{"id":"https://openalex.org/W2573437896","doi":"https://doi.org/10.20965/jrm.2012.p0876","title":"Development of a Novel Rotor-Embedded-Type Multidegree-of-Freedom Spherical Ultrasonic Motor","display_name":"Development of a Novel Rotor-Embedded-Type Multidegree-of-Freedom Spherical Ultrasonic Motor","publication_year":2012,"publication_date":"2012-10-20","ids":{"openalex":"https://openalex.org/W2573437896","doi":"https://doi.org/10.20965/jrm.2012.p0876","mag":"2573437896"},"language":"en","primary_location":{"id":"doi:10.20965/jrm.2012.p0876","is_oa":true,"landing_page_url":"https://doi.org/10.20965/jrm.2012.p0876","pdf_url":null,"source":{"id":"https://openalex.org/S2764886168","display_name":"Journal of Robotics and Mechatronics","issn_l":"0915-3942","issn":["0915-3942","1883-8049"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4324309662","host_organization_name":"Fuji Technology Press Ltd.","host_organization_lineage":["https://openalex.org/P4324309662"],"host_organization_lineage_names":["Fuji Technology Press Ltd."],"type":"journal"},"license":"cc-by-nd","license_id":"https://openalex.org/licenses/cc-by-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Robotics and Mechatronics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"diamond","oa_url":"https://doi.org/10.20965/jrm.2012.p0876","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5046214073","display_name":"Bo Lu","orcid":"https://orcid.org/0000-0002-2858-1121"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Bo Lu","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067803457","display_name":"Manabu Aoyagi","orcid":"https://orcid.org/0000-0003-0693-5918"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Manabu Aoyagi","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086191984","display_name":"Hideki Tamura","orcid":"https://orcid.org/0000-0002-0167-2533"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hideki Tamura","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5113641625","display_name":"Takehiro Takano","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Takehiro Takano","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5046214073"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.56920649,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"24","issue":"5","first_page":"876","last_page":"883"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11525","display_name":"Piezoelectric Actuators and Control","score":0.9965000152587891,"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/T11525","display_name":"Piezoelectric Actuators and Control","score":0.9965000152587891,"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/T11486","display_name":"Micro and Nano Robotics","score":0.9819999933242798,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9707000255584717,"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/vibrator","display_name":"Vibrator (electronic)","score":0.8911411762237549},{"id":"https://openalex.org/keywords/stator","display_name":"Stator","score":0.822664201259613},{"id":"https://openalex.org/keywords/rotor","display_name":"Rotor (electric)","score":0.7858263254165649},{"id":"https://openalex.org/keywords/ultrasonic-motor","display_name":"Ultrasonic motor","score":0.7687680721282959},{"id":"https://openalex.org/keywords/vibration","display_name":"Vibration","score":0.6106435060501099},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5131636261940002},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.5103394389152527},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.47068339586257935},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.44323065876960754},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.39174652099609375},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.2748296856880188},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.26241081953048706},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1620117425918579},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.10593777894973755}],"concepts":[{"id":"https://openalex.org/C2779437355","wikidata":"https://www.wikidata.org/wiki/Q4110501","display_name":"Vibrator (electronic)","level":2,"score":0.8911411762237549},{"id":"https://openalex.org/C2776529397","wikidata":"https://www.wikidata.org/wiki/Q190312","display_name":"Stator","level":2,"score":0.822664201259613},{"id":"https://openalex.org/C17281054","wikidata":"https://www.wikidata.org/wiki/Q193466","display_name":"Rotor (electric)","level":2,"score":0.7858263254165649},{"id":"https://openalex.org/C138794181","wikidata":"https://www.wikidata.org/wiki/Q10541502","display_name":"Ultrasonic