{"id":"https://openalex.org/W2098194275","doi":"https://doi.org/10.1109/robot.2007.363140","title":"Safe Link Mechanism based on Passive Compliance for Safe Human-Robot Collision","display_name":"Safe Link Mechanism based on Passive Compliance for Safe Human-Robot Collision","publication_year":2007,"publication_date":"2007-04-01","ids":{"openalex":"https://openalex.org/W2098194275","doi":"https://doi.org/10.1109/robot.2007.363140","mag":"2098194275"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2007.363140","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2007.363140","pdf_url":null,"source":{"id":"https://openalex.org/S4210217939","display_name":"Proceedings - IEEE International Conference on Robotics and Automation/Proceedings","issn_l":"1050-4729","issn":["1050-4729","2577-087X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2007 IEEE International Conference on Robotics and Automation","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/A5103000957","display_name":"Jung-Jun Park","orcid":"https://orcid.org/0000-0002-7959-9727"},"institutions":[{"id":"https://openalex.org/I197347611","display_name":"Korea University","ror":"https://ror.org/047dqcg40","country_code":"KR","type":"education","lineage":["https://openalex.org/I197347611"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Jung-Jun Park","raw_affiliation_strings":["Department of Mechanical Engineering, Korea University, Seoul, South Korea","Dept. of Mech. Eng., Korea Univ., Seoul"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Korea University, Seoul, South Korea","institution_ids":["https://openalex.org/I197347611"]},{"raw_affiliation_string":"Dept. of Mech. Eng., Korea Univ., Seoul","institution_ids":["https://openalex.org/I197347611"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033574234","display_name":"Byeong-Sang Kim","orcid":null},"institutions":[{"id":"https://openalex.org/I197347611","display_name":"Korea University","ror":"https://ror.org/047dqcg40","country_code":"KR","type":"education","lineage":["https://openalex.org/I197347611"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Byeong-Sang Kim","raw_affiliation_strings":["Department of Mechanical Engineering, Korea University, Seoul, South Korea","Dept. of Mech. Eng., Korea Univ., Seoul"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Korea University, Seoul, South Korea","institution_ids":["https://openalex.org/I197347611"]},{"raw_affiliation_string":"Dept. of Mech. Eng., Korea Univ., Seoul","institution_ids":["https://openalex.org/I197347611"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013838439","display_name":"Jae-Bok Song","orcid":"https://orcid.org/0000-0002-5818-1938"},"institutions":[{"id":"https://openalex.org/I197347611","display_name":"Korea University","ror":"https://ror.org/047dqcg40","country_code":"KR","type":"education","lineage":["https://openalex.org/I197347611"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jae-Bok Song","raw_affiliation_strings":["Department of Mechanical Engineering, Korea University, Seoul, South Korea","Professor, Dept. of Mechanical Eng., Korea University, Seoul, Korea. Tel.: +82 2 3290 3363; fax: +82 2 3290 3757; e-mail: jbsong@korea.ac.kr"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Korea University, Seoul, South Korea","institution_ids":["https://openalex.org/I197347611"]},{"raw_affiliation_string":"Professor, Dept. of Mechanical Eng., Korea University, Seoul, Korea. Tel.: +82 2 3290 3363; fax: +82 2 3290 3757; e-mail: jbsong@korea.ac.kr","institution_ids":["https://openalex.org/I197347611"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5081959378","display_name":"Hong\u2010Seok Kim","orcid":"https://orcid.org/0000-0002-2356-8403"},"institutions":[{"id":"https://openalex.org/I89004649","display_name":"Korea Institute of Industrial Technology","ror":"https://ror.org/04qfph657","country_code":"KR","type":"other","lineage":["https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I89004649"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hong-Seok Kim","raw_affiliation_strings":["Division Head of Control and Intelligence Research Team, Korea Institute of Industrial and Technology, Ansan, South Korea","Division Head, Control and Intelligence Research Team, Korea Institute of Industrial Technology, Ansan, Korea. e-mail: hskim@kitech.re.kr"],"affiliations":[{"raw_affiliation_string":"Division Head of Control and Intelligence Research Team, Korea Institute of Industrial and Technology, Ansan, South Korea","institution_ids":["https://openalex.org/I89004649"]},{"raw_affiliation_string":"Division Head, Control and Intelligence Research Team, Korea Institute of Industrial Technology, Ansan, Korea. e-mail: hskim@kitech.re.kr","institution_ids":["https://openalex.org/I89004649"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5103000957"],"corresponding_institution_ids":["https://openalex.org/I197347611"],"apc_list":null,"apc_paid":null,"fwci":6.9675,"has_fulltext":false,"cited_by_count":41,"citation_normalized_percentile":{"value":0.96619767,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1152","last_page":"1157"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9987999796867371,"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":0.9987999796867371,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9962999820709229,"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":0.9915000200271606,"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/collision","display_name":"Collision","score":0.8353797197341919},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.6958706974983215},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.6790353059768677},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6317398548126221},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5653024911880493},{"id":"https://openalex.org/keywords/shock-absorber","display_name":"Shock