{"id":"https://openalex.org/W2097481861","doi":"https://doi.org/10.1109/robot.2004.1308778","title":"Load-sensitive continuously variable transmission for robot hands","display_name":"Load-sensitive continuously variable transmission for robot hands","publication_year":2004,"publication_date":"2004-01-01","ids":{"openalex":"https://openalex.org/W2097481861","doi":"https://doi.org/10.1109/robot.2004.1308778","mag":"2097481861"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2004.1308778","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2004.1308778","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/A5081924993","display_name":"Takeshi Takaki","orcid":"https://orcid.org/0000-0003-3213-9130"},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"T. Takaki","raw_affiliation_strings":["Tokyo Institute of Technology, Yokohama, Kanagawa, Japan","Tokyo Inst. of Tech., Yokohama (Japan)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tokyo Institute of Technology, Yokohama, Kanagawa, Japan","institution_ids":["https://openalex.org/I114531698"]},{"raw_affiliation_string":"Tokyo Inst. of Tech., Yokohama (Japan)","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102844026","display_name":"Toru Omata","orcid":"https://orcid.org/0000-0003-3577-7672"},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"T. Omata","raw_affiliation_strings":["Tokyo Institute of Technology, Yokohama, Kanagawa, Japan","Tokyo Inst. of Tech., Yokohama (Japan)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tokyo Institute of Technology, Yokohama, Kanagawa, Japan","institution_ids":["https://openalex.org/I114531698"]},{"raw_affiliation_string":"Tokyo Inst. of Tech., Yokohama (Japan)","institution_ids":["https://openalex.org/I114531698"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":6.1431,"has_fulltext":false,"cited_by_count":23,"citation_normalized_percentile":{"value":0.95499781,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"3391","last_page":"3396 Vol.4"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9991999864578247,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9991999864578247,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9973000288009644,"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/T11601","display_name":"Neuroscience and Neural Engineering","score":0.9941999912261963,"subfield":{"id":"https://openalex.org/subfields/2804","display_name":"Cellular and Molecular Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/continuously-variable-transmission","display_name":"Continuously variable transmission","score":0.8516684770584106},{"id":"https://openalex.org/keywords/crank","display_name":"Crank","score":0.7355484962463379},{"id":"https://openalex.org/keywords/torsion-spring","display_name":"Torsion spring","score":0.5237604975700378},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5000336170196533},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.4706781506538391},{"id":"https://openalex.org/keywords/pulley","display_name":"Pulley","score":0.4658421277999878},{"id":"https://openalex.org/keywords/transmission","display_name":"Transmission (telecommunications)","score":0.45810484886169434},{"id":"https://openalex.org/keywords/power-transmission","display_name":"Power transmission","score":0.4529499113559723},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.4429108500480652},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.43125176429748535},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.418316513299942},{"id":"https://openalex.org/keywords/power","display_name":"Power (physics)","score":0.41260528564453125},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.3481571674346924},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.33284705877304077},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.28789272904396057},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.2156619131565094},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13300281763076782},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11640185117721558}],"concepts":[{"id":"https://openalex.org/C193235527","wikidata":"https://www.wikidata.org/wiki/Q863787","display_name":"Continuously variable transmission","level":3,"score":0.8516684770584106},{"id":"https://openalex.org/C198994188","wikidata":"https://www.wikidata.org/wiki/Q857558","display_name":"Crank","level":3,"score":0.7355484962463379},{"id":"https://openalex.org/C57614664","wikidata":"https://www.wikidata.org/wiki/Q27037480","display_name":"Torsion spring","level":2,"score":0.5237604975700378},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5000336170196533},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.4706781506538391},{"id":"https://openalex.org/C171937826","wikidata":"https://www.wikidata.org/wiki/Q48378","display_name":"Pulley","level":2,"score":0.4658421277999878},{"id":"https://openalex.org/C761482","wikidata":"https://www.wikidata.org/wiki/Q118093","display_name":"Transmission (telecommunications)","level":2,"score":0.45810484886169434},{"id":"https://openalex.org/C92018576","wikidata":"https://www.wikidata.org/wiki/Q3242194","display_name":"Power transmission","level":3,"score":0.4529499113559723},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.4429108500480652},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.43125176429748535},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.418316513299942},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.41260528564453125},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.3481571674346924},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.33284705877304077},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.28789272904396057},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.2156619131565094},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13300281763076782},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11640185117721558},{"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/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robot.2004.1308778","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2004.1308778","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"},{"id":"pmh:oai:t2r2.star.titech.ac.jp:00109927","is_oa":false,"landing_page_url":"http://t2r2.star.titech.ac.jp/cgi-bin/publicationinfo.cgi?q_publication_content_number=CTT100504414","pdf_url":null,"source":{"id":"https://openalex.org/S4377196385","display_name":"Tokyo Tech Research Repository (Tokyo Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I114531698","host_organization_name":"Tokyo Institute of Technology","host_organization_lineage":["https://openalex.org/I114531698"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Journal Article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.8700000047683716}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":6,"referenced_works":["https://openalex.org/W1918580842","https://openalex.org/W2095852913","https://openalex.org/W2107630401","https://openalex.org/W2111638107","https://openalex.org/W2116836830","https://openalex.org/W2137779274"],"related_works":["https://openalex.org/W1977064387","https://openalex.org/W2016349838","https://openalex.org/W2588621270","https://openalex.org/W2150805624","https://openalex.org/W2898514150","https://openalex.org/W2189982071","https://openalex.org/W2064660815","https://openalex.org/W187273561","https://openalex.org/W1131123265","https://openalex.org/W2552509930"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,15,31,41,56,73,85,92,96,127],"load-sensitive":[4,78],"continuously":[5],"variable":[6],"transmission":[7,39],"(CVT)":[8],"for":[9],"finger":[10,42,57,65],"joints.":[11],"The":[12,88],"fingers":[13],"of":[14,40,91],"robot":[16],"hand":[17],"require":[18],"power":[19,38],"when":[20,26],"grasping":[21],"an":[22],"object":[23],"and":[24,28,50,76,95,108],"speed":[25],"opening":[27],"closing.":[29],"Therefore":[30],"CVT":[32,79,107,114],"is":[33],"ideal":[34],"to":[35,52,122,126],"improve":[36],"the":[37,62,106,113],"joint.":[43,58],"Existing":[44],"friction":[45],"CVTs":[46],"are":[47],"too":[48],"big":[49],"heavy":[51],"be":[53,81],"installed":[54],"in":[55,124],"By":[59],"focusing":[60],"on":[61,84],"fact":[63],"that":[64,112],"joints":[66],"do":[67],"not":[68],"necessarily":[69],"rotate":[70],"360":[71],"degrees,":[72],"remarkably":[74],"simple":[75],"small":[77],"can":[80,115],"developed":[82,102],"based":[83],"crank":[86],"CVT.":[87],"mechanism":[89],"consists":[90],"five-bar":[93],"linkage":[94],"torsion":[97],"coiled":[98],"spring.":[99],"We":[100],"have":[101,109],"one":[103],"joint":[104],"with":[105],"experimentally":[110],"verified":[111],"increase":[116],"its":[117],"reduction":[118],"ratio":[119],"from":[120],"0.5":[121],"3.3":[123],"response":[125],"load.":[128]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}