{"id":"https://openalex.org/W2944247914","doi":"https://doi.org/10.1108/ir-05-2018-0094","title":"Mechanical design optimization of a series elastic actuator considering the control performance","display_name":"Mechanical design optimization of a series elastic actuator considering the control performance","publication_year":2019,"publication_date":"2019-03-18","ids":{"openalex":"https://openalex.org/W2944247914","doi":"https://doi.org/10.1108/ir-05-2018-0094","mag":"2944247914"},"language":"en","primary_location":{"id":"doi:10.1108/ir-05-2018-0094","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-05-2018-0094","pdf_url":null,"source":{"id":"https://openalex.org/S166948985","display_name":"Industrial Robot the international journal of robotics research and application","issn_l":"0143-991X","issn":["0143-991X","1758-5791"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319811","host_organization_name":"Emerald Publishing Limited","host_organization_lineage":["https://openalex.org/P4310319811"],"host_organization_lineage_names":["Emerald Publishing Limited"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Industrial Robot: the international journal of robotics research and application","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/A5101962021","display_name":"Hanseung Woo","orcid":"https://orcid.org/0000-0001-7855-4466"},"institutions":[{"id":"https://openalex.org/I148751991","display_name":"Sogang University","ror":"https://ror.org/056tn4839","country_code":"KR","type":"education","lineage":["https://openalex.org/I148751991"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hanseung Woo","raw_affiliation_strings":["Sogang University, Seoul, Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sogang University, Seoul, Republic of Korea","institution_ids":["https://openalex.org/I148751991"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5021312861","display_name":"Kyoungchul Kong","orcid":"https://orcid.org/0000-0002-5785-0044"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Kyoungchul Kong","raw_affiliation_strings":["KAIST, Seoul, Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"KAIST, Seoul, Republic of Korea","institution_ids":["https://openalex.org/I157485424"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0997,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.42340197,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"46","issue":"2","first_page":"311","last_page":"323"},"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":0.9957000017166138,"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":0.9505000114440918,"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/clutch","display_name":"Clutch","score":0.8023253083229065},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.7285027503967285},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.6630833148956299},{"id":"https://openalex.org/keywords/transmissibility","display_name":"Transmissibility (structural dynamics)","score":0.6610535383224487},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6595357656478882},{"id":"https://openalex.org/keywords/mechanical-impedance","display_name":"Mechanical impedance","score":0.6483187079429626},{"id":"https://openalex.org/keywords/controllability","display_name":"Controllability","score":0.6030897498130798},{"id":"https://openalex.org/keywords/mechanical-system","display_name":"Mechanical system","score":0.4898342788219452},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4866257607936859},{"id":"https://openalex.org/keywords/brake","display_name":"Brake","score":0.47052252292633057},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.44509798288345337},{"id":"https://openalex.org/keywords/rotary-actuator","display_name":"Rotary actuator","score":0.44310829043388367},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3648155927658081},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3441625237464905},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.33062249422073364},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.21881216764450073},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.16379180550575256},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.1412351429462433},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.12026464939117432}],"concepts":[{"id":"https://openalex.org/C30358287","wikidata":"https://www.wikidata.org/wiki/Q194302","display_name":"Clutch","level":2,"score":0.8023253083229065},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7285027503967285},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6630833148956299},{"id":"https://openalex.org/C16683452","wikidata":"https://www.wikidata.org/wiki/Q7834601","display_name":"Transmissibility (structural dynamics)","level":4,"score":0.6610535383224487},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6595357656478882},{"id":"https://openalex.org/C159447365","wikidata":"https://www.wikidata.org/wiki/Q6421317","display_name":"Mechanical impedance","level":3,"score":0.6483187079429626},{"id":"https://openalex.org/C48209547","wikidata":"https://www.wikidata.org/wiki/Q1331104","display_name":"Controllability","level":2,"score":0.6030897498130798},{"id":"https://openalex.org/C171912257","wikidata":"https://www.wikidata.org/wiki/Q11019","display_name":"Mechanical system","level":2,"score":0.4898342788219452},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4866257607936859},{"id":"https://openalex.org/C2780999251","wikidata":"https://www.wikidata.org/wiki/Q17022503","display_name":"Brake","level":2,"score":0.47052252292633057},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.44509798288345337},{"id":"https://openalex.org/C110682481","wikidata":"https://www.wikidata.org/wiki/Q7370260","display_name":"Rotary actuator","level":3,"score":0.44310829043388367},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3648155927658081},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3441625237464905},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.33062249422073364},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.21881216764450073},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.16379180550575256},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.1412351429462433},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.12026464939117432},{"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/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0},{"id":"https://openalex.org/C45799244","wikidata":"https://www.wikidata.org/wiki/Q109968206","display_name":"Vibration