{"id":"https://openalex.org/W2067103553","doi":"https://doi.org/10.1007/s10514-012-9302-3","title":"Optimal variable stiffness control: formulation and application to explosive movement tasks","display_name":"Optimal variable stiffness control: formulation and application to explosive movement tasks","publication_year":2012,"publication_date":"2012-06-27","ids":{"openalex":"https://openalex.org/W2067103553","doi":"https://doi.org/10.1007/s10514-012-9302-3","mag":"2067103553"},"language":"en","primary_location":{"id":"doi:10.1007/s10514-012-9302-3","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s10514-012-9302-3","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/A5089213370","display_name":"David J. Braun","orcid":"https://orcid.org/0000-0002-3672-3847"},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"David Braun","raw_affiliation_strings":["School of Informatics, IPAB, University of Edinburgh, Edinburgh, Scotland, UK","University of Edinburgh"],"affiliations":[{"raw_affiliation_string":"School of Informatics, IPAB, University of Edinburgh, Edinburgh, Scotland, UK","institution_ids":["https://openalex.org/I98677209"]},{"raw_affiliation_string":"University of Edinburgh","institution_ids":["https://openalex.org/I98677209"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050881123","display_name":"Matthew Howard","orcid":"https://orcid.org/0000-0003-2534-4865"},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Matthew Howard","raw_affiliation_strings":["School of Informatics, IPAB, University of Edinburgh, Edinburgh, Scotland, UK","University of Edinburgh"],"affiliations":[{"raw_affiliation_string":"School of Informatics, IPAB, University of Edinburgh, Edinburgh, Scotland, UK","institution_ids":["https://openalex.org/I98677209"]},{"raw_affiliation_string":"University of Edinburgh","institution_ids":["https://openalex.org/I98677209"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5069715982","display_name":"Sethu Vijayakumar","orcid":"https://orcid.org/0000-0003-0649-7241"},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Sethu Vijayakumar","raw_affiliation_strings":["School of Informatics, IPAB, University of Edinburgh, Edinburgh, Scotland, UK","University of Edinburgh"],"affiliations":[{"raw_affiliation_string":"School of Informatics, IPAB, University of Edinburgh, Edinburgh, Scotland, UK","institution_ids":["https://openalex.org/I98677209"]},{"raw_affiliation_string":"University of Edinburgh","institution_ids":["https://openalex.org/I98677209"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5089213370"],"corresponding_institution_ids":["https://openalex.org/I98677209"],"apc_list":{"value":2590,"currency":"EUR","value_usd":3390},"apc_paid":null,"fwci":4.7103,"has_fulltext":false,"cited_by_count":120,"citation_normalized_percentile":{"value":0.95558199,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":"33","issue":"3","first_page":"237","last_page":"253"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10982","display_name":"Motor Control and Adaptation","score":0.9991000294685364,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},"topics":[{"id":"https://openalex.org/T10982","display_name":"Motor Control and Adaptation","score":0.9991000294685364,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.9988999962806702,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9972000122070312,"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/computer-science","display_name":"Computer science","score":0.7917660474777222},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.6154458522796631},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6062229871749878},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5577841401100159},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5549960136413574},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5507295727729797},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.5286356210708618},{"id":"https://openalex.org/keywords/explosive-material","display_name":"Explosive material","score":0.49843931198120117},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.48951423168182373},{"id":"https://openalex.org/keywords/variable","display_name":"Variable (mathematics)","score":0.44060370326042175},{"id":"https://openalex.org/keywords/mechanical-impedance","display_name":"Mechanical impedance","score":0.4260116517543793},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.39096713066101074},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3349071741104126},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.30346906185150146},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.28413939476013184},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18368974328041077},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.0772378146648407}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7917660474777222},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.6154458522796631},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6062229871749878},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5577841401100159},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5549960136413574},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5507295727729797},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.5286356210708618},{"id":"https://openalex.org/C154238967","wikidata":"https://www.wikidata.org/wiki/Q12870","display_name":"Explosive material","level":2,"score":0.49843931198120117},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.48951423168182373},{"id":"https://openalex.org/C182365436","wikidata":"https://www.wikidata.org/wiki/Q50701","display_name":"Variable (mathematics)","level":2,"score":0.44060370326042175},{"id":"https://openalex.org/C159447365","wikidata":"https://www.wikidata.org/wiki/Q6421317","display_name":"Mechanical