{"id":"https://openalex.org/W2015380370","doi":"https://doi.org/10.1109/tie.2011.2148687","title":"Development, Analysis, and Experimental Realization of a Direct-Drive Helical Motor","display_name":"Development, Analysis, and Experimental Realization of a Direct-Drive Helical Motor","publication_year":2011,"publication_date":"2011-05-03","ids":{"openalex":"https://openalex.org/W2015380370","doi":"https://doi.org/10.1109/tie.2011.2148687","mag":"2015380370"},"language":"en","primary_location":{"id":"doi:10.1109/tie.2011.2148687","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2011.2148687","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"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":"IEEE Transactions on Industrial Electronics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/10131/8413","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5007206975","display_name":"Issam A. Smadi","orcid":"https://orcid.org/0000-0001-7593-7787"},"institutions":[{"id":"https://openalex.org/I180203408","display_name":"Yokohama National University","ror":"https://ror.org/03zyp6p76","country_code":"JP","type":"education","lineage":["https://openalex.org/I180203408"]},{"id":"https://openalex.org/I2799635668","display_name":"Fuji Electric (Japan)","ror":"https://ror.org/056701b75","country_code":"JP","type":"company","lineage":["https://openalex.org/I2799635668"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Issam A. Smadi","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Yokohama National University, Yokohama, Japan","Fuji Electric Systems Company Limited, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Yokohama National University, Yokohama, Japan","institution_ids":["https://openalex.org/I180203408"]},{"raw_affiliation_string":"Fuji Electric Systems Company Limited, Tokyo, Japan","institution_ids":["https://openalex.org/I2799635668"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111667336","display_name":"Hiroko Omori","orcid":null},"institutions":[{"id":"https://openalex.org/I180203408","display_name":"Yokohama National University","ror":"https://ror.org/03zyp6p76","country_code":"JP","type":"education","lineage":["https://openalex.org/I180203408"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hiroko Omori","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Yokohama National University, Yokohama, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Yokohama National University, Yokohama, Japan","institution_ids":["https://openalex.org/I180203408"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5026753908","display_name":"Yasutaka Fujimoto","orcid":"https://orcid.org/0000-0002-8106-5425"},"institutions":[{"id":"https://openalex.org/I180203408","display_name":"Yokohama National University","ror":"https://ror.org/03zyp6p76","country_code":"JP","type":"education","lineage":["https://openalex.org/I180203408"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yasutaka Fujimoto","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Yokohama National University, Yokohama, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Yokohama National University, Yokohama, Japan","institution_ids":["https://openalex.org/I180203408"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":13.1521,"has_fulltext":false,"cited_by_count":60,"citation_normalized_percentile":{"value":0.98959072,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"59","issue":"5","first_page":"2208","last_page":"2216"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9930999875068665,"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"}},"topics":[{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9930999875068665,"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"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9925000071525574,"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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9912999868392944,"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/stator","display_name":"Stator","score":0.6555046439170837},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6013734340667725},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5764609575271606},{"id":"https://openalex.org/keywords/servomotor","display_name":"Servomotor","score":0.5544624328613281},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5421356558799744},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.524323582649231},{"id":"https://openalex.org/keywords/rotary-actuator","display_name":"Rotary actuator","score":0.5046638250350952},{"id":"https://openalex.org/keywords/decoupling","display_name":"Decoupling (probability)","score":0.47896602749824524},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.4538898766040802},{"id":"https://openalex.org/keywords/linear-motor","display_name":"Linear motor","score":0.4356970489025116},{"id":"https://openalex.org/keywords/harmonic-drive","display_name":"Harmonic drive","score":0.4130331575870514},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3449900150299072},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.1406380534172058},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1163891851902008},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.09800028800964355}],"concepts":[{"id":"https://openalex.org/C2776529397","wikidata":"https://www.wikidata.org/wiki/Q190312","display_name":"Stator","level":2,"score":0.6555046439170837},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6013734340667725},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5764609575271606},{"id":"https://openalex.org/C109441226","wikidata":"https://www.wikidata.org/wiki/Q1137255","display_name":"Servomotor","level":2,"score":0.5544624328613281},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5421356558799744},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.524323582649231},{"id":"https://openalex.org/C110682481","wikidata":"https://www.wikidata.org/wiki/Q7370260","display_name":"Rotary actuator","level":3,"score":0.5046638250350952},{"id":"https://openalex.org/C205606062","wikidata":"https://www.wikidata.org/wiki/Q5249645","display_name":"Decoupling (probability)","level":2,"score":0.47896602749824524},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.4538898766040802},{"id":"https://openalex.org/C46150780","wikidata":"https://www.wikidata.org/wiki/Q1164566","display_name":"Linear motor","level":2,"score":0.4356970489025116},{"id":"https://openalex.org/C2777105549","wikidata":"https://www.wikidata.org/wiki/Q751500","display_name":"Harmonic