{"id":"https://openalex.org/W2738540750","doi":"https://doi.org/10.1109/icra.2017.7989578","title":"Variable Stiffness Link (VSL): Toward inherently safe robotic manipulators","display_name":"Variable Stiffness Link (VSL): Toward inherently safe robotic manipulators","publication_year":2017,"publication_date":"2017-05-01","ids":{"openalex":"https://openalex.org/W2738540750","doi":"https://doi.org/10.1109/icra.2017.7989578","mag":"2738540750"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2017.7989578","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2017.7989578","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Robotics and Automation (ICRA)","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/A5033887596","display_name":"Agostino Stilli","orcid":"https://orcid.org/0000-0002-4904-0500"},"institutions":[{"id":"https://openalex.org/I183935753","display_name":"King's College London","ror":"https://ror.org/0220mzb33","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I183935753"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Agostino Stilli","raw_affiliation_strings":["Department of Informatics, King's College London, Strand, London, UK"],"affiliations":[{"raw_affiliation_string":"Department of Informatics, King's College London, Strand, London, UK","institution_ids":["https://openalex.org/I183935753"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047936120","display_name":"Luca Grattarola","orcid":null},"institutions":[{"id":"https://openalex.org/I183935753","display_name":"King's College London","ror":"https://ror.org/0220mzb33","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I183935753"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Luca Grattarola","raw_affiliation_strings":["Department of Informatics, King's College London, Strand, London, UK"],"affiliations":[{"raw_affiliation_string":"Department of Informatics, King's College London, Strand, London, UK","institution_ids":["https://openalex.org/I183935753"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091323727","display_name":"Hauke Feldmann","orcid":null},"institutions":[{"id":"https://openalex.org/I4210104665","display_name":"University of Applied Sciences Emden Leer","ror":"https://ror.org/01bc76c69","country_code":"DE","type":"education","lineage":["https://openalex.org/I4210104665"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Hauke Feldmann","raw_affiliation_strings":["Faculty of Technology, Hochschule Emden/Leer, Emden, Germany"],"affiliations":[{"raw_affiliation_string":"Faculty of Technology, Hochschule Emden/Leer, Emden, Germany","institution_ids":["https://openalex.org/I4210104665"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062557484","display_name":"Helge W\u00fcrdemann","orcid":"https://orcid.org/0000-0003-3082-146X"},"institutions":[{"id":"https://openalex.org/I45129253","display_name":"University College London","ror":"https://ror.org/02jx3x895","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I45129253"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Helge A. Wurdemann","raw_affiliation_strings":["Department of Mechanical Engineering, University College London, Gower St, London, UK"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University College London, Gower St, London, UK","institution_ids":["https://openalex.org/I45129253"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5042583278","display_name":"Kaspar Althoefer","orcid":"https://orcid.org/0000-0002-1141-9996"},"institutions":[{"id":"https://openalex.org/I166337079","display_name":"Queen Mary University of London","ror":"https://ror.org/026zzn846","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I166337079"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Kaspar Althoefer","raw_affiliation_strings":["School of Electronic Engineering & Computer Science, Queen Mary University of London, London, UK"],"affiliations":[{"raw_affiliation_string":"School of Electronic Engineering & Computer Science, Queen Mary University of London, London, UK","institution_ids":["https://openalex.org/I166337079"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5033887596"],"corresponding_institution_ids":["https://openalex.org/I183935753"],"apc_list":null,"apc_paid":null,"fwci":4.9761,"has_fulltext":false,"cited_by_count":60,"citation_normalized_percentile":{"value":0.95961346,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"4971","last_page":"4976"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9991000294685364,"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":0.9991000294685364,"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":0.9980000257492065,"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"}},{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.9894999861717224,"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/workspace","display_name":"Workspace","score":0.8797558546066284},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.6894346475601196},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6021196246147156},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5376499891281128},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.5172251462936401},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5015842914581299},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.4749343991279602},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4697226583957672},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.44061803817749023},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.43011486530303955},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.42338305711746216},{"id":"https://openalex.org/keywords/collision-detection","display_name":"Collision