorph","display_name":"Unimorph","score":0.6947391033172607},{"id":"https://openalex.org/keywords/piezoelectric-motor","display_name":"Piezoelectric motor","score":0.6370257139205933},{"id":"https://openalex.org/keywords/ultrasonic-motor","display_name":"Ultrasonic motor","score":0.5716251134872437},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5713754296302795},{"id":"https://openalex.org/keywords/transducer","display_name":"Transducer","score":0.5464292168617249},{"id":"https://openalex.org/keywords/piezoelectricity","display_name":"Piezoelectricity","score":0.4654812216758728},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.45670413970947266},{"id":"https://openalex.org/keywords/millimeter","display_name":"Millimeter","score":0.44253015518188477},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.42264658212661743},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.3930155038833618},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.3501036465167999},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.3186298608779907},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.120282381772995}],"concepts":[{"id":"https://openalex.org/C2779055265","wikidata":"https://www.wikidata.org/wiki/Q7885234","display_name":"Unimorph","level":3,"score":0.6947391033172607},{"id":"https://openalex.org/C149878695","wikidata":"https://www.wikidata.org/wiki/Q10541502","display_name":"Piezoelectric motor","level":3,"score":0.6370257139205933},{"id":"https://openalex.org/C138794181","wikidata":"https://www.wikidata.org/wiki/Q10541502","display_name":"Ultrasonic motor","level":3,"score":0.5716251134872437},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5713754296302795},{"id":"https://openalex.org/C56318395","wikidata":"https://www.wikidata.org/wiki/Q215928","display_name":"Transducer","level":2,"score":0.5464292168617249},{"id":"https://openalex.org/C100082104","wikidata":"https://www.wikidata.org/wiki/Q183759","display_name":"Piezoelectricity","level":2,"score":0.4654812216758728},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.45670413970947266},{"id":"https://openalex.org/C109792285","wikidata":"https://www.wikidata.org/wiki/Q174789","display_name":"Millimeter","level":2,"score":0.44253015518188477},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.42264658212661743},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.3930155038833618},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.3501036465167999},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.3186298608779907},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.120282381772995},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","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/robot.2004.1302454","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2004.1302454","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.6299999952316284}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W579458022","https://openalex.org/W609081925","https://openalex.org/W646034058","https://openalex.org/W1494412259","https://openalex.org/W1504573265","https://openalex.org/W1533058090","https://openalex.org/W1875351876","https://openalex.org/W1978031389","https://openalex.org/W2003360601","https://openalex.org/W2020781241","https://openalex.org/W2024971733","https://openalex.org/W2036279263","https://openalex.org/W2056798877","https://openalex.org/W2067960932","https://openalex.org/W2069450439","https://openalex.org/W2069803514","https://openalex.org/W2128750173","https://openalex.org/W2171213349","https://openalex.org/W2523730326","https://openalex.org/W4247997333","https://openalex.org/W4252517649","https://openalex.org/W6616822710","https://openalex.org/W6618677753","https://openalex.org/W6629478656","https://openalex.org/W6630142027","https://openalex.org/W6631977990","https://openalex.org/W6679045070","https://openalex.org/W6727224863","https://openalex.org/W6834909312","https://openalex.org/W6837412216","https://openalex.org/W6992718666"],"related_works":["https://openalex.org/W1538801905","https://openalex.org/W2017563458","https://openalex.org/W2027098359","https://openalex.org/W4240743718","https://openalex.org/W2006403447","https://openalex.org/W4241914731","https://openalex.org/W2278945259","https://openalex.org/W2006140691","https://openalex.org/W2068428920","https://openalex.org/W2320399597"],"abstract_inverted_index":{"This":[0,134],"paper":[1],"reports":[2],"on":[3,22,26,50],"research":[4],"into":[5],"miniature,":[6],"direct":[7],"drive,":[8],"high":[9],"force/torque":[10],"motors":[11,24],"to":[12,101],"support":[13],"insect-sized":[14],"mobile":[15],"robotic":[16],"platforms.":[17],"The":[18,29],"primary":[19],"focus":[20],"is":[21,94],"scalable":[23],"based":[25,49],"piezoelectric":[27,52,79],"transducers.":[28],"contributions":[30],"of":[31,41,61,75,87,107,114,128],"this":[32,55],"work":[33],"include:":[34],"(1)":[35],"the":[36,105,115,140],"design,":[37],"analysis,":[38],"and":[39,81,90],"characterization":[40],"a":[42,51,57,65,72,121,129],"miniature":[43],"mode":[44],"conversion":[45],"rotary":[46,116],"ultrasonic":[47,117],"motor":[48,99,118],"stack":[53],"transducer;":[54],"produced":[56],"static":[58,122],"torque":[59,123],"density":[60,124],"0.37":[62],"Nm/kg,":[63],"(2)":[64],"millimeter":[66],"scale":[67],"linear":[68],"piezometer,":[69],"constructed":[70],"with":[71],"parallel":[73],"arrangement":[74],"annular":[76],"stressed":[77],"unimorph":[78],"transducers":[80],"passive":[82],"latches,":[83],"exhibited":[84],"0.23":[85],"N":[86],"blocked":[88],"force,":[89],"(3)":[91],"simulation":[92],"data":[93],"presented":[95],"that":[96,111,127],"compares":[97],"these":[98],"concepts":[100],"commercial":[102,130],"systems":[103],"in":[104],"context":[106],"scalability.":[108],"Results":[109],"suggest":[110],"smaller":[112],"versions":[113],"would":[119],"possess":[120],"seven":[125],"times":[126],"3-mm":[131],"electromagnetic":[132],"system.":[133],"technology":[135],"shows":[136],"promise":[137],"for":[138],"driving":[139],"platform.":[141]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
