{"id":"https://openalex.org/W1976253484","doi":"https://doi.org/10.1109/icorr.2013.6650478","title":"A novel compact compliant actuator design for rehabilitation robots","display_name":"A novel compact compliant actuator design for rehabilitation robots","publication_year":2013,"publication_date":"2013-06-01","ids":{"openalex":"https://openalex.org/W1976253484","doi":"https://doi.org/10.1109/icorr.2013.6650478","mag":"1976253484","pmid":"https://pubmed.ncbi.nlm.nih.gov/24187295"},"language":"en","primary_location":{"id":"doi:10.1109/icorr.2013.6650478","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icorr.2013.6650478","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE 13th International Conference on Rehabilitation Robotics (ICORR)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref","pubmed"],"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/A5100383575","display_name":"Haoyong Yu","orcid":"https://orcid.org/0000-0002-9876-4863"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Haoyong Yu","raw_affiliation_strings":["Department of Bioengineering, National University of Singapore, Singapore","SiNAPSE: Singapore Inst. of Neurotechnology, Nat. Univ. of Singapore, Singapore, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Bioengineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"SiNAPSE: Singapore Inst. of Neurotechnology, Nat. Univ. of Singapore, Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067180534","display_name":"Sunan Huang","orcid":"https://orcid.org/0000-0003-3106-3410"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Sunan Huang","raw_affiliation_strings":["SiNAPSE: Singapore Institute of Neurotechnology","SiNAPSE: Singapore Inst. of Neurotechnology, Nat. Univ. of Singapore, Singapore, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"SiNAPSE: Singapore Institute of Neurotechnology","institution_ids":[]},{"raw_affiliation_string":"SiNAPSE: Singapore Inst. of Neurotechnology, Nat. Univ. of Singapore, Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088964967","display_name":"Nitish V. Thakor","orcid":"https://orcid.org/0000-0002-9981-9395"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Nitish V. Thakor","raw_affiliation_strings":["SiNAPSE: Singapore Institute of Neurotechnology","SiNAPSE: Singapore Inst. of Neurotechnology, Nat. Univ. of Singapore, Singapore, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"SiNAPSE: Singapore Institute of Neurotechnology","institution_ids":[]},{"raw_affiliation_string":"SiNAPSE: Singapore Inst. of Neurotechnology, Nat. Univ. of Singapore, Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100389823","display_name":"Gong Chen","orcid":"https://orcid.org/0000-0001-9033-6090"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Gong Chen","raw_affiliation_strings":["Department of Bioengineering, National University of Singapore, Singapore","SiNAPSE: Singapore Inst. of Neurotechnology, Nat. Univ. of Singapore, Singapore, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Bioengineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"SiNAPSE: Singapore Inst. of Neurotechnology, Nat. Univ. of Singapore, Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108361189","display_name":"Siew-Lok Toh","orcid":null},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Siew-Lok Toh","raw_affiliation_strings":["Department of Bioengineering, National University of Singapore, Singapore","Dept. of Bioeng., Nat. Univ. of Singapore, Singapore, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Bioengineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"Dept. of Bioeng., Nat. Univ. of Singapore, Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027605118","display_name":"Manolo Sta Cruz","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Manolo Sta Cruz","raw_affiliation_strings":["HOPE Technik Pte. Ltd, Singapore","HOPE Tech. Pte. Ltd., Singapore, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"HOPE Technik Pte. Ltd, Singapore","institution_ids":[]},{"raw_affiliation_string":"HOPE Tech. Pte. Ltd., Singapore, Singapore","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034354409","display_name":"Yassine Ghorbel","orcid":null},"institutions":[{"id":"https://openalex.org/I100066346","display_name":"University of Stuttgart","ror":"https://ror.org/04vnq7t77","country_code":"DE","type":"education","lineage":["https://openalex.org/I100066346"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Yassine Ghorbel","raw_affiliation_strings":["Department of Mechanical Engineering, University of Stuttgart Stuttgart, Germany","Dept. of Mech. Eng., Univ. of Stuttgart, Stuttgart, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Stuttgart Stuttgart, Germany","institution_ids":["https://openalex.org/I100066346"]},{"raw_affiliation_string":"Dept. of Mech. Eng., Univ. of Stuttgart, Stuttgart, Germany","institution_ids":["https://openalex.org/I100066346"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5112316964","display_name":"Chi Zhu","orcid":null},"institutions":[{"id":"https://openalex.org/I153470267","display_name":"Maebashi Institute of Technology","ror":"https://ror.org/01x05rm94","country_code":"JP","type":"education","lineage":["https://openalex.org/I153470267"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Chi