{"id":"https://openalex.org/W1970534256","doi":"https://doi.org/10.1177/02783640022066888","title":"Human Safety Mechanisms of Human-Friendly Robots: Passive Viscoelastic Trunk and Passively Movable Base","display_name":"Human Safety Mechanisms of Human-Friendly Robots: Passive Viscoelastic Trunk and Passively Movable Base","publication_year":2000,"publication_date":"2000-04-01","ids":{"openalex":"https://openalex.org/W1970534256","doi":"https://doi.org/10.1177/02783640022066888","mag":"1970534256"},"language":"en","primary_location":{"id":"doi:10.1177/02783640022066888","is_oa":false,"landing_page_url":"https://doi.org/10.1177/02783640022066888","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"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":"The International Journal of Robotics Research","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/A5085412119","display_name":"Hun\u2010ok Lim","orcid":"https://orcid.org/0009-0001-9116-8663"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Hun-Ok Lim","raw_affiliation_strings":["Department of Mechanical Engineering School of Science and Engineering,                         Waseda University 3-4-1 Okubo, Shinjuku, Tokyo, 169-8555 Japan","Department of Mechanical Engineering, School of Science and Engineering, Waseda University, 3-4-1, Okubo, Shinjuku, Tokyo, 169-8555, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering School of Science and Engineering,                         Waseda University 3-4-1 Okubo, Shinjuku, Tokyo, 169-8555 Japan","institution_ids":["https://openalex.org/I150744194"]},{"raw_affiliation_string":"Department of Mechanical Engineering, School of Science and Engineering, Waseda University, 3-4-1, Okubo, Shinjuku, Tokyo, 169-8555, Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5031095083","display_name":"K. Tanie","orcid":null},"institutions":[{"id":"https://openalex.org/I1287223417","display_name":"Ministry of Economy, Trade and Industry","ror":"https://ror.org/055tm7f07","country_code":"JP","type":"government","lineage":["https://openalex.org/I1287223417"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kazuo Tanie","raw_affiliation_strings":["Department of Mechanical Engineering Laboratory, Agency of Industrial                         Science and Technology, Ministry of International Trade and Industry, 1-2                         Namiki, Tsukuba, 305 Japan","Department of Mechanical Engineering Laboratory, Agency of Industrial Science and Technology, Ministry of International Trade and Industry, 1-2 Namiki, Tsukuba, 305 Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering Laboratory, Agency of Industrial                         Science and Technology, Ministry of International Trade and Industry, 1-2                         Namiki, Tsukuba, 305 Japan","institution_ids":["https://openalex.org/I1287223417"]},{"raw_affiliation_string":"Department of Mechanical Engineering Laboratory, Agency of Industrial Science and Technology, Ministry of International Trade and Industry, 1-2 Namiki, Tsukuba, 305 Japan","institution_ids":["https://openalex.org/I1287223417"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5085412119"],"corresponding_institution_ids":["https://openalex.org/I150744194"],"apc_list":null,"apc_paid":null,"fwci":8.9225,"has_fulltext":false,"cited_by_count":77,"citation_normalized_percentile":{"value":0.97334119,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"19","issue":"4","first_page":"307","last_page":"335"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","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/T10653","display_name":"Robot Manipulation and Learning","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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","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/T10879","display_name":"Robotic Locomotion and Control","score":0.9947999715805054,"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/robot","display_name":"Robot","score":0.8213413953781128},{"id":"https://openalex.org/keywords/base","display_name":"Base (topology)","score":0.6078977584838867},{"id":"https://openalex.org/keywords/damper","display_name":"Damper","score":0.6045480370521545},{"id":"https://openalex.org/keywords/trunk","display_name":"Trunk","score":0.533053994178772},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.5257892608642578},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.45389461517333984},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.45117536187171936},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.44151732325553894},{"id":"https://openalex.org/keywords/brace","display_name":"Brace","score":0.41373229026794434},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.281175822019577},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.27833035588264465},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.27440035343170166},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.06863722205162048},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.06220686435699463}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.8213413953781128},{"id":"https://openalex.org/C42058472","wikidata":"https://www.wikidata.org/wiki/Q810214","display_name":"Base (topology)","level":2,"score":0.6078977584838867},{"id":"https://openalex.org/C140096630","wikidata":"https://www.wikidata.org/wiki/Q3423628","display_name":"Damper","level":2,"score":0.6045480370521545},{"id":"https://openalex.org/C2781197403","wikidata":"https://www.wikidata.org/wiki/Q193472","display_name":"Trunk","level":2,"score":0.533053994178772},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.5257892608642578},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.45389461517333984},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.45117536187171936},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.44151732325553894},{"id":"https://openalex.org/C2779793219","wikidata":"https://www.wikidata.org/wiki/Q2662870","display_name":"Brace","level":2,"score":0.41373229026794434},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.281175822019577},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.27833035588264465},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.27440035343170166},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.06863722205162048},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.06220686435699463},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/02783640022066888","is_oa":false,"landing_page_url":"https://doi.org/10.1177/02783640022066888","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"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":"The International Journal of Robotics Research","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.41999998688697815,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":75,"referenced_works":["https://openalex.org/W1496759439","https://openalex.org/W1518681747","https://openalex.org/W1519865121","https://openalex.org/W1564897360","https://openalex.org/W1783961574","https://openalex.org/W1794255949","https://openalex.org/W1856662891","https://openalex.org/W1926836425","https://openalex.org/W1945460095","https://openalex.org/W1966211559","https://openalex.org/W1966552874","https://openalex.org/W1967377907","https://openalex.org/W2000235670","https://openalex.org/W2003531964","https://openalex.org/W2008731016","https://openalex.org/W2016958754","https://openalex.org/W2031076787","https://openalex.org/W2034052310","https://openalex.org/W2038101728","https://openalex.org/W2042163945","https://openalex.org/W2045000616","https://openalex.org/W2049410986","https://openalex.org/W2050708324","https://openalex.org/W2051205761","https://openalex.org/W2053392707","https://openalex.org/W2059408607","https://openalex.org/W2060547851","https://openalex.org/W2062653996","https://openalex.org/W2077129956","https://openalex.org/W2080017937","https://openalex.org/W2081115468","https://openalex.org/W2094841525","https://openalex.org/W2099442362","https://openalex.org/W2103610162","https://openalex.org/W2103785896","https://openalex.org/W2105240734","https://openalex.org/W2105360813","https://openalex.org/W2105390381","https://openalex.org/W2106993216","https://openalex.org/W2109477710","https://openalex.org/W2112474089","https://openalex.org/W2113873479","https://openalex.org/W2114404333","https://openalex.org/W2115431380","https://openalex.org/W2117531282","https://openalex.org/W2118334504","https://openalex.org/W2119559506","https://openalex.org/W2125288286","https://openalex.org/W2130883172","https://openalex.org/W2137283780","https://openalex.org/W2138102488","https://openalex.org/W2141314596","https://openalex.org/W2144522070","https://openalex.org/W2144606107","https://openalex.org/W2145546522","https://openalex.org/W2146381527","https://openalex.org/W2150367199","https://openalex.org/W2153366512","https://openalex.org/W2154786710","https://openalex.org/W2155829031","https://openalex.org/W2159340122","https://openalex.org/W2160808930","https://openalex.org/W2161427949","https://openalex.org/W2162046045","https://openalex.org/W2163577910","https://openalex.org/W2163668399","https://openalex.org/W2164264801","https://openalex.org/W2164450398","https://openalex.org/W2164540424","https://openalex.org/W2170731884","https://openalex.org/W2252406075","https://openalex.org/W2583594917","https://openalex.org/W3217246742","https://openalex.org/W4255204060","https://openalex.org/W6629769240"],"related_works":["https://openalex.org/W2039982706","https://openalex.org/W2990021029","https://openalex.org/W1854890619","https://openalex.org/W2397852956","https://openalex.org/W2551499063","https://openalex.org/W24994384","https://openalex.org/W2046223316","https://openalex.org/W2165717376","https://openalex.org/W2164625777","https://openalex.org/W2415397981"],"abstract_inverted_index":{"We":[0,144],"would":[1],"like":[2],"to":[3,8,32,39,70,139],"give":[4],"robots":[5,44,55],"the":[6,33,51,54,109,119,123,126,131,140,146,149],"ability":[7],"secure":[9],"human":[10,36],"safety":[11],"in":[12,18,137,163],"human-robot":[13,73],"collisions":[14],"capable":[15],"of":[16,35,87,122,148],"arising":[17],"our":[19],"living":[20],"and":[21,48,95,106,108,125,133,152,159],"working":[22],"environments.":[23],"However,":[24],"unfortunately,":[25],"not":[26],"much":[27],"attention":[28],"has":[29],"been":[30,46],"paid":[31],"technologies":[34],"robot":[37,62,84],"symbiosis":[38],"date":[40],"because":[41],"almost":[42],"all":[43],"have":[45],"designed":[47],"constructed":[49],"on":[50],"assumption":[52],"that":[53,85],"are":[56],"physically":[57],"separated":[58],"from":[59],"humans.":[60],"A":[61],"with":[63,72,104],"a":[64,80],"new":[65],"concept":[66],"will":[67],"be":[68],"required":[69],"deal":[71],"contact.":[74],"In":[75],"this":[76],"article,":[77],"we":[78],"propose":[79],"passively":[81,96,110,135],"movable":[82,97,111,150],"human-friendly":[83],"consists":[86],"an":[88],"elastic":[89],"material-covered":[90],"manipulator,":[91],"passive":[92],"compliant":[93,100,153],"trunk,":[94],"base.":[98],"The":[99],"trunk":[101,132,154],"is":[102,113,161],"equipped":[103],"springs":[105],"dampers,":[107],"base":[112,124,134,151],"constrained":[114],"by":[115],"friction":[116],"developed":[117],"between":[118],"contact":[120],"surface":[121],"ground.":[127],"During":[128],"unexpected":[129],"collisions,":[130],"move":[136],"response":[138],"produced":[141],"collision":[142,156,165],"force.":[143],"describe":[145],"validity":[147],"for":[155],"force":[157],"suppression,":[158],"it":[160],"demonstrated":[162],"several":[164],"situations.":[166]},"counts_by_year":[{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":3},{"year":2015,"cited_by_count":6},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":4},{"year":2012,"cited_by_count":3}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}