drive","level":2,"score":0.4130331575870514},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3449900150299072},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.1406380534172058},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1163891851902008},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.09800028800964355},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tie.2011.2148687","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2011.2148687","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"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":"IEEE Transactions on Industrial Electronics","raw_type":"journal-article"},{"id":"pmh:oai:ynu.repo.nii.ac.jp:00004116","is_oa":true,"landing_page_url":"http://hdl.handle.net/10131/8413","pdf_url":null,"source":{"id":"https://openalex.org/S4306402282","display_name":"Yokohama National University Repository (Yokohama National University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I180203408","host_organization_name":"Yokohama National University","host_organization_lineage":["https://openalex.org/I180203408"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Journal Article"}],"best_oa_location":{"id":"pmh:oai:ynu.repo.nii.ac.jp:00004116","is_oa":true,"landing_page_url":"http://hdl.handle.net/10131/8413","pdf_url":null,"source":{"id":"https://openalex.org/S4306402282","display_name":"Yokohama National University Repository (Yokohama National University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I180203408","host_organization_name":"Yokohama National University","host_organization_lineage":["https://openalex.org/I180203408"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Journal Article"},"sustainable_development_goals":[{"score":0.4300000071525574,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[{"id":"https://openalex.org/G6696300467","display_name":"A High-power and Flexible Humanoid Robot Driven by Artificial Muscles of Back-drvable Spiral Motors","funder_award_id":"19676003","funder_id":"https://openalex.org/F4320334764","funder_display_name":"Japan Society for the Promotion of Science"}],"funders":[{"id":"https://openalex.org/F4320334764","display_name":"Japan Society for the Promotion of Science","ror":"https://ror.org/00hhkn466"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":56,"referenced_works":["https://openalex.org/W1849679861","https://openalex.org/W1962965017","https://openalex.org/W1971598670","https://openalex.org/W1973805308","https://openalex.org/W2007935960","https://openalex.org/W2016521241","https://openalex.org/W2018137923","https://openalex.org/W2018571640","https://openalex.org/W2032916061","https://openalex.org/W2060984522","https://openalex.org/W2064072890","https://openalex.org/W2064601668","https://openalex.org/W2070275477","https://openalex.org/W2077085671","https://openalex.org/W2078559291","https://openalex.org/W2084244998","https://openalex.org/W2086768465","https://openalex.org/W2092624796","https://openalex.org/W2096322288","https://openalex.org/W2096994890","https://openalex.org/W2102279668","https://openalex.org/W2105024514","https://openalex.org/W2106755832","https://openalex.org/W2110179827","https://openalex.org/W2110702187","https://openalex.org/W2111253117","https://openalex.org/W2112012804","https://openalex.org/W2113052121","https://openalex.org/W2115899894","https://openalex.org/W2116767351","https://openalex.org/W2121316434","https://openalex.org/W2126497838","https://openalex.org/W2129602968","https://openalex.org/W2131404784","https://openalex.org/W2131459051","https://openalex.org/W2139508923","https://openalex.org/W2139766104","https://openalex.org/W2141163906","https://openalex.org/W2143216173","https://openalex.org/W2143854030","https://openalex.org/W2144803060","https://openalex.org/W2145287562","https://openalex.org/W2145526110","https://openalex.org/W2148457854","https://openalex.org/W2149283001","https://openalex.org/W2151423679","https://openalex.org/W2157214438","https://openalex.org/W2157767862","https://openalex.org/W2158940727","https://openalex.org/W2166317845","https://openalex.org/W2173926537","https://openalex.org/W2535203919","https://openalex.org/W2536982192","https://openalex.org/W2554206446","https://openalex.org/W2741554114","https://openalex.org/W6728852140"],"related_works":["https://openalex.org/W2972545310","https://openalex.org/W1854841665","https://openalex.org/W2100075144","https://openalex.org/W3126588210","https://openalex.org/W2029518903","https://openalex.org/W3000571114","https://openalex.org/W1999837303","https://openalex.org/W774038147","https://openalex.org/W1991017062","https://openalex.org/W3085632244"],"abstract_inverted_index":{"Safety":[0],"issue":[1],"is":[2,20,119,141],"a":[3,83,103],"great":[4],"concern":[5],"for":[6,22,63],"rehabilitation":[7],"robots":[8,40],"that":[9],"are":[10,60],"expected":[11],"to":[12,14,126,142],"contribute":[13],"future":[15],"aging":[16],"society.":[17],"Appropriate":[18],"compliance":[19],"required":[21],"their":[23],"joints.":[24],"However,":[25],"combination":[26],"of":[27,39,46,73,82,138,148],"servomotors":[28],"and":[29,48,71,87,96,121,132],"high-ratio":[30],"gears,":[31,35],"such":[32,64],"as":[33],"harmonic":[34],"makes":[36],"the":[37,51,69,94,100,109,145,149],"joint":[38],"nonbackdrivable.":[41],"The":[42,79,89,135],"nonbackdrivability":[43],"causes":[44],"lack":[45],"adaptability":[47],"safety.":[49],"On":[50],"other":[52],"hand,":[53],"conventional":[54],"direct-drive":[55,76,112,146],"systems,":[56],"including":[57],"linear":[58,77],"motors,":[59],"relatively":[61],"big":[62],"application.":[65],"This":[66],"paper":[67,140],"presents":[68],"development":[70],"analysis":[72],"compact":[74],"high-backdrivable":[75],"actuator.":[78],"motor":[80,110],"consists":[81],"helical":[84,150],"structure":[85],"stator":[86,95,101],"mover.":[88],"mover":[90],"does":[91],"not":[92],"contact":[93],"moves":[97],"helically":[98],"in":[99],"under":[102],"proper":[104],"magnetic":[105],"levitation":[106],"control.":[107],"Thus,":[108],"realizes":[111],"motion":[113],"without":[114],"mechanical":[115],"gears.":[116],"Decoupling":[117],"control":[118],"proposed":[120],"integrated":[122],"with":[123],"disturbance":[124],"observer":[125],"achieve":[127],"robustness":[128],"against":[129],"model":[130],"uncertainties":[131],"input":[133],"disturbance.":[134],"main":[136],"contribution":[137],"this":[139],"experimentally":[143],"realize":[144],"feature":[147],"motor.":[151]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":5},{"year":2014,"cited_by_count":5},{"year":2013,"cited_by_count":18},{"year":2012,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
