{"id":"https://openalex.org/W4414717159","doi":"https://doi.org/10.1017/s0263574725102579","title":"Design and implementation of a variable stiffness tensegrity-based compliant actuator","display_name":"Design and implementation of a variable stiffness tensegrity-based compliant actuator","publication_year":2025,"publication_date":"2025-10-01","ids":{"openalex":"https://openalex.org/W4414717159","doi":"https://doi.org/10.1017/s0263574725102579"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574725102579","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574725102579","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/A5101474596","display_name":"Yanwen Liu","orcid":"https://orcid.org/0000-0002-9544-3781"},"institutions":[{"id":"https://openalex.org/I47689461","display_name":"Northeast Forestry University","ror":"https://ror.org/02yxnh564","country_code":"CN","type":"education","lineage":["https://openalex.org/I47689461"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yanwen Liu","raw_affiliation_strings":["College of Mechanical and Electrical Engineering, Northeast Forestry University"],"affiliations":[{"raw_affiliation_string":"College of Mechanical and Electrical Engineering, Northeast Forestry University","institution_ids":["https://openalex.org/I47689461"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074307024","display_name":"Guangyuan Jin","orcid":"https://orcid.org/0000-0001-9059-8998"},"institutions":[{"id":"https://openalex.org/I4210161462","display_name":"Heilongjiang Institute of Technology","ror":"https://ror.org/05x0m9n95","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210161462"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guangyuan Jin","raw_affiliation_strings":["Industrial Technology Research Institute of Heilongjiang"],"affiliations":[{"raw_affiliation_string":"Industrial Technology Research Institute of Heilongjiang","institution_ids":["https://openalex.org/I4210161462"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009518697","display_name":"Liang Zhou","orcid":"https://orcid.org/0000-0002-9373-5705"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Liang Zhou","raw_affiliation_strings":["Harbin Institute of Technology"],"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5065768595","display_name":"Hongzhou Jiang","orcid":"https://orcid.org/0000-0003-2384-7426"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongzhou Jiang","raw_affiliation_strings":["Harbin Institute of Technology"],"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5101474596"],"corresponding_institution_ids":["https://openalex.org/I47689461"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.29708678,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"43","issue":"10","first_page":"3578","last_page":"3593"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11870","display_name":"Structural Analysis and Optimization","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/T11870","display_name":"Structural Analysis and Optimization","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/T13518","display_name":"Architecture and Computational Design","score":0.98580002784729,"subfield":{"id":"https://openalex.org/subfields/2216","display_name":"Architecture"},"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/T10672","display_name":"Design Education and Practice","score":0.9778000116348267,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.8784000277519226},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.8596000075340271},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.7475000023841858},{"id":"https://openalex.org/keywords/compliant-mechanism","display_name":"Compliant mechanism","score":0.7163000106811523},{"id":"https://openalex.org/keywords/tensegrity","display_name":"Tensegrity","score":0.7038000226020813},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.512499988079071},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4765999913215637}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.8784000277519226},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.8596000075340271},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.7475000023841858},{"id":"https://openalex.org/C79772673","wikidata":"https://www.wikidata.org/wiki/Q5156643","display_name":"Compliant mechanism","level":3,"score":0.7163000106811523},{"id":"https://openalex.org/C182950735","wikidata":"https://www.wikidata.org/wiki/Q1930978","display_name":"Tensegrity","level":2,"score":0.7038000226020813},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.512499988079071},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4765999913215637},{"id":"https://openalex.org/C182365436","wikidata":"https://www.wikidata.org/wiki/Q50701","display_name":"Variable (mathematics)","level":2,"score":0.4641999900341034},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4587000012397766},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.43779999017715454},{"id":"https://openalex.org/C2781460075","wikidata":"https://www.wikidata.org/wiki/Q1399332","display_name":"Compliance (psychology)","level":2,"score":0.3930000066757202},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.35850000381469727},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.3531000018119812},{"id":"https://openalex.org/C110682481","wikidata":"https://www.wikidata.org/wiki/Q7370260","display_name":"Rotary actuator","level":3,"score":0.34360000491142273},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.33090001344680786},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.32710000872612},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3034000098705292},{"id":"https://openalex.org/C6213913","wikidata":"https://www.wikidata.org/wiki/Q2280635","display_name":"Direct stiffness method","level":4,"score":0.28859999775886536},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.27379998564720154},{"id":"https://openalex.org/C171912257","wikidata":"https://www.wikidata.org/wiki/Q11019","display_name":"Mechanical system","level":2,"score":0.26910001039505005}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574725102579","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574725102579","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":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W1975175976","https://openalex.org/W1992627793","https://openalex.org/W2015605193","https://openalex.org/W2022561860","https://openalex.org/W2060281402","https://openalex.org/W2108009258","https://openalex.org/W2168208167","https://openalex.org/W2936498777","https://openalex.org/W3163737196","https://openalex.org/W3190977849","https://openalex.org/W3217725174","https://openalex.org/W4210916051","https://openalex.org/W4285194492","https://openalex.org/W4321600687","https://openalex.org/W4376876904","https://openalex.org/W4384455713","https://openalex.org/W4386161151","https://openalex.org/W4388197907","https://openalex.org/W4388739144","https://openalex.org/W4389623024","https://openalex.org/W4392207669","https://openalex.org/W4394993902","https://openalex.org/W4396533262","https://openalex.org/W4396807500","https://openalex.org/W4399348596","https://openalex.org/W4399368372","https://openalex.org/W4401018532","https://openalex.org/W4402718871","https://openalex.org/W4403656297","https://openalex.org/W4403844399","https://openalex.org/W4404584640","https://openalex.org/W4404921952","https://openalex.org/W4404927231","https://openalex.org/W4405470635","https://openalex.org/W4406259396","https://openalex.org/W4407168730","https://openalex.org/W4407241971","https://openalex.org/W4409341472"],"related_works":[],"abstract_inverted_index":{"Abstract":[0],"The":[1,38,98,148],"variable":[2,20],"stiffness":[3,21,73,78,99],"actuator":[4,24,40,96,104],"(VSA)":[5],"excels":[6],"at":[7],"tasks":[8],"that":[9],"are":[10],"challenging":[11],"for":[12,145],"traditional":[13],"rigid":[14,50],"mechanisms":[15],"to":[16,45,60,115],"perform.":[17],"A":[18],"novel":[19],"tensegrity-based":[22],"compliant":[23,64],"is":[25,105,112,140],"proposed,":[26],"following":[27],"an":[28],"analysis":[29,100],"of":[30,35,72,87,101,132,136,158],"the":[31,54,80,88,102,133,156],"cons":[32],"and":[33,63,75,92,107,126],"pros":[34],"existing":[36],"VSAs.":[37,147],"proposed":[39],"leverages":[41],"a":[42,69],"tensegrity":[43],"structure":[44],"eliminate":[46],"direct":[47],"contact":[48],"between":[49],"elements,":[51],"thereby":[52],"reducing":[53],"internal":[55],"mechanical":[56],"friction.":[57],"This":[58,110],"leads":[59],"low":[61],"damping":[62],"behavior.":[65],"Additionally,":[66],"it":[67],"enables":[68],"wide":[70],"range":[71],"adjustments":[74],"decouples":[76],"rotational":[77],"from":[79],"rotation":[81],"angle":[82],"by":[83],"utilizing":[84],"different":[85,143],"variants":[86],"mechanically":[89],"adjustable":[90],"compliance":[91],"controllable":[93],"equilibrium":[94],"position":[95],"(MACCEPA).":[97],"single-joint":[103],"presented":[106],"experimentally":[108],"validated.":[109],"design":[111],"then":[113],"extended":[114],"multi-joint":[116],"mechanism":[117,121,124,128],"applications,":[118],"including":[119],"serial":[120],"configuration,":[122,125],"wire-driven":[123],"direct-drive":[127],"configuration.":[129],"An":[130],"evaluation":[131],"structural":[134],"characteristics":[135],"these":[137],"three":[138],"configurations":[139],"provided,":[141],"offering":[142],"options":[144],"implementing":[146],"conducted":[149],"works":[150],"could":[151],"provide":[152],"fresh":[153],"insights":[154],"into":[155],"field":[157],"VSA.":[159]},"counts_by_year":[],"updated_date":"2026-03-07T16:01:11.037858","created_date":"2025-10-10T00:00:00"}
