{"id":"https://openalex.org/W1998419392","doi":"https://doi.org/10.1163/156855311x614545","title":"Design and Realization of a Non-Circular Cable Spool to Synthesize a Nonlinear Rotational Spring","display_name":"Design and Realization of a Non-Circular Cable Spool to Synthesize a Nonlinear Rotational Spring","publication_year":2012,"publication_date":"2012-01-01","ids":{"openalex":"https://openalex.org/W1998419392","doi":"https://doi.org/10.1163/156855311x614545","mag":"1998419392"},"language":"en","primary_location":{"id":"doi:10.1163/156855311x614545","is_oa":false,"landing_page_url":"https://doi.org/10.1163/156855311x614545","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced 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/A5005072866","display_name":"Nicolas Schmit","orcid":null},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Nicolas Schmit","raw_affiliation_strings":["a    Department of Mechanical Sciences and Engineering, Tokyo Institute of Technology, 2-12-1 Ookayama, Meguro-ku, Tokyo 152-8550, Japan;, Email: schmit.n.aa@m.titech.ac.jp","Department of Mechanical Sciences and Engineering, Tokyo Institute of Technology, 2-12-1 Ookayama, Meguro-ku, Tokyo 152-8550, Japan;, Email: schmit.n.aa@m.titech.ac.jp"],"affiliations":[{"raw_affiliation_string":"a    Department of Mechanical Sciences and Engineering, Tokyo Institute of Technology, 2-12-1 Ookayama, Meguro-ku, Tokyo 152-8550, Japan;, Email: schmit.n.aa@m.titech.ac.jp","institution_ids":["https://openalex.org/I114531698"]},{"raw_affiliation_string":"Department of Mechanical Sciences and Engineering, Tokyo Institute of Technology, 2-12-1 Ookayama, Meguro-ku, Tokyo 152-8550, Japan;, Email: schmit.n.aa@m.titech.ac.jp","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5050261001","display_name":"Masafumi OKADA","orcid":"https://orcid.org/0000-0002-7715-5292"},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masafumi Okada","raw_affiliation_strings":["b    Department of Mechanical Sciences and Engineering, Tokyo Institute of Technology, 2-12-1 Ookayama, Meguro-ku, Tokyo 152-8550, Japan","Department of Mechanical Sciences and Engineering, Tokyo Institute of Technology, 2-12-1, Ookayama, Meguro-ku, Tokyo 152 8550, Japan"],"affiliations":[{"raw_affiliation_string":"b    Department of Mechanical Sciences and Engineering, Tokyo Institute of Technology, 2-12-1 Ookayama, Meguro-ku, Tokyo 152-8550, Japan","institution_ids":["https://openalex.org/I114531698"]},{"raw_affiliation_string":"Department of Mechanical Sciences and Engineering, Tokyo Institute of Technology, 2-12-1, Ookayama, Meguro-ku, Tokyo 152 8550, Japan","institution_ids":["https://openalex.org/I114531698"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5005072866"],"corresponding_institution_ids":["https://openalex.org/I114531698"],"apc_list":null,"apc_paid":null,"fwci":3.3782,"has_fulltext":false,"cited_by_count":25,"citation_normalized_percentile":{"value":0.92101779,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"26","issue":"3-4","first_page":"234","last_page":"251"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9995999932289124,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9995999932289124,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9965999722480774,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9958999752998352,"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/torque","display_name":"Torque","score":0.7638537883758545},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.7160485982894897},{"id":"https://openalex.org/keywords/spring","display_name":"Spring (device)","score":0.6631203889846802},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5615276098251343},{"id":"https://openalex.org/keywords/polynomial","display_name":"Polynomial","score":0.538163423538208},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5379358530044556},{"id":"https://openalex.org/keywords/angular-displacement","display_name":"Angular displacement","score":0.5204475522041321},{"id":"https://openalex.org/keywords/tension","display_name":"Tension (geology)","score":0.4838794469833374},{"id":"https://openalex.org/keywords/realization","display_name":"Realization (probability)","score":0.4596393406391144},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.443717896938324},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.42602425813674927},{"id":"https://openalex.org/keywords/mechanics","display_name":"Mechanics","score":0.342678964138031},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.3098755478858948},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.305809885263443},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.3029544949531555},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.27823859453201294},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.26198774576187134},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.21726518869400024},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.20218554139137268},{"id":"https://openalex.org/keywords/moment","display_name":"Moment (physics)","score":0.13964849710464478},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11050570011138916}],"concepts":[{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.7638537883758545},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.7160485982894897},{"id":"https://openalex.org/C2778712887","wikidata":"https://www.wikidata.org/wiki/Q102836","display_name":"Spring (device)","level":2,"score":0.6631203889846802},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5615276098251343},{"id":"https://openalex.org/C90119067","wikidata":"https://www.wikidata.org/wiki/Q43260","display_name":"Polynomial","level":2,"score":0.538163423538208},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5379358530044556},{"id":"https://openalex.org/C108439606","wikidata":"https://www.wikidata.org/wiki/Q3305038","display_name":"Angular displacement","level":2,"score":0.5204475522041321},{"id":"https://openalex.org/C186068551","wikidata":"https://www.wikidata.org/wiki/Q13255585","display_name":"Tension (geology)","level":3,"score":0.4838794469833374},{"id":"https://openalex.org/C2781089630","wikidata":"https://www.wikidata.org/wiki/Q21856745","display_name":"Realization (probability)","level":2,"score":0.4596393406391144},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.443717896938324},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.42602425813674927},{"id":"https://openalex.org/C57879066","wikidata":"https://www.wikidata.org/wiki/Q41217","display_name":"Mechanics","level":1,"score":0.342678964138031},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.3098755478858948},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.305809885263443},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.3029544949531555},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.27823859453201294},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.26198774576187134},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.21726518869400024},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.20218554139137268},{"id":"https://openalex.org/C179254644","wikidata":"https://www.wikidata.org/wiki/Q13222844","display_name":"Moment (physics)","level":2,"score":0.13964849710464478},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11050570011138916},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","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/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1163/156855311x614545","is_oa":false,"landing_page_url":"https://doi.org/10.1163/156855311x614545","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W45508539","https://openalex.org/W170291755","https://openalex.org/W1903937396","https://openalex.org/W1966565410","https://openalex.org/W1975067325","https://openalex.org/W1977282511","https://openalex.org/W1980024785","https://openalex.org/W2021150911","https://openalex.org/W2025936988","https://openalex.org/W2041385840","https://openalex.org/W2041737075","https://openalex.org/W2052014474","https://openalex.org/W2060601808","https://openalex.org/W2081115468","https://openalex.org/W2082104834","https://openalex.org/W2088127587","https://openalex.org/W2098194275","https://openalex.org/W2108154420","https://openalex.org/W2111165316","https://openalex.org/W2113873479","https://openalex.org/W2117199428","https://openalex.org/W2128137193","https://openalex.org/W2129936198","https://openalex.org/W2133413464","https://openalex.org/W2145036054","https://openalex.org/W2148267777","https://openalex.org/W2152701836","https://openalex.org/W2157820065","https://openalex.org/W2169100281","https://openalex.org/W2172684584","https://openalex.org/W4285719527"],"related_works":["https://openalex.org/W2022544890","https://openalex.org/W2394097730","https://openalex.org/W2769996735","https://openalex.org/W2260963831","https://openalex.org/W4235249401","https://openalex.org/W2331305369","https://openalex.org/W2043523297","https://openalex.org/W2113405914","https://openalex.org/W2015200445","https://openalex.org/W2035567908"],"abstract_inverted_index":{"Abstract":[0],"In":[1],"this":[2,100],"paper":[3],"we":[4,103,111,129],"present":[5,104],"a":[6,11,16,25,29,46,80,124,141,150],"cable":[7,26],"mechanism":[8],"that":[9,78,98],"realizes":[10],"nonlinear":[12,47,82],"rotational":[13],"spring":[14,21,148],"from":[15],"linear":[17],"translational":[18],"spring.":[19,153],"The":[20,39],"is":[22,33,86],"pulled":[23],"by":[24,57,134],"wound":[27],"around":[28],"non-circular":[30,40],"spool,":[31,69],"which":[32],"rigidly":[34],"attached":[35],"to":[36,115,122],"the":[37,43,54,58,61,65,68,93,96,105,108,113,117,120,131,156,162],"joint.":[38],"shape":[41,66,94,118],"of":[42,60,67,92,95,107,119,159],"spool":[44,97,121],"induces":[45],"relationship":[48],"between":[49,161],"its":[50],"angular":[51],"position":[52],"and":[53,149,164],"torque":[55],"created":[56],"tension":[59],"cable.":[62],"Depending":[63],"on":[64],"various":[70],"torque\u2013angle":[71,83,126],"relationships":[72],"can":[73],"be":[74],"realized.":[75],"We":[76,154],"show":[77],"for":[79],"given":[81],"relationship,":[84],"there":[85],"an":[87,145],"explicit":[88],"expression":[89],"(closed-form":[90],"solution)":[91],"synthesizes":[99],"function.":[101],"First,":[102],"geometry":[106],"problem.":[109],"Then,":[110],"derive":[112],"methodology":[114,133],"calculate":[116],"synthesize":[123],"prescribed":[125],"relationship.":[127],"Finally,":[128],"verify":[130],"design":[132],"experiments":[135],"with":[136],"three":[137],"different":[138],"spools":[139],"realizing":[140],"constant":[142],"force":[143],"spring,":[144],"exponential":[146],"softening":[147],"cubic":[151],"polynomial":[152],"discuss":[155],"possible":[157],"sources":[158],"errors":[160],"theoretical":[163],"experimental":[165],"results.":[166],"Keywords:":[167],"NONLINEAR":[168],"SPRINGNONLINEAR":[169],"STIFFNESSTENDON-DRIVEN":[170],"MECHANISMMECHANICAL":[171],"SYNTHESIS":[172]},"counts_by_year":[{"year":2024,"cited_by_count":3},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":4},{"year":2014,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}