{"id":"https://openalex.org/W2340361592","doi":"https://doi.org/10.1080/01691864.2016.1154801","title":"Variable stiffness Mckibben muscles with hydraulic and pneumatic operating modes","display_name":"Variable stiffness Mckibben muscles with hydraulic and pneumatic operating modes","publication_year":2016,"publication_date":"2016-04-14","ids":{"openalex":"https://openalex.org/W2340361592","doi":"https://doi.org/10.1080/01691864.2016.1154801","mag":"2340361592"},"language":"en","primary_location":{"id":"doi:10.1080/01691864.2016.1154801","is_oa":true,"landing_page_url":"https://doi.org/10.1080/01691864.2016.1154801","pdf_url":"https://www.tandfonline.com/doi/pdf/10.1080/01691864.2016.1154801?needAccess=true","source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://www.tandfonline.com/doi/pdf/10.1080/01691864.2016.1154801?needAccess=true","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5036360712","display_name":"Chaoqun Xiang","orcid":"https://orcid.org/0000-0001-6357-806X"},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chaoqun Xiang","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Northeastern University, Shenyang, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Northeastern University, Shenyang, China","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032111132","display_name":"Maria Elena Giannaccini","orcid":"https://orcid.org/0000-0002-0871-4804"},"institutions":[{"id":"https://openalex.org/I54459138","display_name":"University of Salford","ror":"https://ror.org/01tmqtf75","country_code":"GB","type":"education","lineage":["https://openalex.org/I54459138"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Maria Elena Giannaccini","raw_affiliation_strings":["Centre for Autonomous Systems and Advanced Robotics, University of Salford, Salford, UK"],"affiliations":[{"raw_affiliation_string":"Centre for Autonomous Systems and Advanced Robotics, University of Salford, Salford, UK","institution_ids":["https://openalex.org/I54459138"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089653064","display_name":"Theo Theodoridis","orcid":null},"institutions":[{"id":"https://openalex.org/I54459138","display_name":"University of Salford","ror":"https://ror.org/01tmqtf75","country_code":"GB","type":"education","lineage":["https://openalex.org/I54459138"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Theo Theodoridis","raw_affiliation_strings":["Centre for Autonomous Systems and Advanced Robotics, University of Salford, Salford, UK"],"affiliations":[{"raw_affiliation_string":"Centre for Autonomous Systems and Advanced Robotics, University of Salford, Salford, UK","institution_ids":["https://openalex.org/I54459138"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067701874","display_name":"Lina Hao","orcid":"https://orcid.org/0000-0001-8791-2253"},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Lina Hao","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Northeastern University, Shenyang, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Northeastern University, Shenyang, China","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008418736","display_name":"Samia Nefti\u2010Meziani","orcid":"https://orcid.org/0000-0001-6500-2929"},"institutions":[{"id":"https://openalex.org/I54459138","display_name":"University of Salford","ror":"https://ror.org/01tmqtf75","country_code":"GB","type":"education","lineage":["https://openalex.org/I54459138"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Samia Nefti-Meziani","raw_affiliation_strings":["Centre for Autonomous Systems and Advanced Robotics, University of Salford, Salford, UK"],"affiliations":[{"raw_affiliation_string":"Centre for Autonomous Systems and Advanced Robotics, University of Salford, Salford, UK","institution_ids":["https://openalex.org/I54459138"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103406479","display_name":"Steven Davis","orcid":null},"institutions":[{"id":"https://openalex.org/I54459138","display_name":"University of Salford","ror":"https://ror.org/01tmqtf75","country_code":"GB","type":"education","lineage":["https://openalex.org/I54459138"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Steven Davis","raw_affiliation_strings":["Centre for Autonomous Systems and Advanced Robotics, University of Salford, Salford, UK"],"affiliations":[{"raw_affiliation_string":"Centre for Autonomous Systems and Advanced Robotics, University of