{"id":"https://openalex.org/W2151420688","doi":"https://doi.org/10.1109/robot.2006.1641838","title":"Model and control of tendon-sheath transmission systems","display_name":"Model and control of tendon-sheath transmission systems","publication_year":2006,"publication_date":"2006-07-10","ids":{"openalex":"https://openalex.org/W2151420688","doi":"https://doi.org/10.1109/robot.2006.1641838","mag":"2151420688"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2006.1641838","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2006.1641838","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/A5038240894","display_name":"Gianluca Palli","orcid":"https://orcid.org/0000-0001-9457-4643"},"institutions":[{"id":"https://openalex.org/I9360294","display_name":"University of Bologna","ror":"https://ror.org/01111rn36","country_code":"IT","type":"education","lineage":["https://openalex.org/I9360294"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"G. Palli","raw_affiliation_strings":["DEIS, Department of Electronics, Computer Science and Systems, University of Bologna, Bologna, Italy"],"affiliations":[{"raw_affiliation_string":"DEIS, Department of Electronics, Computer Science and Systems, University of Bologna, Bologna, Italy","institution_ids":["https://openalex.org/I9360294"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5082136401","display_name":"Claudio Melchiorri","orcid":"https://orcid.org/0000-0002-8475-6782"},"institutions":[{"id":"https://openalex.org/I9360294","display_name":"University of Bologna","ror":"https://ror.org/01111rn36","country_code":"IT","type":"education","lineage":["https://openalex.org/I9360294"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"C. Melchiorri","raw_affiliation_strings":["DEIS, Department of Electronics, Computer Science and Systems, University of Bologna, Bologna, Italy"],"affiliations":[{"raw_affiliation_string":"DEIS, Department of Electronics, Computer Science and Systems, University of Bologna, Bologna, Italy","institution_ids":["https://openalex.org/I9360294"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5038240894"],"corresponding_institution_ids":["https://openalex.org/I9360294"],"apc_list":null,"apc_paid":null,"fwci":12.8387,"has_fulltext":false,"cited_by_count":123,"citation_normalized_percentile":{"value":0.98578025,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"988","last_page":"993"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9994000196456909,"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":0.9994000196456909,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9936000108718872,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9641000032424927,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/tendon","display_name":"Tendon","score":0.8273860216140747},{"id":"https://openalex.org/keywords/transmission","display_name":"Transmission (telecommunications)","score":0.6070036292076111},{"id":"https://openalex.org/keywords/feed-forward","display_name":"Feed forward","score":0.5912752747535706},{"id":"https://openalex.org/keywords/pulley","display_name":"Pulley","score":0.5522081851959229},{"id":"https://openalex.org/keywords/static-friction","display_name":"Static friction","score":0.5316254496574402},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49569618701934814},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.48548153042793274},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.45948490500450134},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.42849424481391907},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.374172568321228},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.33010774850845337},{"id":"https://openalex.org/keywords/biomedical-engineering","display_name":"Biomedical engineering","score":0.3238535523414612},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.2911820113658905},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.2501872181892395},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.21342921257019043},{"id":"https://openalex.org/keywords/composite-material","display_name":"Composite material","score":0.10911157727241516},{"id":"https://openalex.org/keywords/anatomy","display_name":"Anatomy","score":0.08645093441009521},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.07965722680091858}],"concepts":[{"id":"https://openalex.org/C2780105995","wikidata":"https://www.wikidata.org/wiki/Q232358","display_name":"Tendon","level":2,"score":0.8273860216140747},{"id":"https://openalex.org/C761482","wikidata":"https://www.wikidata.org/wiki/Q118093","display_name":"Transmission (telecommunications)","level":2,"score":0.6070036292076111},{"id":"https://openalex.org/C38858127","wikidata":"https://www.wikidata.org/wiki/Q5441228","display_name":"Feed