isolation","level":3,"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","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},{"id":"https://openalex.org/C198394728","wikidata":"https://www.wikidata.org/wiki/Q3695508","display_name":"Vibration","level":2,"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/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1108/ir-05-2018-0094","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-05-2018-0094","pdf_url":null,"source":{"id":"https://openalex.org/S166948985","display_name":"Industrial Robot the international journal of robotics research and application","issn_l":"0143-991X","issn":["0143-991X","1758-5791"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319811","host_organization_name":"Emerald Publishing Limited","host_organization_lineage":["https://openalex.org/P4310319811"],"host_organization_lineage_names":["Emerald Publishing Limited"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Industrial Robot: the international journal of robotics research and application","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.800000011920929,"display_name":"Life below water","id":"https://metadata.un.org/sdg/14"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W74807133","https://openalex.org/W1521257674","https://openalex.org/W1964064577","https://openalex.org/W1976253484","https://openalex.org/W1994377367","https://openalex.org/W2006742133","https://openalex.org/W2017766931","https://openalex.org/W2021196657","https://openalex.org/W2033433965","https://openalex.org/W2073801600","https://openalex.org/W2076906237","https://openalex.org/W2089421806","https://openalex.org/W2100970834","https://openalex.org/W2102159351","https://openalex.org/W2105794428","https://openalex.org/W2111898076","https://openalex.org/W2114702494","https://openalex.org/W2125616855","https://openalex.org/W2126663592","https://openalex.org/W2126728198","https://openalex.org/W2131063775","https://openalex.org/W2133564875","https://openalex.org/W2151414130","https://openalex.org/W2161839080","https://openalex.org/W2163208146","https://openalex.org/W2276448469","https://openalex.org/W2293200354","https://openalex.org/W2396223761","https://openalex.org/W2412679262","https://openalex.org/W2523980053","https://openalex.org/W2566495809","https://openalex.org/W2599869952","https://openalex.org/W2787141716"],"related_works":["https://openalex.org/W2968893651","https://openalex.org/W2021196657","https://openalex.org/W1572047397","https://openalex.org/W2005976079","https://openalex.org/W2291257530","https://openalex.org/W2610366614","https://openalex.org/W2095383976","https://openalex.org/W1981576880","https://openalex.org/W1984532869","https://openalex.org/W2036469467"],"abstract_inverted_index":{"Purpose":[0],"Actuators":[1],"for":[2,34,85,150,269],"human-interactive":[3],"robot":[4,149],"systems":[5],"require":[6],"transparency":[7,70],"and":[8,41,52,71,90,94,159,194,206,237,278,312,327,337],"guaranteed":[9],"safety.":[10,74],"An":[11],"actuation":[12,24,37,46,69,121],"system":[13],"is":[14,19,65,109,115,143,245,339],"called":[15],"transparent":[16,36],"when":[17,320],"it":[18,185],"able":[20],"to":[21,124,145,247,253,286,309,315],"generate":[22],"an":[23,119,313],"force":[25,47],"as":[26,224,252],"desired":[27],"without":[28],"any":[29,125,130],"actuator":[30,63,250],"dynamics.":[31],"The":[32,76,136],"requirements":[33],"the":[35,68,72,86,88,95,107,113,162,170,173,178,192,195,202,207,213,230,238,249,255,266,270,281,287,293,310,317],"include":[38],"high":[39],"precision":[40],"large":[42],"frequency":[43],"bandwidth":[44],"in":[45,258],"generation,":[48],"zero":[49],"mechanical":[50,73,77,96,102,141,163,208,239,298],"impedance":[51,97,209],"so":[53,251],"on.":[54],"In":[55],"this":[56],"paper,":[57],"a":[58,80,134,140,147,297,322,328],"compact":[59],"rotary":[60],"series":[61],"elastic":[62],"(cRSEA)":[64],"designed":[66,231],"considering":[67],"Design/methodology/approach":[75],"parameters":[78],"of":[79,161,172,289,295,331],"cRSEA":[81,138,232],"are":[82,183,199,210,325],"optimally":[83],"selected":[84,189,223],"controllability,":[87],"input":[89],"output":[91,196],"torque":[92,122,156,197,204,305],"transmissibility":[93,198,205],"by":[98,272],"simulation":[99],"study.":[100],"A":[101],"clutch":[103,142,240,299],"that":[104,112,191,229,302],"automatically":[105],"disengages":[106],"transmission":[108],"devised":[110],"such":[111,190],"human":[114],"mechanically":[116],"protected":[117],"from":[118,133,306],"excessive":[120,304],"due":[123],"possible":[126],"controller":[127],"malfunction":[128],"or":[129],"external":[131],"impact":[132],"collision.":[135],"proposed":[137],"with":[139,260],"applied":[144],"develop":[146],"wearable":[148],"incomplete":[151],"paraplegic":[152],"patients.":[153],"To":[154],"verify":[155],"tracking":[157],"performance":[158,181,216,257,276,282,336],"disengagement":[160],"clutch,":[164],"experiments":[165],"were":[166,218],"conducted.":[167],"Findings":[168],"As":[169],"effects":[171],"gear":[174,324],"ratio,":[175],"N1,":[176],"on":[177],"four":[179,214,274],"control":[180,215,235,256,275,335],"indexes":[182,217,277,283],"conflicting,":[184],"should":[186],"be":[187],"carefully":[188],"controllability":[193],"maximized,":[200],"while":[201],"disturbance":[203],"minimized.":[211],"When":[212],"equally":[219],"weighted,":[220],"N1":[221],"was":[222],"30.":[225],"Experimental":[226],"results":[227],"showed":[228],"provided":[233],"good":[234],"performances":[236],"worked":[241],"properly.":[242],"Originality/value":[243],"It":[244],"important":[246],"design":[248,267,290,300,329],"maximize":[254],"accordance":[259],"its":[261],"purpose.":[262],"This":[263],"paper":[264],"presents":[265],"guidelines":[268],"SEA":[271,332],"introducing":[273],"analyzing":[279],"how":[280],"vary":[284],"according":[285],"change":[288],"parameter.":[291],"From":[292],"viewpoint":[294],"practicality,":[296],"method":[301,330],"prevents":[303],"being":[307],"transmitted":[308],"wearer":[311],"analysis":[314],"solve":[316],"locking":[318],"phenomenon":[319],"using":[321],"worm":[323],"presented,":[326],"satisfying":[333],"both":[334],"practicality":[338],"presented.":[340]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2022,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}