Salford, Salford, UK","institution_ids":["https://openalex.org/I54459138"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5067701874"],"corresponding_institution_ids":["https://openalex.org/I9224756"],"apc_list":null,"apc_paid":null,"fwci":2.6283,"has_fulltext":true,"cited_by_count":44,"citation_normalized_percentile":{"value":0.89134729,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"30","issue":"13","first_page":"889","last_page":"899"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9987999796867371,"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":0.9857000112533569,"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/stiffness","display_name":"Stiffness","score":0.7097797989845276},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6677985191345215},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.5918863415718079},{"id":"https://openalex.org/keywords/hydraulic-motor","display_name":"Hydraulic motor","score":0.5692363381385803},{"id":"https://openalex.org/keywords/pneumatic-actuator","display_name":"Pneumatic actuator","score":0.5296620726585388},{"id":"https://openalex.org/keywords/hydraulic-cylinder","display_name":"Hydraulic cylinder","score":0.5259150266647339},{"id":"https://openalex.org/keywords/hydraulic-fluid","display_name":"Hydraulic fluid","score":0.5040661096572876},{"id":"https://openalex.org/keywords/pneumatic-artificial-muscles","display_name":"Pneumatic artificial muscles","score":0.5000686645507812},{"id":"https://openalex.org/keywords/hydraulic-machinery","display_name":"Hydraulic machinery","score":0.49074018001556396},{"id":"https://openalex.org/keywords/electro-hydraulic-actuator","display_name":"Electro-hydraulic actuator","score":0.4714328348636627},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4573253393173218},{"id":"https://openalex.org/keywords/telescopic-cylinder","display_name":"Telescopic cylinder","score":0.45118317008018494},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.4071978032588959},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3274385333061218},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.2980642020702362},{"id":"https://openalex.org/keywords/artificial-muscle","display_name":"Artificial muscle","score":0.2865695357322693},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.2473253309726715},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.08125150203704834}],"concepts":[{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.7097797989845276},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6677985191345215},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.5918863415718079},{"id":"https://openalex.org/C29450929","wikidata":"https://www.wikidata.org/wiki/Q3183265","display_name":"Hydraulic motor","level":2,"score":0.5692363381385803},{"id":"https://openalex.org/C170401851","wikidata":"https://www.wikidata.org/wiki/Q1965061","display_name":"Pneumatic actuator","level":3,"score":0.5296620726585388},{"id":"https://openalex.org/C48431260","wikidata":"https://www.wikidata.org/wiki/Q2318337","display_name":"Hydraulic cylinder","level":2,"score":0.5259150266647339},{"id":"https://openalex.org/C150880908","wikidata":"https://www.wikidata.org/wiki/Q1425059","display_name":"Hydraulic fluid","level":3,"score":0.5040661096572876},{"id":"https://openalex.org/C2778313331","wikidata":"https://www.wikidata.org/wiki/Q2317989","display_name":"Pneumatic artificial muscles","level":4,"score":0.5000686645507812},{"id":"https://openalex.org/C11394606","wikidata":"https://www.wikidata.org/wiki/Q1972552","display_name":"Hydraulic machinery","level":2,"score":0.49074018001556396},{"id":"https://openalex.org/C53432115","wikidata":"https://www.wikidata.org/wiki/Q5357907","display_name":"Electro-hydraulic actuator","level":3,"score":0.4714328348636627},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4573253393173218},{"id":"https://openalex.org/C44357349","wikidata":"https://www.wikidata.org/wiki/Q2401966","display_name":"Telescopic cylinder","level":2,"score":0.45118317008018494},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.4071978032588959},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3274385333061218},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.2980642020702362},{"id":"https://openalex.org/C196628372","wikidata":"https://www.wikidata.org/wiki/Q4801090","display_name":"Artificial muscle","level":3,"score":0.2865695357322693},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.2473253309726715},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.08125150203704834},{"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/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1080/01691864.2016.1154801","is_oa":true,"landing_page_url":"https://doi.org/10.1080/01691864.2016.1154801","pdf_url":"https://www.tandfonline.com/doi/pdf/10.1080/01691864.2016.1154801?needAccess=true","source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"},{"id":"pmh:oai:usir.salford.ac.uk:37952","is_oa":true,"landing_page_url":"http://usir.salford.ac.uk/id/eprint/37952/1/Variable%20Stiffness%20McKibben%20Muscles%20with%20Hydraulic%20and%20Pneumatic%20Operating%20Modes%20after%20review%202.doc","pdf_url":"http://usir.salford.ac.uk/id/eprint/37952/10/Variable%20stiffness%20Mckibben%20muscles%20with%20hydraulic%20and%20pneumatic%20operating%20modes.pdf","source":{"id":"https://openalex.org/S4306401501","display_name":"University