{"id":"https://openalex.org/W2747172592","doi":"https://doi.org/10.1109/tro.2017.2732354","title":"Anthropomorphic Low-Inertia High-Stiffness Manipulator for High-Speed Safe Interaction","display_name":"Anthropomorphic Low-Inertia High-Stiffness Manipulator for High-Speed Safe Interaction","publication_year":2017,"publication_date":"2017-08-25","ids":{"openalex":"https://openalex.org/W2747172592","doi":"https://doi.org/10.1109/tro.2017.2732354","mag":"2747172592"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2017.2732354","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2017.2732354","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","raw_type":"journal-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/A5100704616","display_name":"Yong-Jae Kim","orcid":"https://orcid.org/0000-0003-1705-5123"},"institutions":[{"id":"https://openalex.org/I35886859","display_name":"Korea University of Technology and Education","ror":"https://ror.org/053nycv62","country_code":"KR","type":"education","lineage":["https://openalex.org/I35886859"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Yong-Jae Kim","raw_affiliation_strings":["Korea University of Technology and Education, Cheonan, South Korea"],"affiliations":[{"raw_affiliation_string":"Korea University of Technology and Education, Cheonan, South Korea","institution_ids":["https://openalex.org/I35886859"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5100704616"],"corresponding_institution_ids":["https://openalex.org/I35886859"],"apc_list":null,"apc_paid":null,"fwci":5.0986,"has_fulltext":false,"cited_by_count":189,"citation_normalized_percentile":{"value":0.96157276,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":"33","issue":"6","first_page":"1358","last_page":"1374"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9995999932289124,"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"}},"topics":[{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9995999932289124,"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/T10784","display_name":"Muscle activation and electromyography studies","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":0.9900000095367432,"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/stiffness","display_name":"Stiffness","score":0.8450477123260498},{"id":"https://openalex.org/keywords/inertia","display_name":"Inertia","score":0.760741114616394},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.5991466641426086},{"id":"https://openalex.org/keywords/joint-stiffness","display_name":"Joint stiffness","score":0.5940037965774536},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.590729832649231},{"id":"https://openalex.org/keywords/tension","display_name":"Tension (geology)","score":0.5326760411262512},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.5288644433021545},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.4616464674472809},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4284552335739136},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.42759162187576294},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.4273960292339325},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.42391258478164673},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4125761389732361},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.32156693935394287},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.28858792781829834},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.24321037530899048},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.15920260548591614},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15124741196632385}],"concepts":[{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.8450477123260498},{"id":"https://openalex.org/C110407247","wikidata":"https://www.wikidata.org/wiki/Q122508","display_name":"Inertia","level":2,"score":0.760741114616394},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.5991466641426086},{"id":"https://openalex.org/C2781415944","wikidata":"https://www.wikidata.org/wiki/Q559210","display_name":"Joint stiffness","level":3,"score":0.5940037965774536},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.590729832649231},{"id":"https://openalex.org/C186068551","wikidata":"https://www.wikidata.org/wiki/Q13255585","display_name":"Tension (geology)","level":3,"score":0.5326760411262512},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.5288644433021545},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.4616464674472809},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4284552335739136},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.42759162187576294},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.4273960292339325},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.42391258478164673},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4125761389732361},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.32156693935394287},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.28858792781829834},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.24321037530899048},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.15920260548591614},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15124741196632385},{"id":"https://openalex.org/C179254644","wikidata":"https://www.wikidata.org/wiki/Q13222844","display_name":"Moment (physics)","level":2,"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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2017.2732354","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2017.2732354","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.7400000095367432,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1962965017","https://openalex.org/W1966854684","https://openalex.org/W1977278088","https://openalex.org/W1978360037","https://openalex.org/W1982080242","https://openalex.org/W1987361672","https://openalex.org/W1996869048","https://openalex.org/W1997739615","https://openalex.org/W2002078422","https://openalex.org/W2033353238","https://openalex.org/W2048383675","https://openalex.org/W2066379939","https://openalex.org/W2099915711","https://openalex.org/W2107643544","https://openalex.org/W2111253117","https://openalex.org/W2113593135","https://openalex.org/W2116139612","https://openalex.org/W2116767351","https://openalex.org/W2131063775","https://openalex.org/W2131404784","https://openalex.org/W2144452746","https://openalex.org/W2159161641","https://openalex.org/W2164898903","https://openalex.org/W2217152720","https://openalex.org/W2542943064","https://openalex.org/W6658927861","https://openalex.org/W6728632487"],"related_works":["https://openalex.org/W2393977490","https://openalex.org/W2038930466","https://openalex.org/W1997122515","https://openalex.org/W2366856298","https://openalex.org/W2376007266","https://openalex.org/W2166323405","https://openalex.org/W2067594477","https://openalex.org/W2385739135","https://openalex.org/W1981988083","https://openalex.org/W2394251694"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"a":[3,30,36,85,115,136,151],"manipulator":[4,15,42,88,146],"is":[5,28,52,60,128,147,155],"proposed":[6],"for":[7],"safe":[8],"human-robot":[9],"interaction":[10,171],"at":[11],"high":[12,23,44],"speed.":[13],"The":[14,48,91,117],"has":[16],"both":[17],"low":[18],"mass":[19,92],"and":[20,22,25,46,71,81,93,101,169],"inertia":[21,94],"stiffness":[24,45,118,142,167],"strength.":[26,47],"It":[27],"basically":[29],"cable-driven":[31],"manipulator;":[32],"nevertheless,":[33],"by":[34,62],"using":[35,75],"unique":[37],"lightweight":[38],"tension-amplification":[39,77],"mechanism,":[40],"the":[41,56,63,76,96,120,139,145,177,180],"retains":[43],"joint":[49,73,123,166],"stiffness,":[50],"which":[51,109,127],"strongly":[53],"related":[54],"to":[55,83,143,149,157,175],"motion":[57],"control":[58,152],"performance,":[59],"amplified":[61],"quadratic":[64],"order.":[65],"Both":[66],"1-degree":[67],"of":[68,114,119,135,141,159,179],"freedom":[69],"(DOF)":[70],"3-DOF":[72],"mechanisms":[74],"mechanism":[78],"are":[79,110],"presented":[80],"combined":[82],"develop":[84],"7-DOF":[86],"anthropomorphic":[87],"named":[89],"LIMS.":[90],"beyond":[95],"shoulder":[97],"were":[98,173],"2.24":[99],"kg":[100],"0.599":[102],"kg\u00b7m":[103],"<sup":[104],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[105],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">2</sup>":[106],",":[107],"respectively,":[108],"lower":[111],"than":[112,133],"those":[113,158],"human.":[116,137],"developed":[121,181],"elbow":[122],"was":[124],"1410":[125],"N\u00b7m/rad,":[126],"approximately":[129],"seven":[130],"times":[131],"higher":[132],"that":[134,154],"Considering":[138],"ratio":[140],"inertia,":[144],"expected":[148],"show":[150],"performance":[153],"comparable":[156],"conventional":[160],"industrial":[161],"manipulators.":[162],"Comprehensive":[163],"experiments,":[164],"including":[165],"tests":[168],"high-speed":[170],"tests,":[172],"conducted":[174],"verify":[176],"feasibility":[178],"manipulator.":[182]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":38},{"year":2024,"cited_by_count":34},{"year":2023,"cited_by_count":32},{"year":2022,"cited_by_count":22},{"year":2021,"cited_by_count":18},{"year":2020,"cited_by_count":17},{"year":2019,"cited_by_count":14},{"year":2018,"cited_by_count":9},{"year":2014,"cited_by_count":1}],"updated_date":"2026-02-27T16:54:17.756197","created_date":"2025-10-10T00:00:00"}
