{"id":"https://openalex.org/W1975175976","doi":"https://doi.org/10.1007/s10514-011-9230-7","title":"MACCEPA 2.0: compliant actuator used for energy efficient hopping robot Chobino1D","display_name":"MACCEPA 2.0: compliant actuator used for energy efficient hopping robot Chobino1D","publication_year":2011,"publication_date":"2011-04-22","ids":{"openalex":"https://openalex.org/W1975175976","doi":"https://doi.org/10.1007/s10514-011-9230-7","mag":"1975175976"},"language":"en","primary_location":{"id":"doi:10.1007/s10514-011-9230-7","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s10514-011-9230-7","pdf_url":null,"source":{"id":"https://openalex.org/S144091109","display_name":"Autonomous Robots","issn_l":"0929-5593","issn":["0929-5593","1573-7527"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Autonomous Robots","raw_type":"journal-article"},"type":"article","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/A5010914606","display_name":"Bram Vanderborght","orcid":"https://orcid.org/0000-0003-4881-9341"},"institutions":[{"id":"https://openalex.org/I13469542","display_name":"Vrije Universiteit Brussel","ror":"https://ror.org/006e5kg04","country_code":"BE","type":"education","lineage":["https://openalex.org/I13469542"]},{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["BE","IT"],"is_corresponding":true,"raw_author_name":"Bram Vanderborght","raw_affiliation_strings":["Robotics & Multibody Mechanics Research Group, Vrije Universiteit Brussel, Pleinlaan 2, 1050, Brussel, Belgium","Robotics, Brain and Cognitive Sciences Department, Italian Institute of Technology, Via Morego 30, 16163, Genoa, Italy"],"affiliations":[{"raw_affiliation_string":"Robotics & Multibody Mechanics Research Group, Vrije Universiteit Brussel, Pleinlaan 2, 1050, Brussel, Belgium","institution_ids":["https://openalex.org/I13469542"]},{"raw_affiliation_string":"Robotics, Brain and Cognitive Sciences Department, Italian Institute of Technology, Via Morego 30, 16163, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031036223","display_name":"Nikos G. Tsagarakis","orcid":"https://orcid.org/0000-0002-9877-8237"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Nikos G. Tsagarakis","raw_affiliation_strings":["Robotics, Brain and Cognitive Sciences Department, Italian Institute of Technology, Via Morego 30, 16163, Genoa, Italy"],"affiliations":[{"raw_affiliation_string":"Robotics, Brain and Cognitive Sciences Department, Italian Institute of Technology, Via Morego 30, 16163, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030726547","display_name":"Ronald Van Ham","orcid":"https://orcid.org/0000-0003-4242-9377"},"institutions":[{"id":"https://openalex.org/I13469542","display_name":"Vrije Universiteit Brussel","ror":"https://ror.org/006e5kg04","country_code":"BE","type":"education","lineage":["https://openalex.org/I13469542"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Ronald Van Ham","raw_affiliation_strings":["Robotics & Multibody Mechanics Research Group, Vrije Universiteit Brussel, Pleinlaan 2, 1050, Brussel, Belgium"],"affiliations":[{"raw_affiliation_string":"Robotics & Multibody Mechanics Research Group, Vrije Universiteit Brussel, Pleinlaan 2, 1050, Brussel, Belgium","institution_ids":["https://openalex.org/I13469542"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032240480","display_name":"Ivar Thorson","orcid":null},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Ivar Thorson","raw_affiliation_strings":["Robotics, Brain and Cognitive Sciences Department, Italian Institute of Technology, Via Morego 30, 16163, Genoa, Italy"],"affiliations":[{"raw_affiliation_string":"Robotics, Brain and Cognitive Sciences Department, Italian Institute of Technology, Via Morego 30, 16163, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044243940","display_name":"Darwin G. Caldwell","orcid":"https://orcid.org/0000-0002-6233-9961"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Darwin G. Caldwell","raw_affiliation_strings":["Robotics, Brain and Cognitive Sciences Department, Italian Institute of Technology, Via Morego 30, 16163, Genoa, Italy"],"affiliations":[{"raw_affiliation_string":"Robotics, Brain and Cognitive Sciences Department, Italian Institute of Technology, Via Morego 30, 16163, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5010914606"],"corresponding_institution_ids":["https://openalex.org/I13469542","https://openalex.org/I30771326"],"apc_list":{"value":2590,"currency":"EUR","value_usd":3390},"apc_paid":null,"fwci":5.8209,"has_fulltext":false,"cited_by_count":114,"citation_normalized_percentile":{"value":0.96324678,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":"31","issue":"1","first_page":"55","last_page":"65"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9977999925613403,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9922999739646912,"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/actuator","display_name":"Actuator","score":0.8372425436973572},{"id":"https://openalex.org/keywords/deflection","display_name":"Deflection (physics)","score":0.726993203163147},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6860127449035645},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.6504115462303162},{"id":"https://openalex.org/keywords/servomotor","display_name":"Servomotor","score":0.6392033100128174},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.6148746609687805},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5942410826683044},{"id":"https://openalex.org/keywords/lever","display_name":"Lever","score":0.5693539381027222},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5278815031051636},{"id":"https://openalex.org/keywords/rotary-actuator","display_name":"Rotary actuator","score":0.45865699648857117},{"id":"https://openalex.org/keywords/joint-stiffness","display_name":"Joint