{"id":"W3187500093","doi":"10.1109/tmrb.2021.3098124","title":"A Novel Mechanism for Gravity-Balancing of Serial Robots With High-Dexterity Applications","year":2021,"lang":"en","type":"article","venue":"IEEE Transactions on Medical Robotics and Bionics","topic":"Robotic Mechanisms and Dynamics","field":"Engineering","cited_by":19,"is_retracted":false,"has_abstract":true,"ca_institutions":"University of Waterloo","funders":"","keywords":"Serial manipulator; Robot; Actuator; Mechanism (biology); Kinematics; Computer science; Torque; Serial communication; Control theory (sociology); Limiting; Simulation; Base (topology); Reduction (mathematics); Point (geometry); Control engineering; Parallel manipulator; Engineering; Control (management); Artificial intelligence; Mechanical engineering; Computer hardware; Mathematics","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":"metacan-v3-hybrid-931329e0061c","candidate_categories":[],"consensus_categories":[],"category_scores_codex":[0.0002165963,0.0005363866,0.0002206078,0.0006689344,0.000380397,0.0002654185,0.001000978,0.000569321,0.003133702],"category_scores_gemma":[0.0003197741,0.0002170298,0.0003024669,0.0003497009,0.0002965491,0.000571453,0.0005409174,0.0001989698,0.0005766354],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.0001208658,"about_ca_system_score_gemma":0.0003917442,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.0002044207,"about_ca_topic_score_gemma":0.00026355,"domain_scores_codex":[0.9998544,0.00001683121,0.00001241453,0.00002775415,0.00007358807,0.00001497335],"domain_scores_gemma":[0.9998131,0.00001833893,0.00007027783,0.00003496658,0.00004264151,0.00002055626],"domain_codex":null,"domain_gemma":null,"domain_candidate":null,"domain_consensus":null,"study_design_codex":"bench_or_experimental","study_design_gemma":"bench_or_experimental","study_design_scores_codex":[0.0002575461,0.0001030722,0.001499404,0.0005678741,0.00006047038,0.0006303983,0.0001314924,0.02835052,0.754195,0.02417525,0.001703925,0.188325],"study_design_scores_gemma":[0.0005144055,0.006332828,0.01255188,0.0002867434,0.0002715149,0.007308865,0.0002281051,0.4249933,0.390418,0.01692298,0.1398718,0.0002995898],"study_design_candidate":"bench_or_experimental","study_design_consensus":"bench_or_experimental","genre_codex":"methods","genre_gemma":"empirical","genre_scores_codex":[0.1307464,0.0009081513,0.8570731,0.000195441,0.0002039311,0.000138994,0.0001069095,0.001085284,0.009541809],"genre_scores_gemma":[0.7622591,0.0004336113,0.228285,0.00006195603,0.00005413324,0.0001760117,0.0001464265,0.00004094438,0.00854285],"genre_candidate":"empirical","genre_consensus":null,"teacher_disagreement_score":0.003133702,"threshold_uncertainty_score":0.01048332,"prediction_status":"machine_predicted_unvalidated"},"machine_scores":{"provisional":true,"baseline":true,"maturity_gate_passed":false,"score_opus":0.008865436695508254,"score_gpt":0.2161243356490126,"score_spread":0.2072588989535044,"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."}}