impedance","level":3,"score":0.4260116517543793},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.39096713066101074},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3349071741104126},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.30346906185150146},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.28413939476013184},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18368974328041077},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.0772378146648407},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0},{"id":"https://openalex.org/C178790620","wikidata":"https://www.wikidata.org/wiki/Q11351","display_name":"Organic chemistry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"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/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1007/s10514-012-9302-3","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s10514-012-9302-3","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:kclpure.kcl.ac.uk:publications/bcca1773-90d5-4a42-91f0-f6a7a85fecfc","is_oa":false,"landing_page_url":"https://kclpure.kcl.ac.uk/portal/en/publications/bcca1773-90d5-4a42-91f0-f6a7a85fecfc","pdf_url":null,"source":{"id":"https://openalex.org/S4306400216","display_name":"Research Portal (King's College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I183935753","host_organization_name":"King's College London","host_organization_lineage":["https://openalex.org/I183935753"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Braun, D, Howard, M & Vijayakumar, S 2012, 'Optimal variable stiffness control: formulation and application to explosive movement tasks', Autonomous Robots, vol. 33, no. 3, pp. 237-253. https://doi.org/10.1007/s10514-012-9302-3","raw_type":"info:eu-repo/semantics/publishedVersion"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.8999999761581421}],"awards":[],"funders":[{"id":"https://openalex.org/F4320309151","display_name":"Vanderbilt University","ror":"https://ror.org/02vm5rt34"},{"id":"https://openalex.org/F4320334764","display_name":"Japan Society for the Promotion of Science","ror":"https://ror.org/00hhkn466"},{"id":"https://openalex.org/F4320337741","display_name":"RIKEN Brain Science Institute","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":91,"referenced_works":["https://openalex.org/W195033972","https://openalex.org/W658381347","https://openalex.org/W658834272","https://openalex.org/W774034202","https://openalex.org/W1503590361","https://openalex.org/W1560270123","https://openalex.org/W1574514837","https://openalex.org/W1586251222","https://openalex.org/W1587799944","https://openalex.org/W1603365166","https://openalex.org/W1631164738","https://openalex.org/W1856925845","https://openalex.org/W1885639605","https://openalex.org/W1962965017","https://openalex.org/W1967377907","https://openalex.org/W1969040341","https://openalex.org/W1970107898","https://openalex.org/W1970628739","https://openalex.org/W1978023077","https://openalex.org/W1980529543","https://openalex.org/W1988936443","https://openalex.org/W1994680409","https://openalex.org/W2002384396","https://openalex.org/W2005589694","https://openalex.org/W2011317317","https://openalex.org/W2014841587","https://openalex.org/W2025752438","https://openalex.org/W2026044248","https://openalex.org/W2029234750","https://openalex.org/W2029776687","https://openalex.org/W2033299989","https://openalex.org/W2041245258","https://openalex.org/W2041385840","https://openalex.org/W2041737075","https://openalex.org/W2047074077","https://openalex.org/W2048347750","https://openalex.org/W2056012752","https://openalex.org/W2057722252","https://openalex.org/W2060281402","https://openalex.org/W2060601808","https://openalex.org/W2064527819","https://openalex.org/W2066297429","https://openalex.org/W2066557929","https://openalex.org/W2076598966","https://openalex.org/W2080135920","https://openalex.org/W2080487795","https://openalex.org/W2081595459","https://openalex.org/W2085015797","https://openalex.org/W2086061329","https://openalex.org/W2090298673","https://openalex.org/W2105360813","https://openalex.org/W2105595651","https://openalex.org/W2108974199","https://openalex.org/W2113873479","https://openalex.org/W2115091574","https://openalex.org/W2115730616","https://openalex.org/W2121981743","https://openalex.org/W2122473046","https://openalex.org/W2127107099","https://openalex.org/W2128137193","https://openalex.org/W2129936198","https://openalex.org/W2131326336","https://openalex.org/W2131404784","https://openalex.org/W2133872400","https://openalex.org/W2134235175","https://openalex.org/W2142639867","https://openalex.org/W2152842209","https://openalex.org/W2153366512","https://openalex.org/W2160779933","https://openalex.org/W2162218551","https://openalex.org/W2169706473","https://openalex.org/W2211380003","https://openalex.org/W2341171179","https://openalex.org/W2798500587","https://openalex.org/W2993150910","https://openalex.org/W3142707146","https://openalex.org/W3206777520","https://openalex.org/W4229763436","https://openalex.org/W4236400251","https://openalex.org/W4285719527","https://openalex.org/W4296154082","https://openalex.org/W4310727180","https://openalex.org/W4404623568","https://openalex.org/W6621933325","https://openalex.org/W6634206955","https://openalex.org/W6635158341","https://openalex.org/W6635231448","https://openalex.org/W6636771073","https://openalex.org/W6678236722","https://openalex.org/W6704298589","https://openalex.org/W6750661626"],"related_works":["https://openalex.org/W1659356714","https://openalex.org/W1991133586","https://openalex.org/W2011737899","https://openalex.org/W2105126143","https://openalex.org/W4308480823","https://openalex.org/W2573068166","https://openalex.org/W2904885586","https://openalex.org/W1992974134","https://openalex.org/W3003109530","https://openalex.org/W1551497311"],"abstract_inverted_index":null,"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":14},{"year":2021,"cited_by_count":9},{"year":2020,"cited_by_count":10},{"year":2019,"cited_by_count":14},{"year":2018,"cited_by_count":18},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":7},{"year":2015,"cited_by_count":9},{"year":2014,"cited_by_count":7},{"year":2013,"cited_by_count":14},{"year":2012,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
