{"id":"https://openalex.org/W2483528177","doi":"https://doi.org/10.1109/acc.2016.7525610","title":"Motion control of series-elastic actuators","display_name":"Motion control of series-elastic actuators","publication_year":2016,"publication_date":"2016-07-01","ids":{"openalex":"https://openalex.org/W2483528177","doi":"https://doi.org/10.1109/acc.2016.7525610","mag":"2483528177"},"language":"en","primary_location":{"id":"doi:10.1109/acc.2016.7525610","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2016.7525610","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 American Control Conference (ACC)","raw_type":"proceedings-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/A5002775217","display_name":"Kevin Haninger","orcid":"https://orcid.org/0000-0002-5294-5458"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Kevin Haninger","raw_affiliation_strings":["Department of Mechanical Engineering, University of California, Berkeley, CA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of California, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029385508","display_name":"Junkai Lu","orcid":null},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Junkai Lu","raw_affiliation_strings":["Department of Mechanical Engineering, University of California, Berkeley, CA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of California, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5064077634","display_name":"Masayoshi Tomizuka","orcid":"https://orcid.org/0000-0003-0206-6639"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Masayoshi Tomizuka","raw_affiliation_strings":["Department of Mechanical Engineering, University of California, Berkeley, CA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of California, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5002775217"],"corresponding_institution_ids":["https://openalex.org/I95457486"],"apc_list":null,"apc_paid":null,"fwci":1.0256,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.76527478,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"4373","last_page":"4378"},"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":0.9889000058174133,"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/T10675","display_name":"Mechanical Circulatory Support Devices","score":0.948199987411499,"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/actuator","display_name":"Actuator","score":0.8701958656311035},{"id":"https://openalex.org/keywords/exoskeleton","display_name":"Exoskeleton","score":0.8167552947998047},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6475026607513428},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5911319255828857},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5383577942848206},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5336436033248901},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4961901307106018},{"id":"https://openalex.org/keywords/series","display_name":"Series (stratigraphy)","score":0.4671822190284729},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3682093322277069},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3482225239276886},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.34523290395736694},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19227173924446106}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.8701958656311035},{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.8167552947998047},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6475026607513428},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5911319255828857},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5383577942848206},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5336436033248901},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4961901307106018},{"id":"https://openalex.org/C143724316","wikidata":"https://www.wikidata.org/wiki/Q312468","display_name":"Series (stratigraphy)","level":2,"score":0.4671822190284729},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3682093322277069},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3482225239276886},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.34523290395736694},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19227173924446106},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/acc.2016.7525610","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2016.7525610","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 American Control Conference (ACC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1535570778","https://openalex.org/W1565940040","https://openalex.org/W1969434593","https://openalex.org/W2017239762","https://openalex.org/W2044953135","https://openalex.org/W2111253117","https://openalex.org/W2111898076","https://openalex.org/W2116767351","https://openalex.org/W2131063775","https://openalex.org/W2133672972","https://openalex.org/W2147288676","https://openalex.org/W2158641070","https://openalex.org/W2166230296","https://openalex.org/W2169100281","https://openalex.org/W2171996789","https://openalex.org/W2296653574"],"related_works":["https://openalex.org/W2901258812","https://openalex.org/W2887985348","https://openalex.org/W2401700601","https://openalex.org/W2570835373","https://openalex.org/W2557545276","https://openalex.org/W4387054232","https://openalex.org/W3198063775","https://openalex.org/W1553696796","https://openalex.org/W2753647732","https://openalex.org/W4303574780"],"abstract_inverted_index":{"Direct,":[0],"physical":[1,22],"interaction":[2],"between":[3],"a":[4,7,46,75,93],"human":[5,20],"and":[6,67,113],"robot":[8,28],"has":[9],"potential":[10],"to":[11,32,70,79],"provide":[12],"assistance":[13],"or":[14],"rehabilitation":[15],"which":[16,44],"can":[17],"extend":[18],"the":[19,27,34,39,56,87,90,96],"user's":[21],"capabilities.":[23],"To":[24,85],"be":[25,30],"successful,":[26],"must":[29],"able":[31],"realize":[33],"system-level":[35],"objectives":[36],"without":[37],"compromising":[38],"subject's":[40],"safety.":[41,54],"For":[42],"applications":[43],"involve":[45],"powered":[47],"robot,":[48],"compliant":[49,61],"actuators":[50,62],"may":[51],"help":[52],"guarantee":[53],"However,":[55],"more":[57],"complex":[58],"dynamics":[59,102],"of":[60,89,115],"requires":[63],"proper":[64],"model":[65,94],"selection":[66],"controller":[68,109],"design":[69],"give":[71],"satisfactory":[72],"performance.":[73],"Here,":[74],"series-elastic":[76],"actuator":[77,99],"integrated":[78],"an":[80],"upper-limb":[81],"exoskeleton":[82],"is":[83,103],"considered.":[84],"consider":[86],"effects":[88],"elastic":[91,98],"element,":[92],"for":[95,108],"series":[97],"with":[100],"load-side":[101],"introduced,":[104],"validated,":[105],"then":[106,121],"used":[107],"design.":[110],"The":[111],"performance":[112],"safety":[114],"several":[116],"control":[117],"architectures":[118],"are":[119],"analyzed,":[120],"compared":[122],"experimentally.":[123]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}