{"id":"https://openalex.org/W3126978610","doi":"https://doi.org/10.1017/s0263574720001472","title":"A Parametric Study of Compliant Link Design for Safe Physical Human\u2013Robot Interaction","display_name":"A Parametric Study of Compliant Link Design for Safe Physical Human\u2013Robot Interaction","publication_year":2021,"publication_date":"2021-02-03","ids":{"openalex":"https://openalex.org/W3126978610","doi":"https://doi.org/10.1017/s0263574720001472","mag":"3126978610"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574720001472","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574720001472","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","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/A5018653973","display_name":"Yu She","orcid":"https://orcid.org/0000-0001-5914-3573"},"institutions":[{"id":"https://openalex.org/I52357470","display_name":"The Ohio State University","ror":"https://ror.org/00rs6vg23","country_code":"US","type":"education","lineage":["https://openalex.org/I52357470"]},{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]},{"id":"https://openalex.org/I126820664","display_name":"Vassar College","ror":"https://ror.org/022x6qg61","country_code":"US","type":"education","lineage":["https://openalex.org/I126820664"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Yu She","raw_affiliation_strings":["Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, 32 Vassar St, Cambridge, MA 02139, USA","Department of Mechanical and Aerospace Engineering, Ohio State University, Columbus, OH 43210, USA"],"affiliations":[{"raw_affiliation_string":"Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, 32 Vassar St, Cambridge, MA 02139, USA","institution_ids":["https://openalex.org/I126820664","https://openalex.org/I63966007"]},{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, Ohio State University, Columbus, OH 43210, USA","institution_ids":["https://openalex.org/I52357470"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032668841","display_name":"Siyang Song","orcid":"https://orcid.org/0000-0001-8325-0133"},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]},{"id":"https://openalex.org/I4210164117","display_name":"Walker (United States)","ror":"https://ror.org/05hgh7849","country_code":"US","type":"company","lineage":["https://openalex.org/I4210164117"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Siyang Song","raw_affiliation_strings":["Walker Department of Mechanical Engineering, University of Texas at Austin, Austin, TX 78712, USA"],"affiliations":[{"raw_affiliation_string":"Walker Department of Mechanical Engineering, University of Texas at Austin, Austin, TX 78712, USA","institution_ids":["https://openalex.org/I86519309","https://openalex.org/I4210164117"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037315815","display_name":"Hai\u2010Jun Su","orcid":"https://orcid.org/0000-0002-3132-0213"},"institutions":[{"id":"https://openalex.org/I52357470","display_name":"The Ohio State University","ror":"https://ror.org/00rs6vg23","country_code":"US","type":"education","lineage":["https://openalex.org/I52357470"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hai-jun Su","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, Ohio State University, Columbus, OH 43210, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, Ohio State University, Columbus, OH 43210, USA","institution_ids":["https://openalex.org/I52357470"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100608812","display_name":"Junmin Wang","orcid":"https://orcid.org/0000-0001-7133-7311"},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]},{"id":"https://openalex.org/I4210164117","display_name":"Walker (United States)","ror":"https://ror.org/05hgh7849","country_code":"US","type":"company","lineage":["https://openalex.org/I4210164117"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Junmin Wang","raw_affiliation_strings":["Walker Department of Mechanical Engineering, University of Texas at Austin, Austin, TX 78712, USA"],"affiliations":[{"raw_affiliation_string":"Walker Department of Mechanical Engineering, University of Texas at Austin, Austin, TX 78712, USA","institution_ids":["https://openalex.org/I86519309","https://openalex.org/I4210164117"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5018653973"],"corresponding_institution_ids":["https://openalex.org/I126820664","https://openalex.org/I52357470","https://openalex.org/I63966007"],"apc_list":null,"apc_paid":null,"fwci":0.4178,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.55033863,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"39","issue":"10","first_page":"1739","last_page":"1759"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9995999932289124,"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":0.9995999932289124,"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":0.9970999956130981,"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":0.9940999746322632,"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/robot","display_name":"Robot","score":0.6867468357086182},{"id":"https://openalex.org/keywords/parametric-statistics","display_name":"Parametric statistics","score":0.6280879974365234},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.562446653842926},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5570837259292603},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.556044340133667},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5325808525085449},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4830203950405121},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.48232099413871765},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.42441830039024353},{"id":"https://openalex.org/keywords/parametric-model","display_name":"Parametric model","score":0.416472852230072},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.40244531631469727},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.350529283285141},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.19804871082305908},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12281522154808044}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6867468357086182},{"id":"https://openalex.org/C117251300","wikidata":"https://www.wikidata.org/wiki/Q1849855","display_name":"Parametric