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Yi-Heng Chen

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Review Open access Aug 2026

Gear-Ratio Spectrum for Robotic Joint Motor Drive Systems: Multiphysics Coupling and Design Trade-Offs

Robotic joint motor drive systems must combine torque density and dynamic response with low mechanical impedance, safe interaction, and thermal robustness. This review treats gear ratio as a system-level design coordinate realized jointly by the motor, transmission, thermal path, sensing, and control. It synthesizes ho...

Yi-Heng Chen, Zaixin Song, Jin-Cheng Yu · 0 citations

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