{"id":"https://openalex.org/W2136140974","doi":"https://doi.org/10.1177/0278364904042201","title":"Torque-Controlled Lightweight Arms and Articulated Hands: Do We Reach Technological Limits Now?","display_name":"Torque-Controlled Lightweight Arms and Articulated Hands: Do We Reach Technological Limits Now?","publication_year":2004,"publication_date":"2004-04-01","ids":{"openalex":"https://openalex.org/W2136140974","doi":"https://doi.org/10.1177/0278364904042201","mag":"2136140974"},"language":"en","primary_location":{"id":"doi:10.1177/0278364904042201","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364904042201","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/A5113442349","display_name":"G. Hirzinger","orcid":null},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"G. Hirzinger","raw_affiliation_strings":["DLR Oberpfaffenhofen, German Aerospace Center Institute of Robotics and                        Mechatronics D-82230 Wessling, Germany","DLR Oberpfaffenhofen, German Aerospace Center Institute of Robotics and Mechatronics D-82230 Wessling, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"DLR Oberpfaffenhofen, German Aerospace Center Institute of Robotics and                        Mechatronics D-82230 Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"DLR Oberpfaffenhofen, German Aerospace Center Institute of Robotics and Mechatronics D-82230 Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017745039","display_name":"N. Sporer","orcid":null},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"N. Sporer","raw_affiliation_strings":["DLR Oberpfaffenhofen, German Aerospace Center Institute of Robotics and                        Mechatronics D-82230 Wessling, Germany","DLR Oberpfaffenhofen, German Aerospace Center Institute of Robotics and Mechatronics D-82230 Wessling, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"DLR Oberpfaffenhofen, German Aerospace Center Institute of Robotics and                        Mechatronics D-82230 Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"DLR Oberpfaffenhofen, German Aerospace Center Institute of Robotics and Mechatronics D-82230 Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086377196","display_name":"Manfred Schedl","orcid":null},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"M. Schedl","raw_affiliation_strings":["DLR Oberpfaffenhofen, German Aerospace Center Institute of Robotics and                        Mechatronics D-82230 Wessling, Germany","DLR Oberpfaffenhofen, German Aerospace Center Institute of Robotics and Mechatronics D-82230 Wessling, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"DLR Oberpfaffenhofen, German Aerospace Center Institute of Robotics and                        Mechatronics D-82230 Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"DLR Oberpfaffenhofen, German Aerospace Center Institute of Robotics and Mechatronics D-82230 Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073090812","display_name":"J. Butterfa\u00df","orcid":null},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"J. Butterfa\u00df","raw_affiliation_strings":["DLR Oberpfaffenhofen, German Aerospace Center Institute of Robotics and                        Mechatronics D-82230 Wessling, Germany","DLR Oberpfaffenhofen, German Aerospace Center Institute of Robotics and Mechatronics D-82230 Wessling, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"DLR Oberpfaffenhofen, German Aerospace Center Institute of Robotics and                        Mechatronics D-82230 Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"DLR Oberpfaffenhofen, German Aerospace Center Institute of Robotics and Mechatronics D-82230 Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5014592114","display_name":"Markus Grebenstein","orcid":"https://orcid.org/0000-0002-4026-3716"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"M. Grebenstein","raw_affiliation_strings":["DLR Oberpfaffenhofen, German Aerospace Center Institute of Robotics and                        Mechatronics D-82230 Wessling, Germany","DLR Oberpfaffenhofen, German Aerospace Center Institute of Robotics and Mechatronics D-82230 Wessling, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"DLR Oberpfaffenhofen, German Aerospace Center Institute of Robotics and                        Mechatronics D-82230 Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"DLR Oberpfaffenhofen, German Aerospace Center Institute of Robotics and Mechatronics D-82230 Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5113442349"],"corresponding_institution_ids":["https://openalex.org/I2898391981"],"apc_list":null,"apc_paid":null,"fwci":7.0201,"has_fulltext":false,"cited_by_count":55,"citation_normalized_percentile":{"value":0.96346267,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"23","issue":"4-5","first_page":"331","last_page":"340"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.989300012588501,"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":0.989300012588501,"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/T11701","display_name":"Space Satellite Systems and Control","score":0.9878000020980835,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T14214","display_name":"Space