{"id":"https://openalex.org/W2967875189","doi":"https://doi.org/10.1109/icra.2019.8794004","title":"A Rolling Flexure Mechanism for Progressive Stiffness Actuators","display_name":"A Rolling Flexure Mechanism for Progressive Stiffness Actuators","publication_year":2019,"publication_date":"2019-05-01","ids":{"openalex":"https://openalex.org/W2967875189","doi":"https://doi.org/10.1109/icra.2019.8794004","mag":"2967875189"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2019.8794004","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8794004","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5033975334","display_name":"Jom Malzahn","orcid":null},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Jom Malzahn","raw_affiliation_strings":["Humanoids & Human Centred Mechatronics Lab, Istituto Italiano Di Tecnologia (IIT), Via Morego 30, Genova, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Humanoids & Human Centred Mechatronics Lab, Istituto Italiano Di Tecnologia (IIT), Via Morego 30, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108444275","display_name":"Eamon B. Barrett","orcid":null},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Eamon Barrett","raw_affiliation_strings":["Humanoids & Human Centred Mechatronics Lab, Istituto Italiano Di Tecnologia (IIT), Via Morego 30, Genova, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Humanoids & Human Centred Mechatronics Lab, Istituto Italiano Di Tecnologia (IIT), Via Morego 30, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5031036223","display_name":"Nikos G. Tsagarakis","orcid":"https://orcid.org/0000-0002-9877-8237"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Nikos Tsagarakis","raw_affiliation_strings":["Humanoids & Human Centred Mechatronics Lab, Istituto Italiano Di Tecnologia (IIT), Via Morego 30, Genova, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Humanoids & Human Centred Mechatronics Lab, Istituto Italiano Di Tecnologia (IIT), Via Morego 30, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I30771326"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"8415","last_page":"8421"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9979000091552734,"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":0.9979000091552734,"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/T11525","display_name":"Piezoelectric Actuators and Control","score":0.9948999881744385,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9926000237464905,"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/deflection","display_name":"Deflection (physics)","score":0.7351723313331604},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.7074315547943115},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6520822048187256},{"id":"https://openalex.org/keywords/finite-element-method","display_name":"Finite element method","score":0.6421024799346924},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.6407769918441772},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5836442112922668},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5040711164474487},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.4860253930091858},{"id":"https://openalex.org/keywords/realization","display_name":"Realization (probability)","score":0.47947677969932556},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4398801028728485},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.40339332818984985},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.3740852475166321},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.36965280771255493},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.33476531505584717},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.14198434352874756},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1363835632801056},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11263066530227661},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.08103218674659729}],"concepts":[{"id":"https://openalex.org/C2781355719","wikidata":"https://www.wikidata.org/wiki/Q2080698","display_name":"Deflection (physics)","level":2,"score":0.7351723313331604},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7074315547943115},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6520822048187256},{"id":"https://openalex.org/C135628077","wikidata":"https://www.wikidata.org/wiki/Q220184","display_name":"Finite element method","level":2,"score":0.6421024799346924},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.6407769918441772},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5836442112922668},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5040711164474487},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.4860253930091858},{"id":"https://openalex.org/C2781089630","wikidata":"https://www.wikidata.org/wiki/Q21856745","display_name":"Realization (probability)","level":2,"score":0.47947677969932556},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4398801028728485},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.40339332818984985},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.3740852475166321},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.36965280771255493},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.33476531505584717},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.14198434352874756},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1363835632801056},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11263066530227661},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.08103218674659729},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2019.8794004","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8794004","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W72427405","https://openalex.org/W1594060995","https://openalex.org/W1991055075","https://openalex.org/W1996869048","https://openalex.org/W2009493254","https://openalex.org/W2033433965","https://openalex.org/W2040286596","https://openalex.org/W2083493736","https://openalex.org/W2111898076","https://openalex.org/W2153366512","https://openalex.org/W2155109795","https://openalex.org/W2158641070","https://openalex.org/W2204074139","https://openalex.org/W2295584263","https://openalex.org/W2333868129","https://openalex.org/W2565463332","https://openalex.org/W2735152057","https://openalex.org/W2749355440","https://openalex.org/W2772007885","https://openalex.org/W6603021085"],"related_works":["https://openalex.org/W2022544890","https://openalex.org/W2394097730","https://openalex.org/W2769996735","https://openalex.org/W2260963831","https://openalex.org/W4235249401","https://openalex.org/W2331305369","https://openalex.org/W2043523297","https://openalex.org/W2113405914","https://openalex.org/W2015200445","https://openalex.org/W2950042906"],"abstract_inverted_index":{"Linear":[0],"Series":[1],"Elastic":[2],"Actuators":[3],"exhibit":[4],"a":[5,37,49],"restricted":[6],"design":[7,13,43],"space.":[8],"This":[9],"inevitably":[10],"leads":[11],"to":[12],"trade-offs":[14],"translating":[15],"into":[16],"robot":[17],"performance":[18],"limitations.":[19],"These":[20],"prevent":[21],"robots":[22],"from":[23],"eventually":[24],"reaching":[25],"human":[26],"comparable":[27],"soft":[28],"but":[29],"also":[30],"powerful":[31],"physical":[32],"interaction":[33],"performance.This":[34],"work":[35],"presents":[36],"novel":[38],"fixed":[39],"passive":[40],"rolling":[41,78],"flexure":[42,79],"principle":[44,58,80],"enabling":[45],"the":[46,73,77],"realization":[47],"of":[48,52],"wide":[50],"range":[51],"progressive":[53],"torque-deflection":[54],"characteristics.":[55],"The":[56,70,89],"proposed":[57],"displays":[59],"low":[60],"hysteresis":[61],"and":[62,81],"can":[63],"be":[64],"manufactured":[65],"in":[66],"single":[67],"2D":[68],"components.":[69],"paper":[71],"derives":[72],"analytic":[74],"foundation":[75],"for":[76],"is":[82,91],"supported":[83],"by":[84,93],"numerical":[85],"finite":[86],"element":[87],"analysis.":[88],"theory":[90],"validated":[92],"experimental":[94],"results":[95],"obtained":[96],"on":[97],"two":[98],"laboratory":[99],"prototypes.":[100]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
