{"id":"https://openalex.org/W4401416431","doi":"https://doi.org/10.1109/icra57147.2024.10611435","title":"Development of Variable Transmission Series Elastic Actuator for Hip Exoskeletons","display_name":"Development of Variable Transmission Series Elastic Actuator for Hip Exoskeletons","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401416431","doi":"https://doi.org/10.1109/icra57147.2024.10611435"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10611435","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611435","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5007183742","display_name":"Tianci Wang","orcid":"https://orcid.org/0000-0001-7039-2001"},"institutions":[{"id":"https://openalex.org/I168719708","display_name":"City University of Hong Kong","ror":"https://ror.org/03q8dnn23","country_code":"HK","type":"education","lineage":["https://openalex.org/I168719708"]},{"id":"https://openalex.org/I4210105229","display_name":"City University of Hong Kong, Shenzhen Research Institute","ror":"https://ror.org/00xc0ma20","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210105229"]}],"countries":["CN","HK"],"is_corresponding":true,"raw_author_name":"Tianci Wang","raw_affiliation_strings":["City University of Hong Kong,Shenzhen Research Institute,Shenzhen,China,5180507"],"affiliations":[{"raw_affiliation_string":"City University of Hong Kong,Shenzhen Research Institute,Shenzhen,China,5180507","institution_ids":["https://openalex.org/I168719708","https://openalex.org/I4210105229"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071283721","display_name":"Hao Wen","orcid":"https://orcid.org/0000-0002-9164-5810"},"institutions":[{"id":"https://openalex.org/I4210105229","display_name":"City University of Hong Kong, Shenzhen Research Institute","ror":"https://ror.org/00xc0ma20","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210105229"]},{"id":"https://openalex.org/I168719708","display_name":"City University of Hong Kong","ror":"https://ror.org/03q8dnn23","country_code":"HK","type":"education","lineage":["https://openalex.org/I168719708"]}],"countries":["CN","HK"],"is_corresponding":false,"raw_author_name":"Hao Wen","raw_affiliation_strings":["City University of Hong Kong,Shenzhen Research Institute,Shenzhen,China,5180507"],"affiliations":[{"raw_affiliation_string":"City University of Hong Kong,Shenzhen Research Institute,Shenzhen,China,5180507","institution_ids":["https://openalex.org/I168719708","https://openalex.org/I4210105229"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050892996","display_name":"Zaixin Song","orcid":"https://orcid.org/0000-0002-0599-3350"},"institutions":[{"id":"https://openalex.org/I14243506","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98","country_code":"HK","type":"education","lineage":["https://openalex.org/I14243506"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Zaixin Song","raw_affiliation_strings":["The Hong Kong Polytechnic University,State Key Laboratory of Ultra-Precision Machining Technology,Department of Industrial and Systems Engineering"],"affiliations":[{"raw_affiliation_string":"The Hong Kong Polytechnic University,State Key Laboratory of Ultra-Precision Machining Technology,Department of Industrial and Systems Engineering","institution_ids":["https://openalex.org/I14243506"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007521773","display_name":"Zhiping Dong","orcid":"https://orcid.org/0000-0003-1162-2385"},"institutions":[{"id":"https://openalex.org/I4210105229","display_name":"City University of Hong Kong, Shenzhen Research Institute","ror":"https://ror.org/00xc0ma20","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210105229"]},{"id":"https://openalex.org/I168719708","display_name":"City University of Hong Kong","ror":"https://ror.org/03q8dnn23","country_code":"HK","type":"education","lineage":["https://openalex.org/I168719708"]}],"countries":["CN","HK"],"is_corresponding":false,"raw_author_name":"Zhiping Dong","raw_affiliation_strings":["City University of Hong Kong,Shenzhen Research Institute,Shenzhen,China,5180507"],"affiliations":[{"raw_affiliation_string":"City University of Hong Kong,Shenzhen Research Institute,Shenzhen,China,5180507","institution_ids":["https://openalex.org/I168719708","https://openalex.org/I4210105229"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100605292","display_name":"Chunhua Liu","orcid":"https://orcid.org/0000-0002-3105-5448"},"institutions":[{"id":"https://openalex.org/I168719708","display_name":"City University of Hong Kong","ror":"https://ror.org/03q8dnn23","country_code":"HK","type":"education","lineage":["https://openalex.org/I168719708"]},{"id":"https://openalex.org/I4210105229","display_name":"City University of Hong Kong, Shenzhen Research Institute","ror":"https://ror.org/00xc0ma20","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210105229"]}],"countries":["CN","HK"],"is_corresponding":false,"raw_author_name":"Chunhua Liu","raw_affiliation_strings":["City University of Hong Kong,Shenzhen Research Institute,Shenzhen,China,5180507"],"affiliations":[{"raw_affiliation_string":"City University of Hong Kong,Shenzhen Research Institute,Shenzhen,China,5180507","institution_ids":["https://openalex.org/I168719708","https://openalex.org/I4210105229"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5007183742"],"corresponding_institution_ids":["https://openalex.org/I168719708","https://openalex.org/I4210105229"],"apc_list":null,"apc_paid":null,"fwci":0.5761,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.63163709,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"7055","last_page":"7061"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9997000098228455,"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":0.9997000098228455,"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/T10512","display_name":"Orthopaedic implants and