Exploration and Technology","score":0.9757999777793884,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/robotics","display_name":"Robotics","score":0.7044121623039246},{"id":"https://openalex.org/keywords/mechatronics","display_name":"Mechatronics","score":0.6178918480873108},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5995661616325378},{"id":"https://openalex.org/keywords/aerospace","display_name":"Aerospace","score":0.5626130104064941},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.5031706690788269},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.4542733132839203},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.43827471137046814},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4115452468395233},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3972581923007965},{"id":"https://openalex.org/keywords/aeronautics","display_name":"Aeronautics","score":0.3636636734008789},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.3610173463821411},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.348747193813324},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3155077397823334},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07320210337638855}],"concepts":[{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.7044121623039246},{"id":"https://openalex.org/C28704281","wikidata":"https://www.wikidata.org/wiki/Q180165","display_name":"Mechatronics","level":2,"score":0.6178918480873108},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5995661616325378},{"id":"https://openalex.org/C167740415","wikidata":"https://www.wikidata.org/wiki/Q2876213","display_name":"Aerospace","level":2,"score":0.5626130104064941},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.5031706690788269},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.4542733132839203},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.43827471137046814},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4115452468395233},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3972581923007965},{"id":"https://openalex.org/C178802073","wikidata":"https://www.wikidata.org/wiki/Q8421","display_name":"Aeronautics","level":1,"score":0.3636636734008789},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.3610173463821411},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.348747193813324},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3155077397823334},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07320210337638855},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/0278364904042201","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364904042201","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":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W29329001","https://openalex.org/W1503791582","https://openalex.org/W1707608793","https://openalex.org/W1753085763","https://openalex.org/W1862321383","https://openalex.org/W2100119497","https://openalex.org/W2100182432","https://openalex.org/W2119473449","https://openalex.org/W2119979559","https://openalex.org/W2135569231","https://openalex.org/W2141099300","https://openalex.org/W2145744986","https://openalex.org/W2151761374","https://openalex.org/W2158583539","https://openalex.org/W2162189406","https://openalex.org/W6677885396"],"related_works":["https://openalex.org/W655715840","https://openalex.org/W2670177905","https://openalex.org/W2649651290","https://openalex.org/W2691865310","https://openalex.org/W4252062074","https://openalex.org/W3173943080","https://openalex.org/W2698589458","https://openalex.org/W2752063850","https://openalex.org/W2138803223","https://openalex.org/W2188164853"],"abstract_inverted_index":{"In":[0,74],"this":[1],"paper":[2],"we":[3],"briefly":[4],"address":[5],"DLR\u2019s":[6,78],"(German":[7],"Aerospace":[8],"Center)":[9],"background":[10],"in":[11],"space":[12],"robotics":[13],"by":[14],"hand":[15],"of":[16,37,60,81],"corresponding":[17],"milestone":[18],"projects":[19],"including":[20],"systems":[21],"on":[22],"the":[23,30,35,58],"International":[24],"Space":[25],"Station.":[26],"We":[27],"then":[28],"discuss":[29],"key":[31],"technologies":[32],"needed":[33],"for":[34],"development":[36],"an":[38],"artificial":[39,82],"\u201crobonaut\u201d":[40],"generation":[41,52,80],"with":[42,66],"mechatronic":[43],"ultra-lightweight":[44],"arms":[45],"and":[46,71,93],"multifingered":[47],"hands.":[48],"The":[49],"third":[50],"arm":[51],"is":[53,62],"nearly":[54],"finished":[55],"now,":[56],"approaching":[57],"limits":[59],"what":[61],"technologically":[63],"achievable":[64],"today":[65],"respect":[67],"to":[68],"light":[69],"weight":[70],"power":[72],"losses.":[73],"a":[75,86],"similar":[76],"way":[77],"second":[79],"four-fingered":[83],"hands":[84],"was":[85],"big":[87],"step":[88],"towards":[89],"higher":[90],"reliability,":[91],"manipulability":[92],"overall":[94],"performance.":[95]},"counts_by_year":[{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":6},{"year":2015,"cited_by_count":4},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":3},{"year":2012,"cited_by_count":3}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}