{"id":"https://openalex.org/W2910944863","doi":"https://doi.org/10.1109/icarm.2018.8610713","title":"Design and Reflex Control for a Series Elastic Actuator Based Ankle Joint Emulator","display_name":"Design and Reflex Control for a Series Elastic Actuator Based Ankle Joint Emulator","publication_year":2018,"publication_date":"2018-07-01","ids":{"openalex":"https://openalex.org/W2910944863","doi":"https://doi.org/10.1109/icarm.2018.8610713","mag":"2910944863"},"language":"en","primary_location":{"id":"doi:10.1109/icarm.2018.8610713","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarm.2018.8610713","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 3rd International Conference on Advanced Robotics and Mechatronics (ICARM)","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/A5043120417","display_name":"Mingwen Li","orcid":"https://orcid.org/0000-0003-2574-4738"},"institutions":[{"id":"https://openalex.org/I196699116","display_name":"Wuhan University of Technology","ror":"https://ror.org/03fe7t173","country_code":"CN","type":"education","lineage":["https://openalex.org/I196699116"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mingwen Li","raw_affiliation_strings":["School of Automation, Wuhan University of Technology, Wuhan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation, Wuhan University of Technology, Wuhan, China","institution_ids":["https://openalex.org/I196699116"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089503468","display_name":"Muye Pang","orcid":"https://orcid.org/0000-0002-3198-1265"},"institutions":[{"id":"https://openalex.org/I196699116","display_name":"Wuhan University of Technology","ror":"https://ror.org/03fe7t173","country_code":"CN","type":"education","lineage":["https://openalex.org/I196699116"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Muye Pang","raw_affiliation_strings":["School of Automation, Wuhan University of Technology, Wuhan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation, Wuhan University of Technology, Wuhan, China","institution_ids":["https://openalex.org/I196699116"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079862247","display_name":"Kui Xiang","orcid":"https://orcid.org/0000-0002-1361-6600"},"institutions":[{"id":"https://openalex.org/I196699116","display_name":"Wuhan University of Technology","ror":"https://ror.org/03fe7t173","country_code":"CN","type":"education","lineage":["https://openalex.org/I196699116"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kui Xiang","raw_affiliation_strings":["School of Automation, Wuhan University of Technology, Wuhan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation, Wuhan University of Technology, Wuhan, China","institution_ids":["https://openalex.org/I196699116"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056287221","display_name":"Zhaojie Ju","orcid":"https://orcid.org/0000-0002-9524-7609"},"institutions":[{"id":"https://openalex.org/I63072094","display_name":"University of Portsmouth","ror":"https://ror.org/03ykbk197","country_code":"GB","type":"education","lineage":["https://openalex.org/I63072094"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Zhaojie Ju","raw_affiliation_strings":["School of Computing, University of Portsmouth, Portsmouth, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computing, University of Portsmouth, Portsmouth, UK","institution_ids":["https://openalex.org/I63072094"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100998860","display_name":"Shenpei Zhou","orcid":null},"institutions":[{"id":"https://openalex.org/I196699116","display_name":"Wuhan University of Technology","ror":"https://ror.org/03fe7t173","country_code":"CN","type":"education","lineage":["https://openalex.org/I196699116"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shenpei Zhou","raw_affiliation_strings":["School of Automation, Wuhan University of Technology, Wuhan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation, Wuhan University of Technology, Wuhan, China","institution_ids":["https://openalex.org/I196699116"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.16765686,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"818","last_page":"823"},"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":0.9968000054359436,"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":0.9854999780654907,"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/ankle","display_name":"Ankle","score":0.7942556142807007},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.687229573726654},{"id":"https://openalex.org/keywords/exoskeleton","display_name":"Exoskeleton","score":0.682034969329834},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6505930423736572},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5785686373710632},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.5154048204421997},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4881976246833801},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.4207281172275543},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4077179431915283},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.39013224840164185},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.36493802070617676},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