motor","level":3,"score":0.7687680721282959},{"id":"https://openalex.org/C198394728","wikidata":"https://www.wikidata.org/wiki/Q3695508","display_name":"Vibration","level":2,"score":0.6106435060501099},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5131636261940002},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.5103394389152527},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.47068339586257935},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.44323065876960754},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.39174652099609375},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.2748296856880188},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.26241081953048706},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1620117425918579},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.10593777894973755},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","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/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.20965/jrm.2012.p0876","is_oa":true,"landing_page_url":"https://doi.org/10.20965/jrm.2012.p0876","pdf_url":null,"source":{"id":"https://openalex.org/S2764886168","display_name":"Journal of Robotics and Mechatronics","issn_l":"0915-3942","issn":["0915-3942","1883-8049"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4324309662","host_organization_name":"Fuji Technology Press Ltd.","host_organization_lineage":["https://openalex.org/P4324309662"],"host_organization_lineage_names":["Fuji Technology Press Ltd."],"type":"journal"},"license":"cc-by-nd","license_id":"https://openalex.org/licenses/cc-by-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Robotics and Mechatronics","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.20965/jrm.2012.p0876","is_oa":true,"landing_page_url":"https://doi.org/10.20965/jrm.2012.p0876","pdf_url":null,"source":{"id":"https://openalex.org/S2764886168","display_name":"Journal of Robotics and Mechatronics","issn_l":"0915-3942","issn":["0915-3942","1883-8049"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4324309662","host_organization_name":"Fuji Technology Press Ltd.","host_organization_lineage":["https://openalex.org/P4324309662"],"host_organization_lineage_names":["Fuji Technology Press Ltd."],"type":"journal"},"license":"cc-by-nd","license_id":"https://openalex.org/licenses/cc-by-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Robotics and Mechatronics","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.41999998688697815,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W269927472","https://openalex.org/W1657278566","https://openalex.org/W2017400873","https://openalex.org/W2042539781","https://openalex.org/W2043071054","https://openalex.org/W2046000543","https://openalex.org/W2071135468","https://openalex.org/W2086644516","https://openalex.org/W2089451272","https://openalex.org/W2100437863","https://openalex.org/W2101595072","https://openalex.org/W2115135619","https://openalex.org/W2131215350","https://openalex.org/W2144144667","https://openalex.org/W2164808908","https://openalex.org/W2169407666","https://openalex.org/W2487525921"],"related_works":["https://openalex.org/W2367187237","https://openalex.org/W2144305913","https://openalex.org/W2319106126","https://openalex.org/W1922384199","https://openalex.org/W2079366418","https://openalex.org/W801640284","https://openalex.org/W4321512265","https://openalex.org/W2391814799","https://openalex.org/W2024747160","https://openalex.org/W2660932584"],"abstract_inverted_index":{"An":[0],"actuator":[1],"system":[2],"with":[3,44,62,79],"multidegree-of-freedom":[4],"(MDOF)":[5],"motion":[6],"and":[7,40,67,82,97,121,137,157,160],"complicated":[8],"action":[9],"has":[10,153],"recently":[11],"attracted":[12],"interest":[13],"in":[14,53],"the":[15,54,74,86,89,110,118,122,126,134,148],"field":[16],"of":[17,36,56,88,109,125,151],"robotic":[18],"technology.":[19],"The":[20,32,48,76,99,114,144],"present":[21,115],"paper":[22,116],"proposes":[23],"a":[24,37,41,63,68,154,163],"novel":[25],"rotor-embeddedtype":[26],"MDOF":[27,33,128],"spherical":[28,38,49,64,100],"ultrasonic":[29],"motor":[30,69],"(SUSM).":[31],"SUSM":[34,146],"consists":[35],"rotor":[39,50,101],"stator":[42,60,77,135],"vibrator":[43,61,78,90],"an":[45,57],"all-in-one":[46],"structure.":[47],"is":[51,71,158,167],"embedded":[52],"center":[55],"almost":[58],"annular":[59],"inner":[65],"surface,":[66],"shaft":[70],"mounted":[72],"on":[73,141],"rotor.":[75],"piezoceramic":[80],"disks":[81],"plates":[83],"adhering":[84],"to":[85,169],"surfaces":[87],"can":[91],"excite":[92],"five":[93,111],"vibration":[94,112],"modes":[95],"independently":[96],"simultaneously.":[98],"rotates":[102],"around":[103],"three":[104],"axes":[105],"by":[106],"combining":[107],"two":[108],"modes.":[113],"describes":[117],"basic":[119],"construction":[120],"operating":[123,149],"principle":[124,150],"rotor-embedded-type":[127],"SUSM,":[129],"modal":[130],"analysis":[131],"results":[132,139],"for":[133],"vibrator,":[136],"experimental":[138],"based":[140],"trial":[142],"manufacture.":[143],"proposedMDOF":[145],"confirmed":[147],"design":[152],"simple":[155],"structure":[156],"compact":[159],"lightweight,":[161],"so":[162],"large":[164],"torque-to-weight":[165],"ratio":[166],"expected":[168],"be":[170],"realized.":[171]},"counts_by_year":[{"year":2022,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2016,"cited_by_count":1}],"updated_date":"2026-01-13T01:12:25.745995","created_date":"2025-10-10T00:00:00"}