{"id":"W2036478283","doi":"10.1177/02783640122068227","title":"Design of a Hollow Hexaform Torque Sensor for Robot Joints","year":2001,"lang":"en","type":"article","venue":"The International Journal of Robotics Research","topic":"Robot Manipulation and Learning","field":"Engineering","cited_by":65,"is_retracted":false,"has_abstract":true,"ca_institutions":"McGill University; Canadian Space Agency","funders":"","keywords":"Torque; Sensitivity (control systems); Stiffness; Damping torque; Robot; Work (physics); Engineering; Finite element method; Computer science; Control theory (sociology); Control engineering; Direct torque control; Mechanical engineering; Artificial intelligence; Electronic engineering; Structural engineering; Physics; Electrical engineering; Control (management)","routes":{"ca_aff":true,"ca_fund":false,"ca_venue":false,"about_ca":false,"invisible_to_affiliation_only":false},"retraction":null,"screen":null,"direct_labels":[],"prediction":{"model_version":"codex-gemma-dda1882f352a","candidate_categories":[],"consensus_categories":[],"category_scores_codex":[0.002018934,0.00008002759,0.0001574593,0.0003239867,0.00006701726,0.00007318814,0.0006085199,0.00004970307,0.00008747154],"category_scores_gemma":[0.0004502124,0.00005875456,0.0001000795,0.0001804648,0.00005920628,0.0001410546,0.00004837946,0.0004157975,0.00001463335],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.000146344,"about_ca_system_score_gemma":0.00007647622,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.000007706013,"about_ca_topic_score_gemma":0.000003495583,"domain_scores_codex":[0.9983013,0.0000977174,0.0004226048,0.00006154252,0.000905417,0.0002114424],"domain_scores_gemma":[0.9977467,0.0007208684,0.0001165818,0.0001227881,0.001228822,0.00006423726],"domain_codex":null,"domain_gemma":null,"domain_candidate":null,"domain_consensus":null,"study_design_codex":"simulation_or_modeling","study_design_gemma":"simulation_or_modeling","study_design_scores_codex":[0.000154036,0.00002678443,0.0002133039,0.0000109712,0.0001409235,0.00001907319,0.0003279339,0.9817291,0.01328814,0.0006958272,0.001513433,0.001880509],"study_design_scores_gemma":[0.0009195486,0.0002139507,0.001088309,0.0001272282,0.00001547448,0.0002737808,0.0003784093,0.9874108,0.005185074,0.001545939,0.002736052,0.0001054177],"study_design_candidate":"simulation_or_modeling","study_design_consensus":"simulation_or_modeling","genre_codex":"methods","genre_gemma":"empirical","genre_scores_codex":[0.01411662,0.0001949554,0.9815385,0.002266688,0.0007070377,0.000220504,8.743993e-7,0.00001687877,0.0009379906],"genre_scores_gemma":[0.9748999,0.0003064504,0.02337281,0.00003406725,0.0004497608,0.000003745671,0.000001833035,0.00002746424,0.0009039225],"genre_candidate":"methods","genre_consensus":null,"teacher_disagreement_score":0.9607833,"threshold_uncertainty_score":0.2395941,"prediction_status":"machine_predicted_unvalidated"},"machine_scores":{"provisional":true,"baseline":true,"maturity_gate_passed":false,"score_opus":0.1944216936427242,"score_gpt":0.387897981477039,"score_spread":0.1934762878343147,"validation_status":"score_only:v0-immature-baseline","note":"Baseline scores from an immature model (maturity gate not passed). Scores rank; they never assert a category."}}