.16257727146148682},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1414453089237213},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.12898609042167664},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.122952401638031},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11487263441085815}],"concepts":[{"id":"https://openalex.org/C2778640784","wikidata":"https://www.wikidata.org/wiki/Q168002","display_name":"Ankle","level":2,"score":0.7942556142807007},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.687229573726654},{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.682034969329834},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6505930423736572},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5785686373710632},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.5154048204421997},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4881976246833801},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.4207281172275543},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4077179431915283},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.39013224840164185},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.36493802070617676},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.16257727146148682},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1414453089237213},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.12898609042167664},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.122952401638031},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11487263441085815},{"id":"https://openalex.org/C142724271","wikidata":"https://www.wikidata.org/wiki/Q7208","display_name":"Pathology","level":1,"score":0.0},{"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/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icarm.2018.8610713","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarm.2018.8610713","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 3rd International Conference on Advanced Robotics and Mechatronics (ICARM)","raw_type":"proceedings-article"},{"id":"pmh:oai:researchportal.port.ac.uk:publications/22b06f4a-7a7c-488e-87af-cf16f1c81fdd","is_oa":false,"landing_page_url":"http://www.scopus.com/inward/record.url?scp=85061484718&partnerID=8YFLogxK","pdf_url":null,"source":{"id":"https://openalex.org/S4306401774","display_name":"Portsmouth Research Portal (University of Portsmouth)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I63072094","host_organization_name":"University of Portsmouth","host_organization_lineage":["https://openalex.org/I63072094"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":""}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","score":0.8700000047683716,"display_name":"Life below water"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1559393815","https://openalex.org/W2021307279","https://openalex.org/W2046958700","https://openalex.org/W2095661097","https://openalex.org/W2111253117","https://openalex.org/W2113222165","https://openalex.org/W2128118213","https://openalex.org/W2132887428","https://openalex.org/W2133639509","https://openalex.org/W2136740848","https://openalex.org/W2167595024","https://openalex.org/W2294244486","https://openalex.org/W2337738013","https://openalex.org/W2572882004","https://openalex.org/W2573658638","https://openalex.org/W2576034951","https://openalex.org/W4211003818"],"related_works":["https://openalex.org/W2901258812","https://openalex.org/W2887985348","https://openalex.org/W2401700601","https://openalex.org/W3017269254","https://openalex.org/W2570835373","https://openalex.org/W2557545276","https://openalex.org/W4387054232","https://openalex.org/W3198063775","https://openalex.org/W3205655234","https://openalex.org/W2906683640"],"abstract_inverted_index":{"Human":[0],"body":[1],"is":[2,13,120],"a":[3,55,121],"highly":[4],"efficient":[5],"stable":[6],"system,":[7],"although":[8],"the":[9,21,33,107],"center":[10],"of":[11,23,29,36],"mass":[12],"high.":[14],"While":[15],"quiet":[16,114],"standing":[17,115],"ankle":[18,37,61,83,112,128],"joint":[19,38,62,84,113,129],"has":[20,106],"function":[22],"resisting":[24],"disturbance":[25],"to":[26,40,70,109,124],"maintain":[27],"balance":[28],"human":[30,72,111,127],"body.":[31],"Studying":[32],"control":[34,66,91,131],"mechanism":[35],"helps":[39],"improve":[41],"relative":[42],"technologies":[43],"such":[44],"as":[45],"bipedal":[46],"robot,":[47],"powered":[48],"prosthesis":[49],"and":[50,64],"exoskeleton.":[51],"In":[52],"this":[53,103],"paper,":[54],"series":[56],"elastic":[57],"actuator":[58],"(SEA)":[59],"based":[60,89],"emulator":[63,105,119],"reflex-like":[65,90],"algorithm":[67,92],"are":[68],"purposed":[69],"test":[71,125],"push-recovery":[73,116],"mechanism.":[74],"The":[75,118],"SEA":[76,97],"element":[77],"provides":[78],"an":[79],"easy":[80],"way":[81],"for":[82,96],"torque":[85,95,130],"control.":[86],"Proportion-Derivative":[87],"(PD)":[88],"calculates":[93],"reference":[94],"element.":[98],"Experimental":[99],"results":[100],"indicate":[101],"that":[102],"proposed":[104],"ability":[108],"mimic":[110],"performance.":[117],"useful":[122],"platform":[123],"further":[126],"function.":[132]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
