{"id":"https://openalex.org/W2070843634","doi":"https://doi.org/10.1109/biorob.2014.6913868","title":"ServoSEA concept: Cheap, miniature series-elastic actuators for orthotic, prosthetic and robotic hands","display_name":"ServoSEA concept: Cheap, miniature series-elastic actuators for orthotic, prosthetic and robotic hands","publication_year":2014,"publication_date":"2014-08-01","ids":{"openalex":"https://openalex.org/W2070843634","doi":"https://doi.org/10.1109/biorob.2014.6913868","mag":"2070843634"},"language":"en","primary_location":{"id":"doi:10.1109/biorob.2014.6913868","is_oa":false,"landing_page_url":"https://doi.org/10.1109/biorob.2014.6913868","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"5th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics","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/A5039674991","display_name":"Serdar Ate\u015f","orcid":"https://orcid.org/0000-0002-9047-9857"},"institutions":[{"id":"https://openalex.org/I94624287","display_name":"University of Twente","ror":"https://ror.org/006hf6230","country_code":"NL","type":"education","lineage":["https://openalex.org/I94624287"]}],"countries":["NL"],"is_corresponding":true,"raw_author_name":"Serdar Ates","raw_affiliation_strings":["Biomechanical Engineering, University of Twente, Enschede, NL"],"affiliations":[{"raw_affiliation_string":"Biomechanical Engineering, University of Twente, Enschede, NL","institution_ids":["https://openalex.org/I94624287"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006047694","display_name":"Victor Sluiter","orcid":"https://orcid.org/0000-0001-8571-7892"},"institutions":[{"id":"https://openalex.org/I94624287","display_name":"University of Twente","ror":"https://ror.org/006hf6230","country_code":"NL","type":"education","lineage":["https://openalex.org/I94624287"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Victor I. Sluiter","raw_affiliation_strings":["Biomechanical Engineering, University of Twente, Enschede, NL"],"affiliations":[{"raw_affiliation_string":"Biomechanical Engineering, University of Twente, Enschede, NL","institution_ids":["https://openalex.org/I94624287"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014377892","display_name":"Piet Lammertse","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Piet Lammertse","raw_affiliation_strings":["Robotics Division, Nieuw-Vennep, NL"],"affiliations":[{"raw_affiliation_string":"Robotics Division, Nieuw-Vennep, NL","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5112298791","display_name":"Arno H. A. Stienen","orcid":null},"institutions":[{"id":"https://openalex.org/I94624287","display_name":"University of Twente","ror":"https://ror.org/006hf6230","country_code":"NL","type":"education","lineage":["https://openalex.org/I94624287"]},{"id":"https://openalex.org/I111979921","display_name":"Northwestern University","ror":"https://ror.org/000e0be47","country_code":"US","type":"education","lineage":["https://openalex.org/I111979921"]}],"countries":["NL","US"],"is_corresponding":false,"raw_author_name":"Arno H. A. Stienen","raw_affiliation_strings":["Biomechanical Engineering, University of Twente, Enschede, NL","Physical Therapy and Human Movement Sciences, Northwestern University, Chicago, IL, USA"],"affiliations":[{"raw_affiliation_string":"Biomechanical Engineering, University of Twente, Enschede, NL","institution_ids":["https://openalex.org/I94624287"]},{"raw_affiliation_string":"Physical Therapy and Human Movement Sciences, Northwestern University, Chicago, IL, USA","institution_ids":["https://openalex.org/I111979921"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5039674991"],"corresponding_institution_ids":["https://openalex.org/I94624287"],"apc_list":null,"apc_paid":null,"fwci":0.5751,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.6932308,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"752","last_page":"757"},"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":0.9980999827384949,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.983299970626831,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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":0.7682244777679443},{"id":"https://openalex.org/keywords/rotary-actuator","display_name":"Rotary actuator","score":0.6321905851364136},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.5738546848297119},{"id":"https://openalex.org/keywords/deflection","display_name":"Deflection (physics)","score":0.5707629323005676},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5644084811210632},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.5099726915359497},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.507602334022522},{"id":"https://openalex.org/keywords/servomechanism","display_name":"Servomechanism","score":0.5012302398681641},{"id":"https://openalex.org/keywords/servo","display_name":"Servo","score":0.45096662640571594},{"id":"https://openalex.org/keywords/servomotor","display_name":"Servomotor","score":0.44969069957733154},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.432323157787323},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4062846899032593},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3634873628616333},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.28061443567276},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16033917665481567},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.13597768545150757},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.11115080118179321}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7682244777679443},{"id":"https://openalex.org/C110682481","wikidata":"https://www.wikidata.org/wiki/Q7370260","display_name":"Rotary actuator","level":3,"score":0.6321905851364136},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.5738546848297119},{"id":"https://openalex.org/C2781355719","wikidata":"https://www.wikidata.org/wiki/Q2080698","display_name":"Deflection (physics)","level":2,"score":0.5707629323005676},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5644084811210632},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.5099726915359497},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.507602334022522},{"id":"https://openalex.org/C49503481","wikidata":"https://www.wikidata.org/wiki/Q640815","display_name":"Servomechanism","level":2,"score":0.5012302398681641},{"id":"https://openalex.org/C107354338","wikidata":"https://www.wikidata.org/wiki/Q1937153","display_name":"Servo","level":2,"score":0.45096662640571594},{"id":"https://openalex.org/C109441226","wikidata":"https://www.wikidata.org/wiki/Q1137255","display_name":"Servomotor","level":2,"score":0.44969069957733154},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.432323157787323},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4062846899032593},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3634873628616333},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.28061443567276},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16033917665481567},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.13597768545150757},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.11115080118179321},{"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/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/biorob.2014.6913868","is_oa":false,"landing_page_url":"https://doi.org/10.1109/biorob.2014.6913868","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"5th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics","raw_type":"proceedings-article"},{"id":"pmh:oai:ris.utwente.nl:openaire_cris_publications/8a2aef55-e28f-4ee9-86fb-192ba87acabd","is_oa":false,"landing_page_url":"https://research.utwente.nl/en/publications/8a2aef55-e28f-4ee9-86fb-192ba87acabd","pdf_url":null,"source":{"id":"https://openalex.org/S4406922991","display_name":"University of Twente Research Information","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Ates, S, Sluiter, V IJ, Lammertse, P & Stienen, A 2014, ServoSEA concept: Cheap, miniature series-elastic actuators for orthotic, prosthetic and robotic hands. in 5th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics. IEEE, Sao Paulo, Brazil, pp. 752-757, 5th IEEE RAS & EMBS Interantional Conference on Biomedical Robotics and Biomechatronics, BioRob 2014, Sao Paulo, Brazil, 12/08/14. https://doi.org/10.1109/BIOROB.2014.6913868","raw_type":"info:eu-repo/semantics/publishedVersion"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8399999737739563,"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":12,"referenced_works":["https://openalex.org/W74807133","https://openalex.org/W1968580352","https://openalex.org/W2026156108","https://openalex.org/W2055673504","https://openalex.org/W2094821430","https://openalex.org/W2100970834","https://openalex.org/W2111253117","https://openalex.org/W2113899190","https://openalex.org/W2158641070","https://openalex.org/W2159927289","https://openalex.org/W2169100281","https://openalex.org/W6603098663"],"related_works":["https://openalex.org/W2080331776","https://openalex.org/W161603712","https://openalex.org/W2045478930","https://openalex.org/W2115261773","https://openalex.org/W2021648837","https://openalex.org/W2320805319","https://openalex.org/W1490629594","https://openalex.org/W1984747759","https://openalex.org/W2744582151","https://openalex.org/W2542030311"],"abstract_inverted_index":{"For":[0],"interactive":[1],"humanoids,":[2],"rehabilitation":[3],"robots,":[4],"and":[5,7,34,58,80,82,106,139,156],"orthotic":[6],"prosthetic":[8,66],"devices,":[9],"the":[10,44,90,94,103,107,115,123,142,152,167,171,187,197,200],"human-robot":[11],"interaction":[12],"is":[13,47,60,100,111,183,190],"an":[14,84],"essential":[15],"but":[16],"challenging":[17],"element.":[18],"Compliant":[19],"Series-Elastic":[20,50],"Actuators":[21],"(SEAs)":[22],"are":[23,72],"ideal":[24],"to":[25,30,88,102,113],"power":[26],"such":[27],"devices":[28],"due":[29],"their":[31],"low":[32],"impedance":[33],"smoothness":[35],"of":[36,64,144,166,170,199],"generated":[37],"forces.":[38],"In":[39,93],"this":[40],"paper":[41],"we":[42,134],"present":[43,135],"ServoSEA,":[45,95],"which":[46,59],"a":[48,96,129],"miniature":[49],"Actuator":[51],"(SEA)":[52],"based":[53],"on":[54,141,196],"cheap":[55],"RC":[56,70,202],"servos,":[57],"useful":[61],"for":[62],"actuation":[63],"orthotic,":[65],"or":[67],"robotic":[68],"hands.":[69],"servos":[71],"complete":[73],"packages":[74],"that":[75,147,163,185],"come":[76],"with":[77],"rotary":[78,109],"motor":[79],"sensor":[81,110],"have":[83],"integrated":[85,124],"control":[86,89,125,165],"board":[87,126],"output":[91,104],"angle.":[92],"small":[97,119],"rotational":[98],"spring":[99,116],"attached":[101],"shaft":[105],"internal":[108],"relocated":[112],"measure":[114],"deflection.":[117],"These":[118],"modifications":[120],"immediately":[121],"make":[122],"behave":[127],"as":[128],"series-elastic":[130],"torque":[131],"controller.":[132],"Here":[133],"several":[136],"design":[137],"alternatives":[138],"report":[140],"performance":[143,160,193],"our":[145],"implementation":[146,169],"will":[148],"be":[149],"used":[150],"in":[151,174],"active":[153],"SCRIPT":[154],"wrist":[155],"hand":[157],"orthosis.":[158],"The":[159],"measurements":[161],"showed":[162],"feedforward":[164],"example":[168],"ServoSEA":[172,188],"results":[173],"acceptable,":[175],"though":[176],"not":[177],"perfect,":[178],"force":[179],"tracking":[180],"behavior.":[181],"It":[182],"clear":[184],"although":[186],"concept":[189],"universal,":[191],"final":[192],"strongly":[194],"depends":[195],"quality":[198],"original":[201],"servo.":[203]},"counts_by_year":[{"year":2023,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1}],"updated_date":"2026-03-10T16:38:18.471706","created_date":"2025-10-10T00:00:00"}