detection","score":0.42108097672462463},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3884805142879486},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.34967631101608276},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.23983830213546753},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.12242984771728516},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.12215769290924072}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.8797558546066284},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.6894346475601196},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6021196246147156},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5376499891281128},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.5172251462936401},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5015842914581299},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.4749343991279602},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4697226583957672},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.44061803817749023},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.43011486530303955},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.42338305711746216},{"id":"https://openalex.org/C199668693","wikidata":"https://www.wikidata.org/wiki/Q1550329","display_name":"Collision detection","level":3,"score":0.42108097672462463},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3884805142879486},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.34967631101608276},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.23983830213546753},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.12242984771728516},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.12215769290924072},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/icra.2017.7989578","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2017.7989578","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:pure.atira.dk:publications/89a0ebaa-f5c6-4040-a16f-4840d6178f94","is_oa":false,"landing_page_url":"https://kclpure.kcl.ac.uk/portal/en/publications/variable-stiffness-link-vsl(89a0ebaa-f5c6-4040-a16f-4840d6178f94).html","pdf_url":null,"source":{"id":"https://openalex.org/S4306400217","display_name":"Research Portal (King's College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I183935753","host_organization_name":"King's College London","host_organization_lineage":["https://openalex.org/I183935753"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":""},{"id":"pmh:oai:qmro.qmul.ac.uk:123456789/25705","is_oa":false,"landing_page_url":"http://qmro.qmul.ac.uk/xmlui/handle/123456789/25705","pdf_url":null,"source":{"id":"https://openalex.org/S4306400530","display_name":"Queen Mary Research Online (Queen Mary University of London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I166337079","host_organization_name":"Queen Mary University of London","host_organization_lineage":["https://openalex.org/I166337079"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference Proceeding"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W183352543","https://openalex.org/W1576967268","https://openalex.org/W1966705057","https://openalex.org/W2022813413","https://openalex.org/W2050805037","https://openalex.org/W2050835671","https://openalex.org/W2073142361","https://openalex.org/W2110974833","https://openalex.org/W2116139612","https://openalex.org/W2126654773","https://openalex.org/W2131292439","https://openalex.org/W2133835651","https://openalex.org/W2142621959","https://openalex.org/W2155190044","https://openalex.org/W2169100281","https://openalex.org/W2169668469","https://openalex.org/W2169706473","https://openalex.org/W2516314007","https://openalex.org/W2547310703","https://openalex.org/W2558828391","https://openalex.org/W4242355829","https://openalex.org/W6607297620","https://openalex.org/W6680820436","https://openalex.org/W6683125432","https://openalex.org/W6684825255","https://openalex.org/W6730388832"],"related_works":["https://openalex.org/W3138645172","https://openalex.org/W2148917807","https://openalex.org/W3215492696","https://openalex.org/W2028510469","https://openalex.org/W913501818","https://openalex.org/W2021628292","https://openalex.org/W4379525781","https://openalex.org/W2394251694","https://openalex.org/W2107847614","https://openalex.org/W2648339586"],"abstract_inverted_index":{"Nowadays,":[0],"the":[1,39,50,55,59,114,121,124,128,136,140,144,153,169,173,176,192,195,201,204],"field":[2],"of":[3,35,54,57,61,85,97,123,130,164,175,186,194,203],"industrial":[4],"robotics":[5],"focuses":[6],"particularly":[7],"on":[8,191],"collaborative":[9,69,82],"robots":[10],"that":[11,108],"are":[12,109,166,197],"able":[13],"to":[14,49,93,104,113,119,149,171],"work":[15],"closely":[16],"together":[17,199],"with":[18,64,168,200],"a":[19,33,68,77,81,95,157,181],"human":[20,65,158],"worker":[21],"in":[22,67,180],"an":[23],"inherently":[24],"safe":[25],"way.":[26],"To":[27],"detect":[28,150],"and":[29,41,101,156,189,209],"prevent":[30],"harmful":[31,62],"collisions,":[32],"number":[34],"solutions":[36],"both":[37],"from":[38,139],"actuation":[40],"sensing":[42],"sides":[43],"have":[44],"been":[45],"suggested.":[46],"However,":[47],"due":[48],"rigid":[51],"body":[52,155],"structures":[53,100],"majority":[56],"systems,":[58],"risk":[60],"collisions":[63,151],"operators":[66],"environment":[70],"remains.":[71],"In":[72],"this":[73],"paper,":[74],"we":[75],"propose":[76],"novel":[78],"concept":[79],"for":[80,160],"robot":[83],"made":[84],"Variable":[86],"Stiffness":[87],"Links":[88],"(VSLs).":[89],"The":[90,184],"idea":[91],"is":[92,117],"use":[94],"combination":[96],"silicone":[98],"based":[99],"fabric":[102],"materials":[103],"create":[105],"stiffness-controllable":[106],"links":[107,125],"pneumatically":[110],"actuated.":[111],"According":[112],"application,":[115],"it":[116],"possible":[118],"change":[120],"stiffness":[122],"by":[126],"varying":[127],"value":[129],"pressure":[131,137,141],"inside":[132,143],"their":[133],"structure.":[134],"Moreover,":[135],"readings":[138],"sensors":[142],"regulators":[145],"can":[146],"be":[147],"utilised":[148],"between":[152],"manipulator":[154,196],"worker,":[159],"instance.":[161],"A":[162],"set":[163],"experiments":[165],"performed":[167],"aim":[170],"assess":[172],"performance":[174],"VSL":[177],"when":[178],"embedded":[179],"robotic":[182],"manipulator.":[183],"effects":[185],"different":[187],"loads":[188],"pressures":[190],"workspace":[193],"evaluated":[198],"efficiency":[202],"collision":[205],"detection":[206],"control":[207],"system":[208],"hardware.":[210]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":10},{"year":2019,"cited_by_count":16},{"year":2018,"cited_by_count":8},{"year":2017,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}