{"id":"https://openalex.org/W2098110953","doi":"https://doi.org/10.1017/s026357479800068x","title":"Clinical potential and design of programmable mechanical impedances for orthotic applications","display_name":"Clinical potential and design of programmable mechanical impedances for orthotic applications","publication_year":1998,"publication_date":"1998-09-01","ids":{"openalex":"https://openalex.org/W2098110953","doi":"https://doi.org/10.1017/s026357479800068x","mag":"2098110953"},"language":"en","primary_location":{"id":"doi:10.1017/s026357479800068x","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s026357479800068x","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/A5022991026","display_name":"William Harwin","orcid":"https://orcid.org/0000-0002-3928-3381"},"institutions":[{"id":"https://openalex.org/I71052956","display_name":"University of Reading","ror":"https://ror.org/05v62cm79","country_code":"GB","type":"education","lineage":["https://openalex.org/I71052956"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"William S. Harwin","raw_affiliation_strings":["Department of Cybernetics, University of Reading, Reading RG6 6AY, UK","Department of Cybernetics , University of Reading , Reading RG6 6AY, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Cybernetics, University of Reading, Reading RG6 6AY, UK","institution_ids":["https://openalex.org/I71052956"]},{"raw_affiliation_string":"Department of Cybernetics , University of Reading , Reading RG6 6AY, UK","institution_ids":["https://openalex.org/I71052956"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073074130","display_name":"Lee O. Leiber","orcid":null},"institutions":[{"id":"https://openalex.org/I210824098","display_name":"Wilmington University","ror":"https://ror.org/00jrtvk29","country_code":"US","type":"education","lineage":["https://openalex.org/I210824098"]},{"id":"https://openalex.org/I86501945","display_name":"University of Delaware","ror":"https://ror.org/01sbq1a82","country_code":"US","type":"education","lineage":["https://openalex.org/I86501945"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Lee O. Leiber","raw_affiliation_strings":["Applied Science and Engineering Laboratories, University of Delaware and the Alfred I. duPont Institute, Wilmington, Delaware 19899, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Applied Science and Engineering Laboratories, University of Delaware and the Alfred I. duPont Institute, Wilmington, Delaware 19899, USA","institution_ids":["https://openalex.org/I210824098","https://openalex.org/I86501945"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035964892","display_name":"Gregory P. G. Austwick","orcid":null},"institutions":[{"id":"https://openalex.org/I71052956","display_name":"University of Reading","ror":"https://ror.org/05v62cm79","country_code":"GB","type":"education","lineage":["https://openalex.org/I71052956"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Gregory P. G. Austwick","raw_affiliation_strings":["Department of Cybernetics, University of Reading, Reading RG6 6AY, UK","Department of Cybernetics , University of Reading , Reading RG6 6AY, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Cybernetics, University of Reading, Reading RG6 6AY, UK","institution_ids":["https://openalex.org/I71052956"]},{"raw_affiliation_string":"Department of Cybernetics , University of Reading , Reading RG6 6AY, UK","institution_ids":["https://openalex.org/I71052956"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5037404120","display_name":"C. Dislis","orcid":null},"institutions":[{"id":"https://openalex.org/I59433898","display_name":"Brunel University of London","ror":"https://ror.org/00dn4t376","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I59433898"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Chryssa Dislis","raw_affiliation_strings":["Abstract Hardware, Brunel Science Park, Uxbridge, UB8 3PQ, UK","Abstract Hardware, Brunel Science Park, Uxbridge, UB8 3PQ, UK#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Abstract Hardware, Brunel Science Park, Uxbridge, UB8 3PQ, UK","institution_ids":["https://openalex.org/I59433898"]},{"raw_affiliation_string":"Abstract Hardware, Brunel Science Park, Uxbridge, UB8 3PQ, UK#TAB#","institution_ids":["https://openalex.org/I59433898"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.4663,"has_fulltext":false,"cited_by_count":19,"citation_normalized_percentile":{"value":0.88306782,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"16","issue":"5","first_page":"523","last_page":"530"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9977999925613403,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T10653","display_name":"Robot Manipulation and Learning","score":0.9977999925613403,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9970999956130981,"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"}},{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.994700014591217,"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/mechanical-impedance","display_name":"Mechanical impedance","score":0.7135990858078003},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.6773958206176758},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.6655218005180359},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.5939789414405823},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5163666009902954},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5154386758804321},{"id":"https://openalex.org/keywords/interface","display_name":"Interface (matter)","score":0.47347772121429443},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.44375696778297424},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.42956632375717163},{"id":"https://openalex.org/keywords/servo","display_name":"Servo","score":0.41253525018692017},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.374140202999115},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.34007328748703003},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3256841003894806},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.14345163106918335},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10772746801376343},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.09486809372901917},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.08447703719139099},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.08288294076919556}],"concepts":[{"id":"https://openalex.org/C159447365","wikidata":"https://www.wikidata.org/wiki/Q6421317","display_name":"Mechanical impedance","level":3,"score":0.7135990858078003},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.6773958206176758},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.6655218005180359},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.5939789414405823},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5163666009902954},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5154386758804321},{"id":"https://openalex.org/C113843644","wikidata":"https://www.wikidata.org/wiki/Q901882","display_name":"Interface (matter)","level":4,"score":0.47347772121429443},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.44375696778297424},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.42956632375717163},{"id":"https://openalex.org/C107354338","wikidata":"https://www.wikidata.org/wiki/Q1937153","display_name":"Servo","level":2,"score":0.41253525018692017},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.374140202999115},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.34007328748703003},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3256841003894806},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.14345163106918335},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10772746801376343},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.09486809372901917},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.08447703719139099},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.08288294076919556},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C157915830","wikidata":"https://www.wikidata.org/wiki/Q2928001","display_name":"Bubble","level":2,"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/C173608175","wikidata":"https://www.wikidata.org/wiki/Q232661","display_name":"Parallel computing","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C129307140","wikidata":"https://www.wikidata.org/wiki/Q6795880","display_name":"Maximum bubble pressure method","level":3,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1017/s026357479800068x","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s026357479800068x","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"},{"id":"pmh:oai:centaur.reading.ac.uk:19024","is_oa":false,"landing_page_url":"https://centaur.reading.ac.uk/19024/","pdf_url":null,"source":{"id":"https://openalex.org/S4306402273","display_name":"CentAUR (University of Reading)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I71052956","host_organization_name":"University of Reading","host_organization_lineage":["https://openalex.org/I71052956"],"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":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W655685204","https://openalex.org/W1532234973","https://openalex.org/W1593297353","https://openalex.org/W1720309519","https://openalex.org/W1819242701","https://openalex.org/W1978023077","https://openalex.org/W2003292177","https://openalex.org/W2077964582","https://openalex.org/W2107207454","https://openalex.org/W2124600038","https://openalex.org/W2134927525","https://openalex.org/W2161238610","https://openalex.org/W3214666045"],"related_works":["https://openalex.org/W1548357495","https://openalex.org/W2314048082","https://openalex.org/W1968487248","https://openalex.org/W2052513766","https://openalex.org/W2219113400","https://openalex.org/W2097006611","https://openalex.org/W2063510546","https://openalex.org/W4308797310","https://openalex.org/W2068433414","https://openalex.org/W2141210503"],"abstract_inverted_index":{"A":[0],"person":[1,68],"with":[2,20,28,56],"a":[3,21,32,63,117,129,140],"moderate":[4],"or":[5,13,44,49],"severe":[6],"motor":[7],"disability":[8],"will":[9],"often":[10],"use":[11],"specialised":[12],"adapted":[14],"tools":[15,25],"to":[16,37,46,69,92,146],"assist":[17,27],"their":[18,74],"interaction":[19],"general":[22],"environment.":[23],"Such":[24,139],"can":[26,40,90,143],"the":[29,67,79,93,96,113,125,147,151],"movement":[30],"of":[31,73,81,112,134,157,165],"person's":[33],"arms":[34],"so":[35],"as":[36],"facilitate":[38],"manipulation,":[39],"provide":[41],"postural":[42],"supports,":[43],"interface":[45],"computers,":[47],"wheelchairs":[48],"similar":[50],"assistive":[51,84],"technologies.":[52],"Designing":[53],"such":[54],"devices":[55],"programmable":[57,166],"stiffness":[58,136],"and":[59,95,137,162],"damping":[60,114],"may":[61],"offer":[62],"better":[64],"means":[65],"for":[66],"have":[70],"effective":[71],"control":[72,111,133],"surroundings.":[75],"This":[76],"paper":[77],"addresses":[78],"possibility":[80],"designing":[82],"some":[83],"technologies":[85],"using":[86],"impedance":[87,99,142,167],"elements":[88,100,168],"that":[89],"adapt":[91],"user":[94],"circumstances.":[97],"Two":[98],"are":[101,160,169],"proposed.":[102,170],"The":[103,120,155],"first,":[104],"based":[105,122],"on":[106,123],"magnetic":[107],"particle":[108],"brakes,":[109],"allows":[110,132],"coefficient":[115],"in":[116,128,153],"passive":[118],"element.":[119],"second,":[121],"detuning":[124],"P-D":[126],"controller":[127],"servo-motor":[130],"mechanism,":[131],"both":[135],"damping.":[138],"mechanical":[141],"be":[144],"modulated":[145],"conditions":[148],"imposed":[149],"by":[150],"task":[152],"hand.":[154],"limits":[156],"linear":[158],"theory":[159],"explored":[161],"possible":[163],"uses":[164]},"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1}],"updated_date":"2026-07-02T09:51:11.867554","created_date":"2025-10-10T00:00:00"}