{"id":"https://openalex.org/W2936025978","doi":"https://doi.org/10.1080/01691864.2019.1602894","title":"Variable stiffness control for SEAs in rehabilitation training","display_name":"Variable stiffness control for SEAs in rehabilitation training","publication_year":2019,"publication_date":"2019-04-15","ids":{"openalex":"https://openalex.org/W2936025978","doi":"https://doi.org/10.1080/01691864.2019.1602894","mag":"2936025978"},"language":"en","primary_location":{"id":"doi:10.1080/01691864.2019.1602894","is_oa":false,"landing_page_url":"https://doi.org/10.1080/01691864.2019.1602894","pdf_url":null,"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":null,"license_id":null,"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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100336537","display_name":"Siqi Li","orcid":"https://orcid.org/0000-0001-5190-8252"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Siqi Li","raw_affiliation_strings":["The Bionic Robot and System Key Laboratory, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, People\u2019s Republic of China","The Bionic Robot and System Key Laboratory, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, People's Republic of China"],"affiliations":[{"raw_affiliation_string":"The Bionic Robot and System Key Laboratory, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, People\u2019s Republic of China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"The Bionic Robot and System Key Laboratory, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, People's Republic of China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001783593","display_name":"Jian Li","orcid":"https://orcid.org/0000-0001-8435-0742"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jian Li","raw_affiliation_strings":["Key Laboratory for Intelligent Control and Decision on Complex Systems, School of Automation, Beijing Institute of Technology, Beijing, People\u2019s Republic of China","Key Laboratory for Intelligent Control and Decision on Complex Systems, School of Automation, Beijing Institute of Technology, Beijing, People's Republic of China"],"affiliations":[{"raw_affiliation_string":"Key Laboratory for Intelligent Control and Decision on Complex Systems, School of Automation, Beijing Institute of Technology, Beijing, People\u2019s Republic of China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"Key Laboratory for Intelligent Control and Decision on Complex Systems, School of Automation, Beijing Institute of Technology, Beijing, People's Republic of China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082619807","display_name":"Guihua Tian","orcid":"https://orcid.org/0000-0002-3521-6675"},"institutions":[{"id":"https://openalex.org/I17747738","display_name":"Beijing University of Chinese Medicine","ror":"https://ror.org/05damtm70","country_code":"CN","type":"education","lineage":["https://openalex.org/I17747738"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guihua Tian","raw_affiliation_strings":["Laboratory of Chinese Internal Medicine of Ministry of Education and Beijing, Dongzhimen Hospital, Beijing University of Chinese Medicine, Beijing, People\u2019s Republic of China","Laboratory of Chinese Internal Medicine of Ministry of Education and Beijing, Dongzhimen Hospital, Beijing University of Chinese Medicine, Beijing, People's Republic of China"],"affiliations":[{"raw_affiliation_string":"Laboratory of Chinese Internal Medicine of Ministry of Education and Beijing, Dongzhimen Hospital, Beijing University of Chinese Medicine, Beijing, People\u2019s Republic of China","institution_ids":["https://openalex.org/I17747738"]},{"raw_affiliation_string":"Laboratory of Chinese Internal Medicine of Ministry of Education and Beijing, Dongzhimen Hospital, Beijing University of Chinese Medicine, Beijing, People's Republic of China","institution_ids":["https://openalex.org/I17747738"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101477650","display_name":"Shang Hong-cai","orcid":"https://orcid.org/0000-0001-7385-3133"},"institutions":[{"id":"https://openalex.org/I17747738","display_name":"Beijing University of Chinese Medicine","ror":"https://ror.org/05damtm70","country_code":"CN","type":"education","lineage":["https://openalex.org/I17747738"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongcai Shang","raw_affiliation_strings":["Laboratory of Chinese Internal Medicine of Ministry of Education and Beijing, Dongzhimen Hospital, Beijing University of Chinese Medicine, Beijing, People\u2019s Republic of China","Laboratory of Chinese Internal Medicine of Ministry of Education and Beijing, Dongzhimen Hospital, Beijing University of Chinese Medicine, Beijing, People's Republic of China"],"affiliations":[{"raw_affiliation_string":"Laboratory of Chinese Internal Medicine of Ministry of Education and Beijing, Dongzhimen Hospital, Beijing University of Chinese Medicine, Beijing, People\u2019s Republic of China","institution_ids":["https://openalex.org/I17747738"]},{"raw_affiliation_string":"Laboratory of Chinese Internal Medicine of Ministry of Education and Beijing, Dongzhimen Hospital, Beijing University of Chinese Medicine, Beijing, People's Republic of China","institution_ids":["https://openalex.org/I17747738"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5001783593"],"corresponding_institution_ids":["https://openalex.org/I125839683"],"apc_list":null,"apc_paid":null,"fwci":0.4891,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.61238914,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"33","issue":"7-8","first_page":"424","last_page":"438"},"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":0.9973999857902527,"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/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9908000230789185,"subfield":{"id":"https://openalex.org/subfields/2742","display_name":"Rehabilitation"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.7141144871711731},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.7126380205154419},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6825904846191406},{"id":"https://openalex.org/keywords/inertia","display_name":"Inertia","score":0.6186739802360535},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.539949893951416},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5387576222419739},{"id":"https://openalex.org/keywords/rigidity","display_name":"Rigidity (electromagnetism)","score":0.520899772644043},{"id":"https://openalex.org/keywords/cascade","display_name":"Cascade","score":0.46274688839912415},{"id":"https://openalex.org/keywords/exoskeleton","display_name":"Exoskeleton","score":0.44824063777923584},{"id":"https://openalex.org/keywords/passivity","display_name":"Passivity","score":0.413869708776474},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4070965051651001},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.37712547183036804},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.29904407262802124},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.2715034484863281},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.14663630723953247},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12068480253219604},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.0959806740283966}],"concepts":[{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.7141144871711731},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.7126380205154419},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6825904846191406},{"id":"https://openalex.org/C110407247","wikidata":"https://www.wikidata.org/wiki/Q122508","display_name":"Inertia","level":2,"score":0.6186739802360535},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.539949893951416},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5387576222419739},{"id":"https://openalex.org/C160343418","wikidata":"https://www.wikidata.org/wiki/Q185256","display_name":"Rigidity (electromagnetism)","level":2,"score":0.520899772644043},{"id":"https://openalex.org/C34146451","wikidata":"https://www.wikidata.org/wiki/Q5048094","display_name":"Cascade","level":2,"score":0.46274688839912415},{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.44824063777923584},{"id":"https://openalex.org/C2778809601","wikidata":"https://www.wikidata.org/wiki/Q1045736","display_name":"Passivity","level":2,"score":0.413869708776474},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4070965051651001},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.37712547183036804},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.29904407262802124},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.2715034484863281},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.14663630723953247},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12068480253219604},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0959806740283966},{"id":"https://openalex.org/C42360764","wikidata":"https://www.wikidata.org/wiki/Q83588","display_name":"Chemical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1080/01691864.2019.1602894","is_oa":false,"landing_page_url":"https://doi.org/10.1080/01691864.2019.1602894","pdf_url":null,"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":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8199999928474426,"display_name":"Life below water","id":"https://metadata.un.org/sdg/14"}],"awards":[{"id":"https://openalex.org/G3668936824","display_name":null,"funder_award_id":"81473694","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W65153156","https://openalex.org/W1535570778","https://openalex.org/W1555351365","https://openalex.org/W1974357213","https://openalex.org/W1976912497","https://openalex.org/W1979744165","https://openalex.org/W1990866293","https://openalex.org/W1995343612","https://openalex.org/W2033167899","https://openalex.org/W2033433965","https://openalex.org/W2039696452","https://openalex.org/W2044220337","https://openalex.org/W2081814343","https://openalex.org/W2090465025","https://openalex.org/W2096826446","https://openalex.org/W2101268726","https://openalex.org/W2102159351","https://openalex.org/W2104166416","https://openalex.org/W2110171919","https://openalex.org/W2111898076","https://openalex.org/W2116767351","https://openalex.org/W2133639509","https://openalex.org/W2144355672","https://openalex.org/W2169902174","https://openalex.org/W2288179771","https://openalex.org/W2333868129","https://openalex.org/W2726181380","https://openalex.org/W2739010045","https://openalex.org/W2749111945","https://openalex.org/W2750711367","https://openalex.org/W2805061696","https://openalex.org/W2806423520","https://openalex.org/W2810457141","https://openalex.org/W3031227014"],"related_works":["https://openalex.org/W4233304828","https://openalex.org/W4239268637","https://openalex.org/W1977819874","https://openalex.org/W2952841825","https://openalex.org/W2051296765","https://openalex.org/W2960878236","https://openalex.org/W153449849","https://openalex.org/W3131110707","https://openalex.org/W2368378980","https://openalex.org/W2716370379"],"abstract_inverted_index":{"Series":[0],"Elastic":[1],"Actuator":[2],"(SEA)":[3],"with":[4,16,57,129],"both":[5],"security":[6],"and":[7,83,114,139,168],"high":[8],"performance":[9],"is":[10,44,101,112,122,133,145,156],"used":[11],"extensively":[12],"for":[13,22,51],"rehabilitation":[14,33,52,181],"robots":[15],"physical":[17],"interaction.":[18],"Human":[19],"joints":[20],"applied":[21],"motion":[23,40],"therapy":[24],"show":[25],"variable":[26,97],"stiffness":[27,59,98,130,138,153,162,176],"properties":[28],"during":[29,179],"the":[30,47,64,77,115,119,137,140,143,149,161,175,180],"process":[31],"of":[32,46,70,79,118,142],"training.":[34],"When":[35],"using":[36],"robot":[37],"to":[38,67,88,135,173],"do":[39],"therapy,":[41],"impedance":[42,55,106,120,126,164],"control":[43,56,99],"one":[45],"most":[48],"popular":[49],"methods":[50],"works.":[53],"However,":[54],"constant":[58],"usually":[60],"produces":[61],"rigidity":[62],"in":[63],"body":[65],"due":[66],"natural":[68],"changes":[69],"muscle":[71],"tension.":[72],"It":[73],"may":[74,84],"seriously":[75],"restrict":[76],"achievement":[78],"excellent":[80],"training":[81],"effect":[82],"even":[85],"cause":[86],"harm":[87],"patients.":[89],"In":[90],"this":[91],"study,":[92],"a":[93,151],"novel":[94,152],"real-time":[95],"parallel":[96],"method":[100,178],"proposed":[102],"based":[103],"on":[104,148],"cascade":[105,125],"controller.":[107],"First,":[108],"an":[109],"SEA":[110],"joint":[111],"analyzed":[113],"limit":[116],"factor":[117],"frequency":[121],"discussed.":[123],"Subsequently,":[124],"controller":[127,144],"scheme":[128],"adjustment":[131,177],"regulator":[132],"utilized":[134],"achieve":[136],"passivity":[141],"proved.":[146],"Based":[147],"scheme,":[150],"self-adjustment":[154],"algorithm":[155],"presented":[157],"which":[158],"can":[159],"regulate":[160],"by":[163],"approximation.":[165],"Finally,":[166],"simulation":[167],"experimental":[169],"results":[170],"are":[171],"provided":[172],"validate":[174],"process.":[182]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":2},{"year":2019,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
