{"id":"https://openalex.org/W2154403502","doi":"https://doi.org/10.1109/robot.2006.1641836","title":"100g-100N finger joint with load-sensitive continuously variable transmission","display_name":"100g-100N finger joint with load-sensitive continuously variable transmission","publication_year":2006,"publication_date":"2006-07-10","ids":{"openalex":"https://openalex.org/W2154403502","doi":"https://doi.org/10.1109/robot.2006.1641836","mag":"2154403502"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2006.1641836","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2006.1641836","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.","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"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tokyo Institute of Technology, Yokohama, Kanagawa, 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"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tokyo Institute of Technology, Yokohama, Kanagawa, 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":1.8362,"has_fulltext":false,"cited_by_count":32,"citation_normalized_percentile":{"value":0.87788134,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"976","last_page":"981"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9976000189781189,"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":0.9976000189781189,"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/T10923","display_name":"Force Microscopy Techniques and Applications","score":0.986299991607666,"subfield":{"id":"https://openalex.org/subfields/3107","display_name":"Atomic and Molecular Physics, and Optics"},"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/T10865","display_name":"Shape Memory Alloy Transformations","score":0.9828000068664551,"subfield":{"id":"https://openalex.org/subfields/2505","display_name":"Materials Chemistry"},"field":{"id":"https://openalex.org/fields/25","display_name":"Materials Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/continuously-variable-transmission","display_name":"Continuously variable transmission","score":0.7404407858848572},{"id":"https://openalex.org/keywords/brake","display_name":"Brake","score":0.6796175837516785},{"id":"https://openalex.org/keywords/stress","display_name":"Stress (linguistics)","score":0.5332621932029724},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.5332201719284058},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49052661657333374},{"id":"https://openalex.org/keywords/transmission","display_name":"Transmission (telecommunications)","score":0.4832916557788849},{"id":"https://openalex.org/keywords/bar","display_name":"Bar (unit)","score":0.48011326789855957},{"id":"https://openalex.org/keywords/finite-element-method","display_name":"Finite element method","score":0.4406300485134125},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.4369962513446808},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.4321991205215454},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.3452650308609009},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.3402145504951477},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.33383673429489136},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24965372681617737},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.23701328039169312},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11971414089202881}],"concepts":[{"id":"https://openalex.org/C193235527","wikidata":"https://www.wikidata.org/wiki/Q863787","display_name":"Continuously variable transmission","level":3,"score":0.7404407858848572},{"id":"https://openalex.org/C2780999251","wikidata":"https://www.wikidata.org/wiki/Q17022503","display_name":"Brake","level":2,"score":0.6796175837516785},{"id":"https://openalex.org/C21036866","wikidata":"https://www.wikidata.org/wiki/Q181767","display_name":"Stress (linguistics)","level":2,"score":0.5332621932029724},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.5332201719284058},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49052661657333374},{"id":"https://openalex.org/C761482","wikidata":"https://www.wikidata.org/wiki/Q118093","display_name":"Transmission (telecommunications)","level":2,"score":0.4832916557788849},{"id":"https://openalex.org/C188721877","wikidata":"https://www.wikidata.org/wiki/Q103510","display_name":"Bar (unit)","level":2,"score":0.48011326789855957},{"id":"https://openalex.org/C135628077","wikidata":"https://www.wikidata.org/wiki/Q220184","display_name":"Finite element method","level":2,"score":0.4406300485134125},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.4369962513446808},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.4321991205215454},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.3452650308609009},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.3402145504951477},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.33383673429489136},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24965372681617737},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.23701328039169312},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11971414089202881},{"id":"https://openalex.org/C153294291","wikidata":"https://www.wikidata.org/wiki/Q25261","display_name":"Meteorology","level":1,"score":0.0},{"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/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","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":3,"locations":[{"id":"doi:10.1109/robot.2006.1641836","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2006.1641836","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.688.1760","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.688.1760","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://graphics.cs.cmu.edu/nsp/course/16-899/papers/hands/TakakiOmataHand/ICRA06.pdf?origin%3Dpublication_detail","raw_type":"text"},{"id":"pmh:oai:t2r2.star.titech.ac.jp:00234448","is_oa":false,"landing_page_url":"http://t2r2.star.titech.ac.jp/cgi-bin/publicationinfo.cgi?q_publication_content_number=CTT100529415","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":"Conference Paper"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.8999999761581421}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":5,"referenced_works":["https://openalex.org/W1601741111","https://openalex.org/W1999375810","https://openalex.org/W2095852913","https://openalex.org/W2097481861","https://openalex.org/W2134167019"],"related_works":["https://openalex.org/W2588700489","https://openalex.org/W3095906688","https://openalex.org/W1973179994","https://openalex.org/W2147956503","https://openalex.org/W4232633226","https://openalex.org/W2075696648","https://openalex.org/W2372621689","https://openalex.org/W2288263127","https://openalex.org/W2358608738","https://openalex.org/W2243355507"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,11,25,33,40,77,87,165,182],"99":[4],"g":[5],"finger":[6,41,50],"joint":[7],"that":[8,24,128,207],"can":[9,29,74,82,180],"exert":[10],"very":[12,166],"strong":[13],"fingertip":[14,45,80,131,183],"force":[15,46,81,98,132,184],"of":[16,47,57,66,99,122,142,172,185],"more":[17,134,151,186],"than":[18,135,152,187,206],"100":[19,136,188],"N.":[20],"We":[21,107,162],"have":[22],"shown":[23],"simple":[26],"five-bar":[27],"linkage":[28],"be":[30,75,83],"used":[31],"as":[32],"load-sensitive":[34],"continuously":[35],"variable":[36],"transmission":[37],"(CVT)":[38],"for":[39],"joint.":[42],"The":[43,175,196],"maximum":[44,130,147],"our":[48],"previous":[49],"was":[51],"limited":[52],"by":[53,63,112,200,208],"the":[54,64,71,96,100,110,114,120,129,139,143,146,160,178,193,201,209],"mechanical":[55,92],"strength":[56,73],"its":[58,67,123],"links":[59],"and":[60,102,118,145],"bearings,":[61],"not":[62,190],"power":[65],"DC":[68,210],"motor.":[69],"If":[70],"machine":[72],"improved,":[76],"much":[78,204],"greater":[79],"expected.":[84],"To":[85],"design":[86],"lightweight":[88],"CVT":[89,101,144,176],"with":[90,177],"sufficient":[91],"strength,":[93],"we":[94],"analyze":[95,109],"internal":[97],"select":[103,119],"light":[104,167],"plain":[105],"bearings.":[106],"also":[108,163],"stress":[111],"using":[113],"finite":[115],"element":[116],"method":[117],"materials":[121],"links.":[124],"Experimental":[125],"results":[126],"verify":[127],"is":[133,150,203],"N":[137,189],"near":[138,192],"singular":[140,194],"configuration":[141],"angular":[148],"velocity":[149],"550":[153],"deg/s.":[154],"These":[155],"motions":[156],"are":[157],"impossible":[158],"without":[159],"CVT.":[161],"developed":[164],"shape":[168],"memory":[169],"alloy":[170],"brake":[171,179,202],"0.56":[173],"g.":[174],"hold":[181],"only":[191],"configuration.":[195],"electric":[197],"energy":[198],"consumed":[199],"less":[205],"motor":[211]},"counts_by_year":[{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":4},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":4},{"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"}