forward","level":2,"score":0.5912752747535706},{"id":"https://openalex.org/C171937826","wikidata":"https://www.wikidata.org/wiki/Q48378","display_name":"Pulley","level":2,"score":0.5522081851959229},{"id":"https://openalex.org/C2987713562","wikidata":"https://www.wikidata.org/wiki/Q82580","display_name":"Static friction","level":2,"score":0.5316254496574402},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49569618701934814},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.48548153042793274},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.45948490500450134},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.42849424481391907},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.374172568321228},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.33010774850845337},{"id":"https://openalex.org/C136229726","wikidata":"https://www.wikidata.org/wiki/Q327092","display_name":"Biomedical engineering","level":1,"score":0.3238535523414612},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.2911820113658905},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.2501872181892395},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.21342921257019043},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.10911157727241516},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.08645093441009521},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.07965722680091858},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"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/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robot.2006.1641838","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2006.1641838","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:cris.unibo.it:11585/23435","is_oa":false,"landing_page_url":"http://hdl.handle.net/11585/23435","pdf_url":null,"source":{"id":"https://openalex.org/S4306402579","display_name":"Archivio istituzionale della ricerca (Alma Mater Studiorum Universit\u00e0 di Bologna)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210117483","host_organization_name":"Istituto di Ematologia di Bologna","host_organization_lineage":["https://openalex.org/I4210117483"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W1967377907","https://openalex.org/W1978023077","https://openalex.org/W1988273910","https://openalex.org/W2068793240","https://openalex.org/W2103229768","https://openalex.org/W2128935471","https://openalex.org/W2139174940","https://openalex.org/W2140031923","https://openalex.org/W2162394694","https://openalex.org/W2164068699","https://openalex.org/W2168196118","https://openalex.org/W6680424516"],"related_works":["https://openalex.org/W2722606392","https://openalex.org/W4388034745","https://openalex.org/W2389891446","https://openalex.org/W205794235","https://openalex.org/W2776538682","https://openalex.org/W3134656980","https://openalex.org/W2384140996","https://openalex.org/W2566357993","https://openalex.org/W2027283708","https://openalex.org/W2766108169"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"the":[3,28,31,34,47,69,84,87,101,105,118],"tendon-sheath":[4,48],"driving":[5,49],"system":[6,50],"for":[7],"a":[8,64],"robotic":[9],"hand":[10],"is":[11,51,56,122],"presented":[12,124],"and":[13,30,53,71,77,86],"its":[14,54],"force":[15,109],"transmission":[16,24],"characteristics":[17],"are":[18,81,90,97],"analyzed.":[19],"The":[20],"use":[21],"of":[22,33,68,104],"tendon-based":[23],"permits":[25],"to":[26,92],"reduce":[27],"size":[29],"complexity":[32],"actuation":[35],"chain":[36],"in":[37,83],"many":[38],"mechanical":[39],"devices.":[40],"A":[41,107],"simple":[42,108],"static":[43,76,102,119],"model":[44,67,103,121],"that":[45,96],"describes":[46],"presented,":[52],"behavior":[55],"compared":[57,91],"both":[58],"with":[59,63,72,112],"simulative":[60],"results,":[61],"obtained":[62],"lumped":[65],"parameters":[66],"tendon,":[70],"experimental":[73],"results.":[74],"Different":[75],"dynamic":[78],"friction":[79,114,120],"models":[80],"used":[82],"simulations":[85],"related":[88],"results":[89],"highlight":[93],"some":[94],"phenomena":[95],"not":[98],"visible":[99],"from":[100],"tendon.":[106],"control":[110],"algorithm":[111],"feedforward":[113],"compensation":[115],"based":[116],"on":[117],"also":[123]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":7},{"year":2019,"cited_by_count":7},{"year":2018,"cited_by_count":9},{"year":2017,"cited_by_count":5},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":10},{"year":2014,"cited_by_count":7},{"year":2013,"cited_by_count":13},{"year":2012,"cited_by_count":3}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}