stiffness","score":0.431941956281662},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.33900827169418335},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.27645814418792725},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.211296945810318},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.16951099038124084},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1461888551712036},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1229299008846283},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.0705786943435669},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.06978437304496765}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.8372425436973572},{"id":"https://openalex.org/C2781355719","wikidata":"https://www.wikidata.org/wiki/Q2080698","display_name":"Deflection (physics)","level":2,"score":0.726993203163147},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6860127449035645},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.6504115462303162},{"id":"https://openalex.org/C109441226","wikidata":"https://www.wikidata.org/wiki/Q1137255","display_name":"Servomotor","level":2,"score":0.6392033100128174},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6148746609687805},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5942410826683044},{"id":"https://openalex.org/C107524782","wikidata":"https://www.wikidata.org/wiki/Q40164","display_name":"Lever","level":2,"score":0.5693539381027222},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5278815031051636},{"id":"https://openalex.org/C110682481","wikidata":"https://www.wikidata.org/wiki/Q7370260","display_name":"Rotary actuator","level":3,"score":0.45865699648857117},{"id":"https://openalex.org/C2781415944","wikidata":"https://www.wikidata.org/wiki/Q559210","display_name":"Joint stiffness","level":3,"score":0.431941956281662},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.33900827169418335},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.27645814418792725},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.211296945810318},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.16951099038124084},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1461888551712036},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1229299008846283},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0705786943435669},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.06978437304496765},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1007/s10514-011-9230-7","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s10514-011-9230-7","pdf_url":null,"source":{"id":"https://openalex.org/S144091109","display_name":"Autonomous Robots","issn_l":"0929-5593","issn":["0929-5593","1573-7527"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Autonomous Robots","raw_type":"journal-article"},{"id":"pmh:oai:vubissmart:VUBISSMART:2000:215764","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4306402573","display_name":"VUBIR (Vrije Universiteit Brussel)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I13469542","host_organization_name":"Vrije Universiteit Brussel","host_organization_lineage":["https://openalex.org/I13469542"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},{"id":"pmh:oai:vubissmart:VUBISSMART:2000:65434","is_oa":false,"landing_page_url":"https://biblio.vub.ac.be/vubir/maccepa-20-compliant-actuator-used-for-energy-efficient-hopping-robot-chobino1d(eb1911cf-df34-4584-86d2-91e7f1570437).html","pdf_url":null,"source":{"id":"https://openalex.org/S4306402573","display_name":"VUBIR (Vrije Universiteit Brussel)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I13469542","host_organization_name":"Vrije Universiteit Brussel","host_organization_lineage":["https://openalex.org/I13469542"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.9100000262260437,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320309949","display_name":"Canadian Institute for Advanced Research","ror":"https://ror.org/01sdtdd95"},{"id":"https://openalex.org/F4320320769","display_name":"Indian Council of Agricultural Research","ror":"https://ror.org/04fw54a43"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W119522611","https://openalex.org/W126255782","https://openalex.org/W1536647690","https://openalex.org/W1962965017","https://openalex.org/W1991501861","https://openalex.org/W1994513760","https://openalex.org/W2017514441","https://openalex.org/W2022561860","https://openalex.org/W2045083712","https://openalex.org/W2050069670","https://openalex.org/W2060281402","https://openalex.org/W2061063863","https://openalex.org/W2074233370","https://openalex.org/W2109727404","https://openalex.org/W2111253117","https://openalex.org/W2116655729","https://openalex.org/W2120227089","https://openalex.org/W2125224533","https://openalex.org/W2128137193","https://openalex.org/W2131404784","https://openalex.org/W2140543225","https://openalex.org/W2155614956","https://openalex.org/W2169100281","https://openalex.org/W2170116736","https://openalex.org/W2171570677","https://openalex.org/W2488912957","https://openalex.org/W3143334844","https://openalex.org/W3149322120","https://openalex.org/W3196769885","https://openalex.org/W4233227660","https://openalex.org/W6631969024","https://openalex.org/W6676434310","https://openalex.org/W6683165144","https://openalex.org/W6685025161"],"related_works":["https://openalex.org/W2319849381","https://openalex.org/W3208483585","https://openalex.org/W809494831","https://openalex.org/W4379985877","https://openalex.org/W4250682053","https://openalex.org/W2996939057","https://openalex.org/W2341184654","https://openalex.org/W2362409171","https://openalex.org/W3085632244","https://openalex.org/W2067189370"],"abstract_inverted_index":null,"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":7},{"year":2019,"cited_by_count":11},{"year":2018,"cited_by_count":9},{"year":2017,"cited_by_count":14},{"year":2016,"cited_by_count":12},{"year":2015,"cited_by_count":9},{"year":2014,"cited_by_count":14},{"year":2013,"cited_by_count":8},{"year":2012,"cited_by_count":5}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}