{"id":"https://openalex.org/W2742843452","doi":"https://doi.org/10.1109/urai.2017.7992823","title":"Kinematic design optimization of improved branched tendon mechanism using genetic algorithm","display_name":"Kinematic design optimization of improved branched tendon mechanism using genetic algorithm","publication_year":2017,"publication_date":"2017-06-01","ids":{"openalex":"https://openalex.org/W2742843452","doi":"https://doi.org/10.1109/urai.2017.7992823","mag":"2742843452"},"language":"en","primary_location":{"id":"doi:10.1109/urai.2017.7992823","is_oa":false,"landing_page_url":"https://doi.org/10.1109/urai.2017.7992823","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 14th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","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/A5091497439","display_name":"Won Suk You","orcid":"https://orcid.org/0000-0002-1118-9422"},"institutions":[{"id":"https://openalex.org/I848706","display_name":"Sungkyunkwan University","ror":"https://ror.org/04q78tk20","country_code":"KR","type":"education","lineage":["https://openalex.org/I848706"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Won Suk You","raw_affiliation_strings":["School of Mechanical Engineering, Sungkyunkwan University, Suwon, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Sungkyunkwan University, Suwon, Korea","institution_ids":["https://openalex.org/I848706"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013222753","display_name":"Joon Kyue Seo","orcid":null},"institutions":[{"id":"https://openalex.org/I848706","display_name":"Sungkyunkwan University","ror":"https://ror.org/04q78tk20","country_code":"KR","type":"education","lineage":["https://openalex.org/I848706"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Joon Kyue Seo","raw_affiliation_strings":["School of Mechanical Engineering, Sungkyunkwan University, Suwon, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Sungkyunkwan University, Suwon, Korea","institution_ids":["https://openalex.org/I848706"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024046397","display_name":"Gitae Kang","orcid":"https://orcid.org/0000-0003-3117-8701"},"institutions":[{"id":"https://openalex.org/I848706","display_name":"Sungkyunkwan University","ror":"https://ror.org/04q78tk20","country_code":"KR","type":"education","lineage":["https://openalex.org/I848706"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Gitae Kang","raw_affiliation_strings":["School of Mechanical Engineering, Sungkyunkwan University, Suwon, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Sungkyunkwan University, Suwon, Korea","institution_ids":["https://openalex.org/I848706"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046920136","display_name":"Hyun Seok Oh","orcid":"https://orcid.org/0000-0001-9819-8796"},"institutions":[{"id":"https://openalex.org/I848706","display_name":"Sungkyunkwan University","ror":"https://ror.org/04q78tk20","country_code":"KR","type":"education","lineage":["https://openalex.org/I848706"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hyun Seok Oh","raw_affiliation_strings":["School of Mechanical Engineering, Sungkyunkwan University, Suwon, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Sungkyunkwan University, Suwon, Korea","institution_ids":["https://openalex.org/I848706"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5011232432","display_name":"Hyouk Ryeol Choi","orcid":"https://orcid.org/0000-0003-2902-7453"},"institutions":[{"id":"https://openalex.org/I848706","display_name":"Sungkyunkwan University","ror":"https://ror.org/04q78tk20","country_code":"KR","type":"education","lineage":["https://openalex.org/I848706"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hyouk Ryeol Choi","raw_affiliation_strings":["School of Mechanical Engineering, Sungkyunkwan University, Suwon, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Sungkyunkwan University, Suwon, Korea","institution_ids":["https://openalex.org/I848706"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.110079,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"771","last_page":"776"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9955000281333923,"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":0.9955000281333923,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9940000176429749,"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/T13827","display_name":"Mechatronics Education and Applications","score":0.9904000163078308,"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/kinematics","display_name":"Kinematics","score":0.7608295679092407},{"id":"https://openalex.org/keywords/moment","display_name":"Moment (physics)","score":0.7067520618438721},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.6913954019546509},{"id":"https://openalex.org/keywords/tendon","display_name":"Tendon","score":0.6640564799308777},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.609372079372406},{"id":"https://openalex.org/keywords/pulley","display_name":"Pulley","score":0.5701161026954651},{"id":"https://openalex.org/keywords/genetic-algorithm","display_name":"Genetic algorithm","score":0.4941430389881134},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4508872926235199},{"id":"https://openalex.org/keywords/optimal-design","display_name":"Optimal