Zhu","raw_affiliation_strings":["Department of Systems Life Engineering, Maebashi Institute of Technology, Maebashi, Gunma, Japan","Department of Systems Life Engineering; Maebashi Institute of Technology; Maebashi Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Systems Life Engineering, Maebashi Institute of Technology, Maebashi, Gunma, Japan","institution_ids":["https://openalex.org/I153470267"]},{"raw_affiliation_string":"Department of Systems Life Engineering; Maebashi Institute of Technology; Maebashi Japan","institution_ids":["https://openalex.org/I153470267"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":43,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"2013","issue":null,"first_page":"1","last_page":"6"},"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":0.9945999979972839,"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"}},{"id":"https://openalex.org/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9660999774932861,"subfield":{"id":"https://openalex.org/subfields/2742","display_name":"Rehabilitation"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.7865362167358398},{"id":"https://openalex.org/keywords/exoskeleton","display_name":"Exoskeleton","score":0.7591682076454163},{"id":"https://openalex.org/keywords/ball-screw","display_name":"Ball screw","score":0.7324128150939941},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.566503643989563},{"id":"https://openalex.org/keywords/servomotor","display_name":"Servomotor","score":0.5522015690803528},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.5519881248474121},{"id":"https://openalex.org/keywords/rehabilitation-robotics","display_name":"Rehabilitation robotics","score":0.49993252754211426},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.48840683698654175},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.447139173746109},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.41315987706184387},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.37588948011398315},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.36172425746917725},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.289961576461792},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.2448396384716034},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.09296497702598572}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7865362167358398},{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.7591682076454163},{"id":"https://openalex.org/C2777606094","wikidata":"https://www.wikidata.org/wiki/Q1791122","display_name":"Ball screw","level":3,"score":0.7324128150939941},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.566503643989563},{"id":"https://openalex.org/C109441226","wikidata":"https://www.wikidata.org/wiki/Q1137255","display_name":"Servomotor","level":2,"score":0.5522015690803528},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.5519881248474121},{"id":"https://openalex.org/C2775862927","wikidata":"https://www.wikidata.org/wiki/Q7309766","display_name":"Rehabilitation robotics","level":3,"score":0.49993252754211426},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.48840683698654175},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.447139173746109},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.41315987706184387},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.37588948011398315},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.36172425746917725},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.289961576461792},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.2448396384716034},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.09296497702598572},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C206391251","wikidata":"https://www.wikidata.org/wiki/Q1186738","display_name":"Nut","level":2,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[{"descriptor_ui":"D004867","descriptor_name":"Equipment Design","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D004867","descriptor_name":"Equipment Design","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D004867","descriptor_name":"Equipment Design","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D005684","descriptor_name":"Gait","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D005684","descriptor_name":"Gait","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D005684","descriptor_name":"Gait","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D007866","descriptor_name":"Leg","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D007866","descriptor_name":"Leg","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D007866","descriptor_name":"Leg","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D008328","descriptor_name":"Man-Machine Systems","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D008328","descriptor_name":"Man-Machine Systems","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D008328","descriptor_name":"Man-Machine