{"id":"https://openalex.org/W2998891095","doi":"https://doi.org/10.1109/arso46408.2019.8948744","title":"A Humanoid Soft Robotic Joint with Variable Stiffness","display_name":"A Humanoid Soft Robotic Joint with Variable Stiffness","publication_year":2019,"publication_date":"2019-10-01","ids":{"openalex":"https://openalex.org/W2998891095","doi":"https://doi.org/10.1109/arso46408.2019.8948744","mag":"2998891095"},"language":"en","primary_location":{"id":"doi:10.1109/arso46408.2019.8948744","is_oa":false,"landing_page_url":"https://doi.org/10.1109/arso46408.2019.8948744","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Conference on Advanced Robotics and its Social Impacts (ARSO)","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/A5101820815","display_name":"Liqun Huang","orcid":"https://orcid.org/0009-0004-3133-3657"},"institutions":[{"id":"https://openalex.org/I21193070","display_name":"Beijing Jiaotong University","ror":"https://ror.org/01yj56c84","country_code":"CN","type":"education","lineage":["https://openalex.org/I21193070"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Liqun Huang","raw_affiliation_strings":["School of Mechanical Electronic, Control Engineering, Beijing Jiaotong University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Electronic, Control Engineering, Beijing Jiaotong University, Beijing, China","institution_ids":["https://openalex.org/I21193070"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013199867","display_name":"Yingwei Wei","orcid":null},"institutions":[{"id":"https://openalex.org/I21193070","display_name":"Beijing Jiaotong University","ror":"https://ror.org/01yj56c84","country_code":"CN","type":"education","lineage":["https://openalex.org/I21193070"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yingwei Wei","raw_affiliation_strings":["School of Mechanical Electronic, Control Engineering, Beijing Jiaotong University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Electronic, Control Engineering, Beijing Jiaotong University, Beijing, China","institution_ids":["https://openalex.org/I21193070"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100343262","display_name":"Xiuli Zhang","orcid":"https://orcid.org/0000-0003-1374-5100"},"institutions":[{"id":"https://openalex.org/I21193070","display_name":"Beijing Jiaotong University","ror":"https://ror.org/01yj56c84","country_code":"CN","type":"education","lineage":["https://openalex.org/I21193070"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiuli Zhang","raw_affiliation_strings":["School of Mechanical Electronic, Control Engineering, Beijing Jiaotong University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Electronic, Control Engineering, Beijing Jiaotong University, Beijing, China","institution_ids":["https://openalex.org/I21193070"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5101820815"],"corresponding_institution_ids":["https://openalex.org/I21193070"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.16093555,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"21","issue":null,"first_page":"256","last_page":"260"},"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/T10868","display_name":"Soft Robotics and Applications","score":0.9979000091552734,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9936000108718872,"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/joint-stiffness","display_name":"Joint stiffness","score":0.861785352230072},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.781657338142395},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.6512277126312256},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6489062309265137},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.6386550664901733},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5690497159957886},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5020675659179688},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4117748439311981},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3813399374485016},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.35988134145736694},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.31612616777420044},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2995818555355072},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.07765471935272217}],"concepts":[{"id":"https://openalex.org/C2781415944","wikidata":"https://www.wikidata.org/wiki/Q559210","display_name":"Joint stiffness","level":3,"score":0.861785352230072},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.781657338142395},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.6512277126312256},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6489062309265137},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.6386550664901733},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5690497159957886},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5020675659179688},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4117748439311981},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3813399374485016},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.35988134145736694},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.31612616777420044},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2995818555355072},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.07765471935272217}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/arso46408.2019.8948744","is_oa":false,"landing_page_url":"https://doi.org/10.1109/arso46408.2019.8948744","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Conference on Advanced Robotics and its Social Impacts (ARSO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life below water","score":0.8700000047683716,"id":"https://metadata.un.org/sdg/14"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1988653974","https://openalex.org/W1995343612","https://openalex.org/W2008817337","https://openalex.org/W2017766931","https://openalex.org/W2051681843","https://openalex.org/W2058174034","https://openalex.org/W2066202893","https://openalex.org/W2073136132","https://openalex.org/W2075233632","https://openalex.org/W2096003909","https://openalex.org/W2154874053","https://openalex.org/W2156318728","https://openalex.org/W2333868129","https://openalex.org/W2521094066","https://openalex.org/W2576531615"],"related_works":["https://openalex.org/W1968365019","https://openalex.org/W2567491619","https://openalex.org/W2155012747","https://openalex.org/W2149828157","https://openalex.org/W2550616614","https://openalex.org/W2525622752","https://openalex.org/W2601907279","https://openalex.org/W2944145876","https://openalex.org/W2084768615","https://openalex.org/W2102622298"],"abstract_inverted_index":{"To":[0],"meet":[1],"the":[2,17,43,52,55,74,79,86,91,105,114],"demand":[3],"of":[4,20,29,42,54],"human-robot":[5,94],"interaction,":[6],"a":[7,30,36,119],"novel":[8],"humanoid":[9],"soft":[10,25,106,115],"robotic":[11,26,44,107,116],"joint":[12,27,45,65,75,80,87,108,117],"was":[13],"proposed":[14],"by":[15,50,101],"imitating":[16],"antagonistic":[18],"structure":[19,76],"human":[21],"elbow":[22],"joint.":[23],"The":[24,40,64,96,110],"consists":[28],"serial":[31],"elastic":[32,38,56],"actuator":[33],"(SEA)":[34],"and":[35,82,124],"symmetrically-arranged":[37],"bands.":[39],"stiffness":[41,66,81,88,97,128],"can":[46],"be":[47],"adjusted":[48],"actively":[49],"changing":[51],"length":[53],"bands,":[57],"so":[58],"as":[59],"to":[60,70,84,89,127],"achieve":[61],"better":[62],"compliance.":[63],"model":[67,98],"is":[68,99],"established":[69],"find":[71],"out":[72],"how":[73,83],"parameters":[77],"affect":[78],"adjust":[85],"improve":[90],"compliance":[92],"during":[93],"interactions.":[95],"verified":[100],"conducting":[102],"experiments":[103],"on":[104],"prototype.":[109],"results":[111],"show":[112],"that":[113],"has":[118],"good":[120],"position":[121],"tracking":[122],"performance":[123],"rapid":[125],"response":[126],"step.":[129]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
