{"id":"https://openalex.org/W3008277350","doi":"https://doi.org/10.1007/978-3-030-42026-0_6","title":"Fault-Tolerant Physical Human-Robot Interaction via Stiffness Adaptation of Elastic Actuators","display_name":"Fault-Tolerant Physical Human-Robot Interaction via Stiffness Adaptation of Elastic Actuators","publication_year":2020,"publication_date":"2020-01-01","ids":{"openalex":"https://openalex.org/W3008277350","doi":"https://doi.org/10.1007/978-3-030-42026-0_6","mag":"3008277350"},"language":"en","primary_location":{"id":"doi:10.1007/978-3-030-42026-0_6","is_oa":false,"landing_page_url":"https://doi.org/10.1007/978-3-030-42026-0_6","pdf_url":null,"source":{"id":"https://openalex.org/S4210172544","display_name":"Springer proceedings in advanced robotics","issn_l":"2511-1256","issn":["2511-1256","2511-1264"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319972","host_organization_name":"Springer International Publishing","host_organization_lineage":["https://openalex.org/P4310319972","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer International Publishing","Springer Nature"],"type":"book series"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Springer Proceedings in Advanced Robotics","raw_type":"book-chapter"},"type":"book-chapter","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/A5052569159","display_name":"Florian Stuhlenmiller","orcid":"https://orcid.org/0000-0001-5222-8312"},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technical University of Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Florian Stuhlenmiller","raw_affiliation_strings":["Institute for Mechatronic Systems in Mechanical Engineering, Technical University Darmstadt, Darmstadt, Germany"],"affiliations":[{"raw_affiliation_string":"Institute for Mechatronic Systems in Mechanical Engineering, Technical University Darmstadt, Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017637935","display_name":"Rodrigo J. Velasco-Guillen","orcid":"https://orcid.org/0000-0002-5443-8820"},"institutions":[{"id":"https://openalex.org/I200332995","display_name":"TU Dortmund University","ror":"https://ror.org/01k97gp34","country_code":"DE","type":"education","lineage":["https://openalex.org/I200332995"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Rodrigo J. Velasco-Guillen","raw_affiliation_strings":["Elastic Lightweight Robotics Group, Robotics Research Institute, Technical University Dortmund, Dortmund, Germany"],"affiliations":[{"raw_affiliation_string":"Elastic Lightweight Robotics Group, Robotics Research Institute, Technical University Dortmund, Dortmund, Germany","institution_ids":["https://openalex.org/I200332995"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062742761","display_name":"Stephan Rinderknecht","orcid":"https://orcid.org/0000-0001-5568-1649"},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technical University of Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Stephan Rinderknecht","raw_affiliation_strings":["Institute for Mechatronic Systems in Mechanical Engineering, Technical University Darmstadt, Darmstadt, Germany"],"affiliations":[{"raw_affiliation_string":"Institute for Mechatronic Systems in Mechanical Engineering, Technical University Darmstadt, Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5082242689","display_name":"Philipp Beckerle","orcid":"https://orcid.org/0000-0001-5703-6029"},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technical University of Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]},{"id":"https://openalex.org/I200332995","display_name":"TU Dortmund University","ror":"https://ror.org/01k97gp34","country_code":"DE","type":"education","lineage":["https://openalex.org/I200332995"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Philipp Beckerle","raw_affiliation_strings":["Elastic Lightweight Robotics Group, Robotics Research Institute, Technical University Dortmund, Dortmund, Germany","Institute for Mechatronic Systems in Mechanical Engineering, Technical University Darmstadt, Darmstadt, Germany"],"affiliations":[{"raw_affiliation_string":"Elastic Lightweight Robotics Group, Robotics Research Institute, Technical University Dortmund, Dortmund, Germany","institution_ids":["https://openalex.org/I200332995"]},{"raw_affiliation_string":"Institute for Mechatronic Systems in Mechanical Engineering, Technical University Darmstadt, Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5052569159"],"corresponding_institution_ids":["https://openalex.org/I31512782"],"apc_list":null,"apc_paid":null,"fwci":0.5456,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.58376058,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"73","last_page":"87"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9991000294685364,"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"}},"topics":[{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9991000294685364,"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"}},{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.9932000041007996,"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"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9919000267982483,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.8282358050346375},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.747134804725647},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6640135049819946},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5657945871353149},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.5504992604255676},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.5480679273605347},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5449063777923584},{"id":"https://openalex.org/keywords/fault-tolerance","display_name":"Fault