absorber","score":0.5538778901100159},{"id":"https://openalex.org/keywords/impact","display_name":"Impact","score":0.5517251491546631},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.517987847328186},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.5084515810012817},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.45425179600715637},{"id":"https://openalex.org/keywords/linear-actuator","display_name":"Linear actuator","score":0.42971986532211304},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.4233490824699402},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.37551504373550415},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3425114154815674},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.2786005139350891},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1444680094718933},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.13149452209472656},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.06932514905929565}],"concepts":[{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.8353797197341919},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.6958706974983215},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.6790353059768677},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6317398548126221},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5653024911880493},{"id":"https://openalex.org/C190743461","wikidata":"https://www.wikidata.org/wiki/Q211251","display_name":"Shock absorber","level":2,"score":0.5538778901100159},{"id":"https://openalex.org/C199310239","wikidata":"https://www.wikidata.org/wiki/Q4115667","display_name":"Impact","level":2,"score":0.5517251491546631},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.517987847328186},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.5084515810012817},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.45425179600715637},{"id":"https://openalex.org/C1486788","wikidata":"https://www.wikidata.org/wiki/Q1425051","display_name":"Linear actuator","level":3,"score":0.42971986532211304},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.4233490824699402},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.37551504373550415},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3425114154815674},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.2786005139350891},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1444680094718933},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.13149452209472656},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.06932514905929565},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2007.363140","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2007.363140","pdf_url":null,"source":{"id":"https://openalex.org/S4210217939","display_name":"Proceedings - IEEE International Conference on Robotics and Automation/Proceedings","issn_l":"1050-4729","issn":["1050-4729","2577-087X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2007 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":7,"referenced_works":["https://openalex.org/W1540691318","https://openalex.org/W1599599357","https://openalex.org/W2099909431","https://openalex.org/W2113873479","https://openalex.org/W2135057655","https://openalex.org/W2157820065","https://openalex.org/W3211940072"],"related_works":["https://openalex.org/W4317634134","https://openalex.org/W2981729160","https://openalex.org/W4310743282","https://openalex.org/W2743212448","https://openalex.org/W2889566344","https://openalex.org/W2036149176","https://openalex.org/W3046417820","https://openalex.org/W2537110013","https://openalex.org/W583309402","https://openalex.org/W2354782112"],"abstract_inverted_index":{"A":[0],"safe":[1,83],"robot":[2,50],"arm":[3,51],"can":[4,170],"be":[5,171],"achieved":[6],"by":[7,117],"either":[8],"passive":[9,14,118],"or":[10],"active":[11,34],"compliance.":[12],"The":[13,104],"compliance":[15],"systems":[16],"composed":[17],"of":[18,89,107,132],"purely":[19],"mechanical":[20,119],"elements":[21],"often":[22],"provide":[23],"faster":[24],"and":[25,38,44,95,125],"more":[26],"reliable":[27],"responses":[28],"for":[29,123,138],"dynamic":[30,126],"collision":[31,45,61,127,163],"than":[32,64,143],"the":[33,60,65,130,139,144,153,157,162,166,178],"ones":[35],"involving":[36],"sensors":[37],"actuators.":[39],"Since":[40],"both":[41],"positioning":[42],"accuracy":[43],"safety":[46],"are":[47],"important,":[48],"a":[49,81,92],"should":[52],"exhibit":[53],"very":[54,73,136],"low":[55],"stiffness":[56,75,113,131],"when":[57],"subjected":[58],"to":[59,69,173],"force":[62,141,155,169],"greater":[63],"one":[66],"causing":[67],"injury":[68],"humans,":[70],"but":[71,148],"maintain":[72],"high":[74,137],"otherwise.":[76],"To":[77],"implement":[78],"these":[79],"requirements,":[80],"novel":[82],"link":[84],"mechanism":[85,94],"(SLM),":[86],"which":[87],"consists":[88],"linear":[90],"springs,":[91],"double-slider":[93],"shock":[96],"absorbing":[97],"modules,":[98],"is":[99,134],"proposed":[100],"in":[101,110],"this":[102],"research.":[103],"main":[105],"contribution":[106],"SLM":[108,133],"lies":[109],"its":[111],"variable":[112],"capability":[114],"implemented":[115],"only":[116],"elements.":[120],"Various":[121],"experiments":[122],"static":[124],"show":[128],"that":[129],"kept":[135],"external":[140,154],"less":[142],"critical":[145,158,167],"impact":[146,168],"force,":[147,159],"it":[149],"drops":[150],"abruptly":[151],"as":[152],"exceeds":[156],"thus":[160],"guaranteeing":[161],"safety.":[164],"Furthermore,":[165],"set":[172],"any":[174],"value":[175],"depending":[176],"on":[177],"applications.":[179]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":5},{"year":2015,"cited_by_count":1},{"year":2013,"cited_by_count":3},{"year":2012,"cited_by_count":6}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}