{"id":"https://openalex.org/W2088450887","doi":"https://doi.org/10.1109/haptics.2014.6775525","title":"Series elasticity for free free-space motion for free","display_name":"Series elasticity for free free-space motion for free","publication_year":2014,"publication_date":"2014-02-01","ids":{"openalex":"https://openalex.org/W2088450887","doi":"https://doi.org/10.1109/haptics.2014.6775525","mag":"2088450887"},"language":"en","primary_location":{"id":"doi:10.1109/haptics.2014.6775525","is_oa":false,"landing_page_url":"https://doi.org/10.1109/haptics.2014.6775525","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE Haptics Symposium (HAPTICS)","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/A5020611092","display_name":"R. Brent Gillespie","orcid":"https://orcid.org/0000-0002-1051-0026"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"R. Brent Gillespie","raw_affiliation_strings":["University of Michigan","University of Michigan Ann Arbor MI, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Michigan","institution_ids":["https://openalex.org/I27837315"]},{"raw_affiliation_string":"University of Michigan Ann Arbor MI, USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100691404","display_name":"Dong-Won Kim","orcid":"https://orcid.org/0000-0003-0694-2384"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dongwon Kim","raw_affiliation_strings":["University of Michigan","University of Michigan Ann Arbor MI, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Michigan","institution_ids":["https://openalex.org/I27837315"]},{"raw_affiliation_string":"University of Michigan Ann Arbor MI, USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007776808","display_name":"Jacob M. Suchoski","orcid":null},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jacob M. Suchoski","raw_affiliation_strings":["Stanford University","Stanford University Stanford, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Stanford University","institution_ids":["https://openalex.org/I97018004"]},{"raw_affiliation_string":"Stanford University Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047151355","display_name":"Bo Yu","orcid":"https://orcid.org/0000-0001-9297-0191"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Bo Yu","raw_affiliation_strings":["University of Michigan","University of Michigan Ann Arbor MI, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Michigan","institution_ids":["https://openalex.org/I27837315"]},{"raw_affiliation_string":"University of Michigan Ann Arbor MI, USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024658484","display_name":"Jeremy D. Brown","orcid":"https://orcid.org/0000-0001-5586-455X"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jeremy D. Brown","raw_affiliation_strings":["University of Michigan","University of Michigan Ann Arbor MI, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Michigan","institution_ids":["https://openalex.org/I27837315"]},{"raw_affiliation_string":"University of Michigan Ann Arbor MI, USA","institution_ids":["https://openalex.org/I27837315"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.2337,"has_fulltext":false,"cited_by_count":19,"citation_normalized_percentile":{"value":0.87628195,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"609","last_page":"615"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.9955000281333923,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9945999979972839,"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":0.7413105964660645},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.6801854372024536},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.6307380199432373},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.5652232766151428},{"id":"https://openalex.org/keywords/mechanical-impedance","display_name":"Mechanical impedance","score":0.46656763553619385},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.43356195092201233},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.3631974756717682},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3418058156967163},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3410419821739197},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3196147680282593},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.2701093256473541},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.17121699452400208},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.16272279620170593},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1319829821586609}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7413105964660645},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.6801854372024536},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.6307380199432373},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.5652232766151428},{"id":"https://openalex.org/C159447365","wikidata":"https://www.wikidata.org/wiki/Q6421317","display_name":"Mechanical impedance","level":3,"score":0.46656763553619385},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.43356195092201233},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.3631974756717682},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3418058156967163},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3410419821739197},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3196147680282593},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.2701093256473541},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.17121699452400208},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.16272279620170593},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1319829821586609},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/haptics.2014.6775525","is_oa":false,"landing_page_url":"https://doi.org/10.1109/haptics.2014.6775525","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE Haptics Symposium (HAPTICS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.800000011920929}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1589460981","https://openalex.org/W1600914722","https://openalex.org/W1962965017","https://openalex.org/W1967122795","https://openalex.org/W1970107898","https://openalex.org/W1976253484","https://openalex.org/W1978023077","https://openalex.org/W1986074079","https://openalex.org/W2017239762","https://openalex.org/W2111253117","https://openalex.org/W2116767351","https://openalex.org/W2126728198","https://openalex.org/W2135464393","https://openalex.org/W2142639867","https://openalex.org/W2145023193","https://openalex.org/W2147288676","https://openalex.org/W2158751069","https://openalex.org/W2160098876","https://openalex.org/W2163587098","https://openalex.org/W2288146251","https://openalex.org/W2296653574","https://openalex.org/W6635202470","https://openalex.org/W6696529113"],"related_works":["https://openalex.org/W1659356714","https://openalex.org/W1548357495","https://openalex.org/W1991133586","https://openalex.org/W2314048082","https://openalex.org/W1968487248","https://openalex.org/W2052513766","https://openalex.org/W2097006611","https://openalex.org/W2063510546","https://openalex.org/W4308797310","https://openalex.org/W2068433414"],"abstract_inverted_index":{"Series":[0],"elastic":[1,40,45,92,125,148],"actuators":[2],"are":[3],"used":[4,71],"to":[5,29,103,115],"significant":[6],"advantage":[7,130],"in":[8,42,159],"many":[9],"robot":[10],"designs":[11,111],"but":[12],"have":[13],"not":[14],"found":[15],"their":[16,120],"way":[17],"into":[18],"the":[19,39,52,73,96,99,104,117,123,128,155,162],"design":[20,126],"of":[21,54,80,131,139,152],"haptic":[22,144],"devices.":[23],"We":[24,75],"use":[25],"a":[26,32,43,55,63,77,87,90,143],"pneumatic":[27,48,68],"circuit":[28,49],"realize":[30],"both":[31,95,154],"flexible":[33],"power":[34],"transmission":[35],"as":[36,38],"well":[37],"element":[41],"series":[44,91,124,147],"actuator.":[46],"The":[47],"effectively":[50],"hides":[51],"impedance":[53,101,118,133,164],"high":[56,58,163],"friction,":[57,65],"mass":[59,67],"ball-screw":[60],"actuator,":[61,93],"while":[62],"low":[64,66,132,156],"cylinder":[69],"is":[70,150],"at":[72],"end-effector.":[74],"offer":[76,112],"comparative":[78],"study":[79],"an":[81,113],"impedance-control":[82],"device,":[83,85],"admittance-control":[84],"and":[86,98,109,161],"device":[88,145],"incorporating":[89],"investigating":[94],"open-loop":[97],"closed-loop":[100],"displayed":[102],"user.":[105],"While":[106],"all":[107],"hardware":[108],"control":[110],"ability":[114],"shape":[116],"within":[119],"operational":[121],"bandwidths,":[122],"has":[127],"particular":[129],"(a":[134],"very":[135],"compliant":[136],"spring)":[137],"outside":[138],"that":[140],"bandwidth.":[141],"Thus,":[142],"featuring":[146],"actuation":[149],"capable":[151],"providing":[153],"impedances":[157],"required":[158,165],"free-space":[160],"for":[166],"rendering":[167],"stiff":[168],"virtual":[169],"walls.":[170]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":6},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}