of Salford Institutional Repository (University of Salford)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I54459138","host_organization_name":"University of Salford","host_organization_lineage":["https://openalex.org/I54459138"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article"}],"best_oa_location":{"id":"doi:10.1080/01691864.2016.1154801","is_oa":true,"landing_page_url":"https://doi.org/10.1080/01691864.2016.1154801","pdf_url":"https://www.tandfonline.com/doi/pdf/10.1080/01691864.2016.1154801?needAccess=true","source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.6800000071525574}],"awards":[{"id":"https://openalex.org/G1616169240","display_name":null,"funder_award_id":"201406080054","funder_id":"https://openalex.org/F4320322725","funder_display_name":"China Scholarship Council"},{"id":"https://openalex.org/G2676008294","display_name":null,"funder_award_id":"EP/IO33467/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G5050768783","display_name":null,"funder_award_id":"EPSRC Centre for In","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G5252875345","display_name":null,"funder_award_id":"14060","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G6293275539","display_name":null,"funder_award_id":"Centre for Innovative Manufacturing","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320322725","display_name":"China Scholarship Council","ror":"https://ror.org/04atp4p48"},{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"},{"id":"https://openalex.org/F4320335773","display_name":"National High-tech Research and Development Program","ror":null}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2340361592.pdf","grobid_xml":"https://content.openalex.org/works/W2340361592.grobid-xml"},"referenced_works_count":22,"referenced_works":["https://openalex.org/W1964154535","https://openalex.org/W1964631515","https://openalex.org/W1997358569","https://openalex.org/W2011502509","https://openalex.org/W2020912483","https://openalex.org/W2023267402","https://openalex.org/W2023564608","https://openalex.org/W2045685779","https://openalex.org/W2067936333","https://openalex.org/W2070122598","https://openalex.org/W2092685321","https://openalex.org/W2111689525","https://openalex.org/W2116139612","https://openalex.org/W2135453831","https://openalex.org/W2139124119","https://openalex.org/W2151922692","https://openalex.org/W2156218502","https://openalex.org/W2156715549","https://openalex.org/W2158435142","https://openalex.org/W2162352279","https://openalex.org/W2323848972","https://openalex.org/W4251181231"],"related_works":["https://openalex.org/W2625310146","https://openalex.org/W2891602905","https://openalex.org/W3119418459","https://openalex.org/W2965049960","https://openalex.org/W2373823450","https://openalex.org/W2382410727","https://openalex.org/W4235936129","https://openalex.org/W2044081670","https://openalex.org/W3200776303","https://openalex.org/W1972787478"],"abstract_inverted_index":{"McKibben":[0],"muscles":[1],"have":[2,6,22],"been":[3],"shown":[4],"to":[5,47,97,101],"improved":[7],"stiffness":[8],"characteristics":[9],"when":[10,14],"operating":[11,15],"hydraulically.":[12],"However":[13],"pneumatically,":[16],"they":[17],"are":[18],"compliant":[19,56],"and":[20,39,57,64,90],"so":[21],"potential":[23],"for":[24,34],"safer":[25],"physical":[26],"human\u2013robot":[27],"interaction.":[28],"This":[29],"paper":[30,73],"presents":[31],"a":[32,67,76,98],"method":[33],"rapidly":[35],"switching":[36],"between":[37],"pneumatic":[38,60],"hydraulic":[40,50,70],"modes":[41],"of":[42,80,87],"operation":[43,81],"without":[44],"the":[45,53,85,88,91],"need":[46],"remove":[48],"all":[49],"fluid":[51],"from":[52],"actuator.":[54],"A":[55],"potentially":[58],"safe":[59],"mode":[61,79],"is":[62],"demonstrated":[63],"compared":[65],"with":[66],"much":[68],"stiffer":[69],"mode.":[71],"The":[72],"also":[74],"explores":[75],"combined":[77],"pneumatic/hydraulic":[78],"which":[82,94],"allows":[83],"both":[84],"position":[86],"joint":[89],"speed":[92],"at":[93],"it":[95],"reacts":[96],"disturbance":[99],"force":[100],"be":[102],"controlled.":[103]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":8},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":8},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1}],"updated_date":"2026-04-21T08:09:41.155169","created_date":"2025-10-10T00:00:00"}