design","score":0.43476033210754395},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3298863172531128},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.3130306005477905},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3031136393547058},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.19344660639762878},{"id":"https://openalex.org/keywords/anatomy","display_name":"Anatomy","score":0.1804085373878479},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1450020670890808},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.06757879257202148}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7608295679092407},{"id":"https://openalex.org/C179254644","wikidata":"https://www.wikidata.org/wiki/Q13222844","display_name":"Moment (physics)","level":2,"score":0.7067520618438721},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.6913954019546509},{"id":"https://openalex.org/C2780105995","wikidata":"https://www.wikidata.org/wiki/Q232358","display_name":"Tendon","level":2,"score":0.6640564799308777},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.609372079372406},{"id":"https://openalex.org/C171937826","wikidata":"https://www.wikidata.org/wiki/Q48378","display_name":"Pulley","level":2,"score":0.5701161026954651},{"id":"https://openalex.org/C8880873","wikidata":"https://www.wikidata.org/wiki/Q187787","display_name":"Genetic algorithm","level":2,"score":0.4941430389881134},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4508872926235199},{"id":"https://openalex.org/C186394612","wikidata":"https://www.wikidata.org/wiki/Q7098942","display_name":"Optimal design","level":2,"score":0.43476033210754395},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3298863172531128},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.3130306005477905},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3031136393547058},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.19344660639762878},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.1804085373878479},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1450020670890808},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.06757879257202148},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","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/urai.2017.7992823","is_oa":false,"landing_page_url":"https://doi.org/10.1109/urai.2017.7992823","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 14th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1530801708","https://openalex.org/W1975033238","https://openalex.org/W1978360037","https://openalex.org/W1999597131","https://openalex.org/W2004220507","https://openalex.org/W2024144340","https://openalex.org/W2048058874","https://openalex.org/W2063822181","https://openalex.org/W2134167019","https://openalex.org/W2155840082","https://openalex.org/W2217141102","https://openalex.org/W2296944518","https://openalex.org/W2550815553","https://openalex.org/W6683058595","https://openalex.org/W6688368008"],"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/W2027283708","https://openalex.org/W2386574999","https://openalex.org/W2367073236"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"the":[3,14,38,56,62,81,108,121,127,134,149,153,160,164,167,175,191,194,200],"improved":[4,41,63,179],"branched":[5,16,42,64,180],"tendon":[6,17,43,65,69,181],"mechanism":[7,27,44,52,66,150,182,205],"by":[8],"including":[9],"additional":[10,34],"design":[11,22,35,95],"parameters":[12,36],"to":[13,80,107,118,123,147,158,189,197],"original":[15],"design,":[18],"and":[19,37,93,113,142,152],"a":[20,102],"kinematic":[21,176],"optimization":[23],"technique":[24],"for":[25],"this":[26],"using":[28],"genetic":[29,184],"algorithm.":[30],"The":[31],"significance":[32],"of":[33,40,59,91,111,126,166,178,193],"feature":[39],"are":[45,131,145],"also":[46],"explained.":[47],"Unlike":[48],"traditional":[49,210],"joint":[50,104,112,168,172,211],"pulley-tendon":[51],"that":[53],"always":[54],"has":[55],"same":[57,135],"length":[58],"moment":[60,99,116,161,195],"arm,":[61],"uses":[67],"special":[68],"which":[70],"is":[71,78,156,187],"divided":[72,87],"into":[73],"two":[74,88],"just":[75],"before":[76],"it":[77,186],"attached":[79],"remote":[82],"link.":[83],"By":[84],"optimizing":[85],"these":[86],"different":[89],"lengthes":[90],"tendons":[92,122],"other":[94],"parameters,":[96],"creating":[97],"various":[98],"arm":[100,117,162,196],"on":[101],"single":[103],"with":[105,183],"respect":[106],"flexion":[109,165],"angle":[110],"limiting":[114],"maximum":[115],"ensure":[119],"all":[120],"be":[124],"inside":[125],"finger's":[128],"outer":[129],"frame":[130],"possible":[132,188],"at":[133],"time.":[136],"Total":[137],"12":[138],"variables,":[139],"4":[140],"given":[141],"8":[143],"independent,":[144],"used":[146],"represent":[148],"mathematically":[151],"objective":[154],"function":[155],"defined":[157],"maximize":[159],"throughout":[163,199],"while":[169],"not":[170],"exceeding":[171],"radius.":[173],"Optimizing":[174],"model":[177],"algorithm,":[185],"minimize":[190],"loss":[192],"3.11%":[198],"flexion.":[201],"Meanwhile,":[202],"overall":[203],"actuation":[204],"becomes":[206],"much":[207],"simple":[208],"than":[209],"pulleytendon":[212],"mechanism.":[213]},"counts_by_year":[{"year":2021,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
