{"id":"https://openalex.org/W2639522800","doi":"https://doi.org/10.1177/0142331216685607","title":"Design and control of a tendon-driven continuum robot","display_name":"Design and control of a tendon-driven continuum robot","publication_year":2017,"publication_date":"2017-03-01","ids":{"openalex":"https://openalex.org/W2639522800","doi":"https://doi.org/10.1177/0142331216685607","mag":"2639522800"},"language":"en","primary_location":{"id":"doi:10.1177/0142331216685607","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0142331216685607","pdf_url":null,"source":{"id":"https://openalex.org/S24148485","display_name":"Transactions of the Institute of Measurement and Control","issn_l":"0142-3312","issn":["0142-3312","1477-0369"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Transactions of the Institute of Measurement and Control","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/A5036489015","display_name":"Minhan Li","orcid":"https://orcid.org/0000-0002-5234-0248"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Minhan Li","raw_affiliation_strings":["Key Laboratory of Mechanism Theory and Equipment Design, Ministry of Education, School of Mechanical Engineering, Tianjin University, 300072 Tianjin, P.R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Key Laboratory of Mechanism Theory and Equipment Design, Ministry of Education, School of Mechanical Engineering, Tianjin University, 300072 Tianjin, P.R. China","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055850799","display_name":"Rongjie Kang","orcid":"https://orcid.org/0000-0001-5663-4481"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Rongjie Kang","raw_affiliation_strings":["Key Laboratory of Mechanism Theory and Equipment Design, Ministry of Education, School of Mechanical Engineering, Tianjin University, 300072 Tianjin, P.R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Key Laboratory of Mechanism Theory and Equipment Design, Ministry of Education, School of Mechanical Engineering, Tianjin University, 300072 Tianjin, P.R. China","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036030491","display_name":"Shineng Geng","orcid":null},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shineng Geng","raw_affiliation_strings":["Key Laboratory of Mechanism Theory and Equipment Design, Ministry of Education, School of Mechanical Engineering, Tianjin University, 300072 Tianjin, P.R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Key Laboratory of Mechanism Theory and Equipment Design, Ministry of Education, School of Mechanical Engineering, Tianjin University, 300072 Tianjin, P.R. China","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103456405","display_name":"Emanuele Guglielmino","orcid":null},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Emanuele Guglielmino","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Via Morego 30, 16163 Genova, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Via Morego 30, 16163 Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5055850799"],"corresponding_institution_ids":["https://openalex.org/I162868743"],"apc_list":null,"apc_paid":null,"fwci":1.2739,"has_fulltext":false,"cited_by_count":115,"citation_normalized_percentile":{"value":0.78263901,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":"40","issue":"11","first_page":"3263","last_page":"3272"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998000264167786,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9998000264167786,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9729999899864197,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.968999981880188,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6979483962059021},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6819841265678406},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.47124654054641724},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.45351308584213257},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.44715073704719543},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4395953416824341},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.43917930126190186},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.37266260385513306},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.27081286907196045},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1951991617679596},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17081168293952942},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12407591938972473}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6979483962059021},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6819841265678406},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.47124654054641724},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.45351308584213257},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.44715073704719543},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4395953416824341},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.43917930126190186},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.37266260385513306},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.27081286907196045},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1951991617679596},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17081168293952942},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12407591938972473},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/0142331216685607","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0142331216685607","pdf_url":null,"source":{"id":"https://openalex.org/S24148485","display_name":"Transactions of the Institute of Measurement and Control","issn_l":"0142-3312","issn":["0142-3312","1477-0369"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Transactions of the Institute of Measurement and Control","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G7613165466","display_name":null,"funder_award_id":"51375329, 51611130202, 51290293","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W176184024","https://openalex.org/W421036450","https://openalex.org/W1977573049","https://openalex.org/W1988003703","https://openalex.org/W2019306046","https://openalex.org/W2027454283","https://openalex.org/W2036784933","https://openalex.org/W2036915629","https://openalex.org/W2045013876","https://openalex.org/W2053614949","https://openalex.org/W2063797945","https://openalex.org/W2071188031","https://openalex.org/W2073677587","https://openalex.org/W2079038758","https://openalex.org/W2087104703","https://openalex.org/W2094832095","https://openalex.org/W2096645690","https://openalex.org/W2101667962","https://openalex.org/W2101797976","https://openalex.org/W2103185242","https://openalex.org/W2107550832","https://openalex.org/W2119343887","https://openalex.org/W2119531408","https://openalex.org/W2143825589","https://openalex.org/W2144709180","https://openalex.org/W2146461823","https://openalex.org/W2146481048","https://openalex.org/W2150205249","https://openalex.org/W2170836916","https://openalex.org/W2180065899","https://openalex.org/W2316938623","https://openalex.org/W2317008844","https://openalex.org/W2335997780","https://openalex.org/W2516826564","https://openalex.org/W3149322120","https://openalex.org/W3192342399","https://openalex.org/W4250589301"],"related_works":["https://openalex.org/W2903025760","https://openalex.org/W2018658498","https://openalex.org/W2171912896","https://openalex.org/W2000675896","https://openalex.org/W2542723153","https://openalex.org/W2021541810","https://openalex.org/W2133150803","https://openalex.org/W2100910774","https://openalex.org/W2567004573","https://openalex.org/W2523383972"],"abstract_inverted_index":{"Continuum":[0],"robots":[1],"are":[2],"suitable":[3],"for":[4,60],"operating":[5],"in":[6],"unstructured":[7],"environments":[8],"owing":[9],"to":[10,43,77],"their":[11],"intrinsic":[12],"compliance.":[13],"This":[14],"paper":[15],"presents":[16],"a":[17,27,45,68,79],"novel":[18],"tendon-driven":[19],"continuum":[20,62],"robot":[21,63],"equipped":[22],"with":[23],"two":[24],"modules":[25],"and":[26,67],"compliant":[28],"backbone":[29],"formed":[30],"by":[31,38],"helical":[32],"springs.":[33],"Each":[34],"module":[35],"is":[36,64,72],"driven":[37],"four":[39],"parallel":[40],"arranged":[41],"tendons":[42],"implement":[44],"redundant":[46],"actuation":[47],"system":[48],"that":[49,88],"guarantees":[50],"dexterous":[51],"motions":[52],"of":[53,82],"the":[54,61,75,83,89],"robot.":[55,84],"A":[56],"position":[57],"feedback":[58],"controller":[59,76],"then":[65],"developed,":[66],"quadratic":[69],"programming":[70],"algorithm":[71],"incorporated":[73],"into":[74],"achieve":[78],"smooth":[80],"configuration":[81],"Experiments":[85],"results":[86],"show":[87],"control":[90],"method":[91],"has":[92],"good":[93],"trajectory":[94],"tracking":[95],"performance":[96],"against":[97],"external":[98],"disturbances.":[99]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":32},{"year":2024,"cited_by_count":19},{"year":2023,"cited_by_count":21},{"year":2022,"cited_by_count":15},{"year":2021,"cited_by_count":14},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":3}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}