Systems","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D008954","descriptor_name":"Models, Biological","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D008954","descriptor_name":"Models, Biological","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D008954","descriptor_name":"Models, Biological","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D012046","descriptor_name":"Rehabilitation","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D012046","descriptor_name":"Rehabilitation","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D012046","descriptor_name":"Rehabilitation","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false}],"locations_count":3,"locations":[{"id":"doi:10.1109/icorr.2013.6650478","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icorr.2013.6650478","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE 13th International Conference on Rehabilitation Robotics (ICORR)","raw_type":"proceedings-article"},{"id":"pmid:24187295","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/24187295","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE ... International Conference on Rehabilitation Robotics : [proceedings]","raw_type":null},{"id":"pmh:oai:scholarbank.nus.edu.sg:10635/68953","is_oa":false,"landing_page_url":"http://scholarbank.nus.edu.sg/handle/10635/68953","pdf_url":null,"source":{"id":"https://openalex.org/S7407052290","display_name":"National University of Singapore","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":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Scopus","raw_type":"Conference Paper"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7799999713897705,"id":"https://metadata.un.org/sdg/14","display_name":"Life below water"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1509419794","https://openalex.org/W1763775273","https://openalex.org/W1967601103","https://openalex.org/W2017766931","https://openalex.org/W2090716258","https://openalex.org/W2096178249","https://openalex.org/W2105236479","https://openalex.org/W2111253117","https://openalex.org/W2111528514","https://openalex.org/W2116767351","https://openalex.org/W2126531049","https://openalex.org/W2127927857","https://openalex.org/W2147288676","https://openalex.org/W2158641070","https://openalex.org/W2161560006","https://openalex.org/W2162438232","https://openalex.org/W2166978470","https://openalex.org/W2169100281","https://openalex.org/W2170274344","https://openalex.org/W2294898062","https://openalex.org/W4233227660"],"related_works":["https://openalex.org/W1964803373","https://openalex.org/W2244391758","https://openalex.org/W4200213857","https://openalex.org/W2530785464","https://openalex.org/W1786364948","https://openalex.org/W2541967380","https://openalex.org/W2349089667","https://openalex.org/W2026913812","https://openalex.org/W2341081178","https://openalex.org/W2077980362"],"abstract_inverted_index":{"Rehabilitation":[0],"robots":[1,13,73],"have":[2,35],"direct":[3],"physical":[4],"interaction":[5],"with":[6],"human":[7],"body.":[8],"Ideally,":[9],"actuators":[10],"for":[11,38,70,214,219],"rehabilitation":[12,72],"should":[14],"be":[15],"compliant,":[16],"force":[17,66,126,157],"controllable,":[18],"and":[19,25,97,101,112,128,133,150,184,197],"back":[20],"drivable":[21],"due":[22,50,172],"to":[23,51,74,122,173],"safety":[24],"control":[26,67],"considerations.":[27],"Various":[28],"designs":[29,44],"of":[30,85,104,177,188,199,209],"Series":[31],"Elastic":[32],"Actuators":[33],"(SEA)":[34],"been":[36],"developed":[37],"these":[39],"applications.":[40],"However,":[41],"current":[42,80],"SEA":[43],"face":[45],"a":[46,62,86,88,91,102,210,215],"common":[47],"performance":[48,77],"limitation":[49],"the":[52,55,76,95,98,108,113,124,142,152,160,174,178,182,185,194,200,205],"compromise":[53],"on":[54],"spring":[56,93],"stiffness":[57,149],"selection.":[58],"This":[59,166],"paper":[60],"presents":[61],"novel":[63],"compact":[64,171],"compliant":[65],"actuator":[68,212],"design":[69,83,167],"portable":[71],"overcome":[75],"limitations":[78],"in":[79,141,155],"SEAs.":[81],"Our":[82],"consists":[84],"servomotor,":[87],"ball":[89,99,109],"screw,":[90,100],"torsional":[92,138],"between":[94,107],"motor":[96],"set":[103],"translational":[105,118,161],"springs":[106,119,162],"screw":[110],"nut":[111],"external":[114,134],"load.":[115,136],"The":[116,137],"soft":[117],"are":[120,163],"used":[121],"handle":[123],"low":[125],"operation":[127,158],"reduce":[129],"output":[130],"impedance,":[131],"stiction,":[132],"shock":[135],"spring,":[139],"being":[140],"high":[143,147],"speed":[144],"range,":[145],"has":[146],"effective":[148],"improves":[151],"system":[153],"bandwidth":[154],"large":[156],"when":[159],"fully":[164],"compressed.":[165],"is":[168],"also":[169,203],"more":[170],"smaller":[175],"size":[176],"springs.":[179],"We":[180,202],"explain":[181],"construction":[183],"working":[186],"principle":[187],"our":[189],"new":[190],"design,":[191],"followed":[192],"by":[193],"dynamic":[195],"modeling":[196],"analysis":[198],"actuator.":[201],"show":[204],"preliminary":[206],"testing":[207],"results":[208],"prototype":[211],"designed":[213],"lower":[216],"limb":[217],"exoskeleton":[218],"gait":[220],"rehabilitation.":[221]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":8},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":7},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":6},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}