{"id":"https://openalex.org/W2468757271","doi":"https://doi.org/10.1007/s10514-016-9591-z","title":"Low stiffness design and hysteresis compensation torque control of SEA for active exercise rehabilitation robots","display_name":"Low stiffness design and hysteresis compensation torque control of SEA for active exercise rehabilitation robots","publication_year":2016,"publication_date":"2016-07-08","ids":{"openalex":"https://openalex.org/W2468757271","doi":"https://doi.org/10.1007/s10514-016-9591-z","mag":"2468757271"},"language":"en","primary_location":{"id":"doi:10.1007/s10514-016-9591-z","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s10514-016-9591-z","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/A5102882613","display_name":"Wonje Choi","orcid":"https://orcid.org/0000-0002-3542-3316"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Wonje Choi","raw_affiliation_strings":["Department of Transdisciplinary Studies, Seoul National University, Seoul, Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Transdisciplinary Studies, Seoul National University, Seoul, Republic of Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110862433","display_name":"Jongseok Won","orcid":null},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Jongseok Won","raw_affiliation_strings":["Department of Transdisciplinary Studies, Seoul National University, Seoul, Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Transdisciplinary Studies, Seoul National University, Seoul, Republic of Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100399741","display_name":"Jimin Lee","orcid":"https://orcid.org/0000-0002-3049-5687"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Jimin Lee","raw_affiliation_strings":["Department of Transdisciplinary Studies, Seoul National University, Seoul, Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Transdisciplinary Studies, Seoul National University, Seoul, Republic of Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5031070386","display_name":"Jaeheung Park","orcid":"https://orcid.org/0000-0002-5062-8264"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]},{"id":"https://openalex.org/I4210120602","display_name":"Advanced Institute of Convergence Technology","ror":"https://ror.org/01w62yz22","country_code":"KR","type":"facility","lineage":["https://openalex.org/I139264467","https://openalex.org/I4210120602"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Jaeheung Park","raw_affiliation_strings":["Advanced Institute of Convergence Science and Technology, Suwon, Republic of Korea","Department of Transdisciplinary Studies, Seoul National University, Seoul, Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Advanced Institute of Convergence Science and Technology, Suwon, Republic of Korea","institution_ids":["https://openalex.org/I4210120602"]},{"raw_affiliation_string":"Department of Transdisciplinary Studies, Seoul National University, Seoul, Republic of Korea","institution_ids":["https://openalex.org/I139264467"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5031070386","https://openalex.org/A5100399741","https://openalex.org/A5102882613","https://openalex.org/A5110862433"],"corresponding_institution_ids":["https://openalex.org/I139264467","https://openalex.org/I4210120602"],"apc_list":{"value":2590,"currency":"EUR","value_usd":3390},"apc_paid":null,"fwci":1.8764,"has_fulltext":false,"cited_by_count":30,"citation_normalized_percentile":{"value":0.84904377,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"41","issue":"5","first_page":"1221","last_page":"1242"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9944999814033508,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9871000051498413,"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/backlash","display_name":"Backlash","score":0.709901750087738},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.6874881982803345},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6670680046081543},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5847485065460205},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5773199200630188},{"id":"https://openalex.org/keywords/exoskeleton","display_name":"Exoskeleton","score":0.5439867377281189},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.53943932056427},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.5375165343284607},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5213695168495178},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.5160488486289978},{"id":"https://openalex.org/keywords/hysteresis","display_name":"Hysteresis","score":0.49976325035095215},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.32845962047576904},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.19915416836738586},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.17183583974838257},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1201426088809967},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10563820600509644},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.07870450615882874}],"concepts":[{"id":"https://openalex.org/C2776652708","wikidata":"https://www.wikidata.org/wiki/Q584028","display_name":"Backlash","level":2,"score":0.709901750087738},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6874881982803345},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6670680046081543},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5847485065460205},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5773199200630188},{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.5439867377281189},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.53943932056427},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.5375165343284607},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5213695168495178},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.5160488486289978},{"id":"https://openalex.org/C123299182","wikidata":"https://www.wikidata.org/wiki/Q190837","display_name":"Hysteresis","level":2,"score":0.49976325035095215},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.32845962047576904},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.19915416836738586},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.17183583974838257},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1201426088809967},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10563820600509644},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.07870450615882874},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","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},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1007/s10514-016-9591-z","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s10514-016-9591-z","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"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","score":0.7900000214576721,"display_name":"Life below water"}],"awards":[{"id":"https://openalex.org/G1982834476","display_name":null,"funder_award_id":"2015055375","funder_id":"https://openalex.org/F4320322030","funder_display_name":"Ministry of Science, ICT and Future Planning"},{"id":"https://openalex.org/G2814569284","display_name":null,"funder_award_id":"20110011341","funder_id":"https://openalex.org/F4320322030","funder_display_name":"Ministry of Science, ICT and Future Planning"}],"funders":[{"id":"https://openalex.org/F4320322030","display_name":"Ministry of Science, ICT and Future Planning","ror":"https://ror.org/032e49973"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":43,"referenced_works":["https://openalex.org/W584436618","https://openalex.org/W1498531733","https://openalex.org/W1518684864","https://openalex.org/W1555444101","https://openalex.org/W1964064577","https://openalex.org/W1969024160","https://openalex.org/W1976817765","https://openalex.org/W2000624348","https://openalex.org/W2002555447","https://openalex.org/W2008503048","https://openalex.org/W2017514441","https://openalex.org/W2017766931","https://openalex.org/W2026769037","https://openalex.org/W2059721481","https://openalex.org/W2063214469","https://openalex.org/W2072411062","https://openalex.org/W2073380436","https://openalex.org/W2084534023","https://openalex.org/W2090886982","https://openalex.org/W2092706577","https://openalex.org/W2095014003","https://openalex.org/W2111901761","https://openalex.org/W2131687889","https://openalex.org/W2140973673","https://openalex.org/W2147288676","https://openalex.org/W2152421003","https://openalex.org/W2166230296","https://openalex.org/W2166869394","https://openalex.org/W2166978470","https://openalex.org/W2167614357","https://openalex.org/W2169100281","https://openalex.org/W2311673279","https://openalex.org/W2460821334","https://openalex.org/W2478416728","https://openalex.org/W2844295912","https://openalex.org/W2968483695","https://openalex.org/W3021467426","https://openalex.org/W4242584937","https://openalex.org/W4253020970","https://openalex.org/W6630225148","https://openalex.org/W6631134718","https://openalex.org/W6681374833","https://openalex.org/W7002162449"],"related_works":["https://openalex.org/W2318553114","https://openalex.org/W2369073421","https://openalex.org/W45990023","https://openalex.org/W2066639517","https://openalex.org/W2967708117","https://openalex.org/W2136024114","https://openalex.org/W3205655234","https://openalex.org/W2909939948","https://openalex.org/W2906683640","https://openalex.org/W3101820272"],"abstract_inverted_index":null,"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":9},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1}],"updated_date":"2026-06-19T15:47:20.252518","created_date":"2025-10-10T00:00:00"}
