{"id":"https://openalex.org/W2037178089","doi":"https://doi.org/10.1177/027836499801700507","title":"On Tendon-Driven Robotic Mechanisms with Redundant Tendons","display_name":"On Tendon-Driven Robotic Mechanisms with Redundant Tendons","publication_year":1998,"publication_date":"1998-05-01","ids":{"openalex":"https://openalex.org/W2037178089","doi":"https://doi.org/10.1177/027836499801700507","mag":"2037178089"},"language":"en","primary_location":{"id":"doi:10.1177/027836499801700507","is_oa":false,"landing_page_url":"https://doi.org/10.1177/027836499801700507","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/A5007893254","display_name":"Hiroaki Kobayashi","orcid":"https://orcid.org/0000-0002-3350-1413"},"institutions":[{"id":"https://openalex.org/I16656306","display_name":"Meiji University","ror":"https://ror.org/02rqvrp93","country_code":"JP","type":"education","lineage":["https://openalex.org/I16656306"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hiroaki Kobayashi","raw_affiliation_strings":["School of Science and Technology Meiji University Kawasaki City, 214-8571 Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Science and Technology Meiji University Kawasaki City, 214-8571 Japan","institution_ids":["https://openalex.org/I16656306"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103640631","display_name":"Kazuhito HYODO","orcid":null},"institutions":[{"id":"https://openalex.org/I182069643","display_name":"Kanagawa Institute of Technology","ror":"https://ror.org/007gj5v75","country_code":"JP","type":"education","lineage":["https://openalex.org/I182069643"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kazuhito Hyodo","raw_affiliation_strings":["Faculty of Engineering Kanagawa Institute of Technology Atsugi City, 243-0292 Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Engineering Kanagawa Institute of Technology Atsugi City, 243-0292 Japan","institution_ids":["https://openalex.org/I182069643"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5031021530","display_name":"Daisuke Ogane","orcid":null},"institutions":[{"id":"https://openalex.org/I16656306","display_name":"Meiji University","ror":"https://ror.org/02rqvrp93","country_code":"JP","type":"education","lineage":["https://openalex.org/I16656306"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Daisuke Ogane","raw_affiliation_strings":["School of Science and Technology Meiji University Kawasaki City. 214-8571 Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Science and Technology Meiji University Kawasaki City. 214-8571 Japan","institution_ids":["https://openalex.org/I16656306"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":4.9329,"has_fulltext":false,"cited_by_count":145,"citation_normalized_percentile":{"value":0.94622843,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"17","issue":"5","first_page":"561","last_page":"571"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9991999864578247,"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":0.9991999864578247,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9983999729156494,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/controllability","display_name":"Controllability","score":0.8318461179733276},{"id":"https://openalex.org/keywords/tendon","display_name":"Tendon","score":0.8285433053970337},{"id":"https://openalex.org/keywords/redundancy","display_name":"Redundancy (engineering)","score":0.8002673387527466},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.6293172836303711},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.48539862036705017},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4412318766117096},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3887653350830078},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3449914753437042},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3378300368785858},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.30918624997138977},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23516982793807983},{"id":"https://openalex.org/keywords/anatomy","display_name":"Anatomy","score":0.15331318974494934},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10127225518226624},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.09691888093948364},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.08987867832183838}],"concepts":[{"id":"https://openalex.org/C48209547","wikidata":"https://www.wikidata.org/wiki/Q1331104","display_name":"Controllability","level":2,"score":0.8318461179733276},{"id":"https://openalex.org/C2780105995","wikidata":"https://www.wikidata.org/wiki/Q232358","display_name":"Tendon","level":2,"score":0.8285433053970337},{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.8002673387527466},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.6293172836303711},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.48539862036705017},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4412318766117096},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3887653350830078},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3449914753437042},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3378300368785858},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.30918624997138977},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23516982793807983},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.15331318974494934},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10127225518226624},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.09691888093948364},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.08987867832183838},{"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/027836499801700507","is_oa":false,"landing_page_url":"https://doi.org/10.1177/027836499801700507","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":5,"referenced_works":["https://openalex.org/W1999306089","https://openalex.org/W2061612624","https://openalex.org/W2085545845","https://openalex.org/W2098867344","https://openalex.org/W2129768723"],"related_works":["https://openalex.org/W2899084033","https://openalex.org/W2140995696","https://openalex.org/W2362688334","https://openalex.org/W4297491206","https://openalex.org/W2540358353","https://openalex.org/W2226935783","https://openalex.org/W2509558097","https://openalex.org/W2371019830","https://openalex.org/W2037178089","https://openalex.org/W3171165744"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"several":[3],"basic":[4],"issues":[5],"are":[6,37],"discussed":[7],"regarding":[8],"tendon":[9,43,53],"redundancy":[10],"and":[11,45],"joint":[12,66],"stiffness":[13,67],"adjustability":[14],"for":[15],"a":[16,51],"robotic":[17],"mechanism":[18],"driven":[19],"with":[20],"redundant":[21,38,42,52],"tendons.":[22],"After":[23],"briefly":[24],"discussing":[25],"tendon-":[26],"controllability,":[27],"the":[28,57,65,71],"authors":[29,60],"define":[30],"local":[31],"maximum":[32,41],"sets":[33],"of":[34,50,56],"tendons":[35],"that":[36],"simultaneously":[39],"(local":[40],"sets)":[44],"obtain":[46,61],"an":[47],"irreducible":[48],"description":[49],"in":[54],"terms":[55],"others.":[58],"The":[59],"conditions":[62],"under":[63],"which":[64],"is":[68],"adjustable":[69],"using":[70],"tendons'":[72],"nonlinear":[73],"elasticity.":[74]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":11},{"year":2020,"cited_by_count":9},{"year":2019,"cited_by_count":10},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":7},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":5},{"year":2014,"cited_by_count":11},{"year":2013,"cited_by_count":12},{"year":2012,"cited_by_count":12}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}