tolerance","score":0.48985549807548523},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.45875242352485657},{"id":"https://openalex.org/keywords/fault","display_name":"Fault (geology)","score":0.43455690145492554},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.42450493574142456},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3827950954437256},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.342709481716156},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.2893054485321045},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2328212559223175},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13569465279579163},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.06786412000656128}],"concepts":[{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.8282358050346375},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.747134804725647},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6640135049819946},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5657945871353149},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.5504992604255676},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.5480679273605347},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5449063777923584},{"id":"https://openalex.org/C63540848","wikidata":"https://www.wikidata.org/wiki/Q3140932","display_name":"Fault tolerance","level":2,"score":0.48985549807548523},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.45875242352485657},{"id":"https://openalex.org/C175551986","wikidata":"https://www.wikidata.org/wiki/Q47089","display_name":"Fault (geology)","level":2,"score":0.43455690145492554},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.42450493574142456},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3827950954437256},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.342709481716156},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.2893054485321045},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2328212559223175},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13569465279579163},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.06786412000656128},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C165205528","wikidata":"https://www.wikidata.org/wiki/Q83371","display_name":"Seismology","level":1,"score":0.0},{"id":"https://openalex.org/C200601418","wikidata":"https://www.wikidata.org/wiki/Q2193887","display_name":"Reliability engineering","level":1,"score":0.0},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1007/978-3-030-42026-0_6","is_oa":false,"landing_page_url":"https://doi.org/10.1007/978-3-030-42026-0_6","pdf_url":null,"source":{"id":"https://openalex.org/S4210172544","display_name":"Springer proceedings in advanced robotics","issn_l":"2511-1256","issn":["2511-1256","2511-1264"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319972","host_organization_name":"Springer International Publishing","host_organization_lineage":["https://openalex.org/P4310319972","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer International Publishing","Springer Nature"],"type":"book series"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Springer Proceedings in Advanced Robotics","raw_type":"book-chapter"},{"id":"pmh:oai:tubiblio.ulb.tu-darmstadt.de:120994","is_oa":false,"landing_page_url":"http://tubiblio.ulb.tu-darmstadt.de/120994/","pdf_url":null,"source":{"id":"https://openalex.org/S4377196390","display_name":"TUbilio (Technical University of Darmstadt)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I31512782","host_organization_name":"Technische Universit\u00e4t Darmstadt","host_organization_lineage":["https://openalex.org/I31512782"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Konferenzver\u00f6ffentlichung"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/13","display_name":"Climate action","score":0.5400000214576721}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W432749403","https://openalex.org/W1480904650","https://openalex.org/W1523815250","https://openalex.org/W1579424694","https://openalex.org/W1654016072","https://openalex.org/W1749494163","https://openalex.org/W1781387954","https://openalex.org/W1976174777","https://openalex.org/W1977278088","https://openalex.org/W2022561860","https://openalex.org/W2073136132","https://openalex.org/W2075059474","https://openalex.org/W2083493736","https://openalex.org/W2085987809","https://openalex.org/W2096178249","https://openalex.org/W2123035336","https://openalex.org/W2123487311","https://openalex.org/W2131380800","https://openalex.org/W2147166777","https://openalex.org/W2154777391","https://openalex.org/W2285791119","https://openalex.org/W2345474674","https://openalex.org/W2473701670","https://openalex.org/W2480229508","https://openalex.org/W2528951757","https://openalex.org/W2809841557","https://openalex.org/W4245713263"],"related_works":["https://openalex.org/W2007221537","https://openalex.org/W2490690736","https://openalex.org/W2099333796","https://openalex.org/W1999058329","https://openalex.org/W2080330449","https://openalex.org/W585100505","https://openalex.org/W2169474978","https://openalex.org/W785766289","https://openalex.org/W2011222276","https://openalex.org/W1980242058"],"abstract_inverted_index":null,"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2020,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}