statistics","level":2,"score":0.6280879974365234},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.562446653842926},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5570837259292603},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.556044340133667},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5325808525085449},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4830203950405121},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.48232099413871765},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.42441830039024353},{"id":"https://openalex.org/C24574437","wikidata":"https://www.wikidata.org/wiki/Q7135228","display_name":"Parametric model","level":3,"score":0.416472852230072},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.40244531631469727},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.350529283285141},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.19804871082305908},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12281522154808044},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"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":1,"locations":[{"id":"doi:10.1017/s0263574720001472","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574720001472","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":54,"referenced_works":["https://openalex.org/W1548528537","https://openalex.org/W1599599357","https://openalex.org/W1966705057","https://openalex.org/W1967973994","https://openalex.org/W1968605843","https://openalex.org/W1974751498","https://openalex.org/W1974985128","https://openalex.org/W1975227475","https://openalex.org/W2001112604","https://openalex.org/W2007191505","https://openalex.org/W2019541662","https://openalex.org/W2022607858","https://openalex.org/W2031366515","https://openalex.org/W2035505793","https://openalex.org/W2039613432","https://openalex.org/W2053020951","https://openalex.org/W2060968157","https://openalex.org/W2066202893","https://openalex.org/W2073136132","https://openalex.org/W2074535625","https://openalex.org/W2080992175","https://openalex.org/W2090637319","https://openalex.org/W2096178249","https://openalex.org/W2098194275","https://openalex.org/W2108444425","https://openalex.org/W2111253117","https://openalex.org/W2113593135","https://openalex.org/W2116139612","https://openalex.org/W2124176075","https://openalex.org/W2128137193","https://openalex.org/W2131063775","https://openalex.org/W2131404784","https://openalex.org/W2141163906","https://openalex.org/W2156434862","https://openalex.org/W2157453216","https://openalex.org/W2161668850","https://openalex.org/W2169706473","https://openalex.org/W2172037026","https://openalex.org/W2181421575","https://openalex.org/W2290060577","https://openalex.org/W2415735010","https://openalex.org/W2558828391","https://openalex.org/W2560788078","https://openalex.org/W2767758946","https://openalex.org/W2771004379","https://openalex.org/W2972852735","https://openalex.org/W2993150910","https://openalex.org/W3014141305","https://openalex.org/W3015217191","https://openalex.org/W3150051753","https://openalex.org/W4231237273","https://openalex.org/W4234455222","https://openalex.org/W4285719527","https://openalex.org/W6791796955"],"related_works":["https://openalex.org/W2289718384","https://openalex.org/W1995675544","https://openalex.org/W2157702526","https://openalex.org/W2509524819","https://openalex.org/W2012121796","https://openalex.org/W2068427817","https://openalex.org/W4294845631","https://openalex.org/W2952090425","https://openalex.org/W2538333368","https://openalex.org/W3127866798"],"abstract_inverted_index":{"SUMMARY":[0],"Robots":[1],"of":[2,85,108,122,129,152,175,183,195],"next-generation":[3],"physically":[4],"interact":[5],"with":[6,23,201],"the":[7,24,40,76,123,143,150,156,166,172,180,184],"world":[8],"rather":[9],"than":[10],"be":[11,56],"caged":[12],"in":[13,159,204],"a":[14,105,119,189,193,209],"controlled":[15],"area,":[16],"and":[17,72,88,136,168,192,218],"they":[18],"need":[19],"to":[20,27,55,80,90,95,213],"make":[21],"contact":[22,134],"open-ended":[25],"environment":[26],"perform":[28],"their":[29,92],"task.":[30],"Compliant":[31],"robot":[32,130],"links":[33],"offer":[34],"intrinsic":[35],"mechanical":[36,66],"compliance":[37],"for":[38,43,64,113,198],"addressing":[39],"safety":[41,202],"issue":[42],"physical":[44],"human\u2013robot":[45],"interactions":[46],"(pHRI).":[47],"However,":[48],"many":[49],"important":[50],"research":[51],"questions":[52],"are":[53],"yet":[54],"answered.":[57],"For":[58],"instance,":[59],"how":[60,79,89,165],"do":[61],"system":[62,82,125],"parameters,":[63],"example,":[65],"compliance,":[67],"motor":[68],"torque,":[69],"impact":[70,77,83,97,133,157,173],"velocities,":[71],"so":[73],"on,":[74],"affect":[75,171],"force?":[78],"formulate":[81],"dynamics":[84],"compliant":[86,109],"robots,":[87],"size":[91],"geometric":[93],"dimensions":[94],"maximize":[96],"force":[98,158,174],"reduction.":[99],"In":[100],"this":[101,215],"paper,":[102],"we":[103,146,163,187],"present":[104,118],"parametric":[106,181],"study":[107,149,212],"link":[110],"(CL)":[111],"design":[112,167,216,219],"safe":[114],"pHRI.":[115,205],"We":[116,206],"first":[117],"theoretical":[120,144],"model":[121],"pHRI":[124,176],"that":[126],"is":[127],"comprised":[128],"dynamics,":[131],"an":[132],"model,":[135,145],"dummy":[137],"head":[138],"dynamics.":[139],"After":[140],"experimentally":[141],"validating":[142],"then":[147],"systematically":[148],"effects":[151],"CL":[153,185,200],"parameters":[154,170],"on":[155,179],"more":[160],"detail.":[161],"Specifically,":[162],"explore":[164],"actuation":[169],"system.":[177],"Based":[178],"studies":[182],"design,":[186],"propose":[188],"step-by-step":[190],"process":[191,217],"list":[194],"concrete":[196],"guidelines":[197],"designing":[199],"constraints":[203],"further":[207],"conduct":[208],"simulation":[210],"case":[211],"validate":[214],"guidelines.":[220]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}