arthroplasty","score":0.9775999784469604,"subfield":{"id":"https://openalex.org/subfields/2746","display_name":"Surgery"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9703999757766724,"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/exoskeleton","display_name":"Exoskeleton","score":0.8530001640319824},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.7765605449676514},{"id":"https://openalex.org/keywords/series","display_name":"Series (stratigraphy)","score":0.6452738046646118},{"id":"https://openalex.org/keywords/variable","display_name":"Variable (mathematics)","score":0.6108647584915161},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5047734975814819},{"id":"https://openalex.org/keywords/transmission","display_name":"Transmission (telecommunications)","score":0.4173473119735718},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.16073915362358093},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12227857112884521},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.09850925207138062},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.0974661111831665},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.08111745119094849},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.06297731399536133}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.8530001640319824},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7765605449676514},{"id":"https://openalex.org/C143724316","wikidata":"https://www.wikidata.org/wiki/Q312468","display_name":"Series (stratigraphy)","level":2,"score":0.6452738046646118},{"id":"https://openalex.org/C182365436","wikidata":"https://www.wikidata.org/wiki/Q50701","display_name":"Variable (mathematics)","level":2,"score":0.6108647584915161},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5047734975814819},{"id":"https://openalex.org/C761482","wikidata":"https://www.wikidata.org/wiki/Q118093","display_name":"Transmission (telecommunications)","level":2,"score":0.4173473119735718},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.16073915362358093},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12227857112884521},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.09850925207138062},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0974661111831665},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.08111745119094849},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.06297731399536133},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10611435","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611435","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","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":0.8500000238418579}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":40,"referenced_works":["https://openalex.org/W2008414438","https://openalex.org/W2009178724","https://openalex.org/W2011833550","https://openalex.org/W2014157641","https://openalex.org/W2068350246","https://openalex.org/W2083483041","https://openalex.org/W2122739526","https://openalex.org/W2163764169","https://openalex.org/W2344852960","https://openalex.org/W2523980053","https://openalex.org/W2572615266","https://openalex.org/W2599869952","https://openalex.org/W2668634107","https://openalex.org/W2781895760","https://openalex.org/W2889138914","https://openalex.org/W2890080478","https://openalex.org/W2908002960","https://openalex.org/W2908658762","https://openalex.org/W2964543462","https://openalex.org/W2967964053","https://openalex.org/W2989452453","https://openalex.org/W3034463723","https://openalex.org/W3102918862","https://openalex.org/W3159155390","https://openalex.org/W3198242341","https://openalex.org/W3200223218","https://openalex.org/W4205493642","https://openalex.org/W4206378424","https://openalex.org/W4281912977","https://openalex.org/W4285731262","https://openalex.org/W4286750047","https://openalex.org/W4292968870","https://openalex.org/W4294311507","https://openalex.org/W4296914541","https://openalex.org/W4304758337","https://openalex.org/W4313213879","https://openalex.org/W4360930507","https://openalex.org/W4379598941","https://openalex.org/W4381332836","https://openalex.org/W4390939572"],"related_works":["https://openalex.org/W2901258812","https://openalex.org/W2887985348","https://openalex.org/W2401700601","https://openalex.org/W2570835373","https://openalex.org/W2557545276","https://openalex.org/W4387054232","https://openalex.org/W3198063775","https://openalex.org/W2753647732","https://openalex.org/W4303574780","https://openalex.org/W2590554196"],"abstract_inverted_index":{"Series":[0],"Elastic":[1],"Actuator-based":[2],"exoskeleton":[3],"can":[4,90],"offer":[5],"precise":[6,129],"torque":[7,100,131],"control":[8,17],"and":[9,26,61,73,115,127],"transparency":[10,93],"when":[11],"interacting":[12],"with":[13,102],"human":[14],"wearers.":[15],"Accurate":[16],"of":[18,30,79,122,133],"SEA-produced":[19],"torques":[20],"ensures":[21],"the":[22,28,84,108,111,123,128],"wearer\u2019s":[23],"voluntary":[24],"motion":[25],"supports":[27],"implementation":[29],"multiple":[31],"assistive":[32],"paradigms.":[33],"In":[34],"this":[35],"paper,":[36],"a":[37,66],"novel":[38],"variable":[39,68],"transmission":[40,69,80],"series":[41],"elastic":[42],"actuator":[43],"(VTSEA)":[44],"is":[45,105,118],"developed":[46,106],"to":[47],"meet":[48],"torque-speed":[49],"requirements":[50],"in":[51,94],"different":[52],"exoskeleton-assisted":[53],"locomotion":[54],"modes,":[55],"such":[56],"as":[57],"running,":[58],"walking,":[59],"sit-to-stand,":[60],"stand-to-sit.":[62],"The":[63,87,120],"VTSEA":[64,109,125,134],"features":[65],"SEA-coupled":[67],"ratio":[70,81],"adjusting":[71],"mechanism":[72],"works":[74],"between":[75],"three":[76],"discrete":[77],"levels":[78],"depending":[82],"on":[83],"user\u2019s":[85],"initiative.":[86],"proposed":[88,124],"prototype":[89,126],"also":[91],"improve":[92],"human-robot":[95],"interaction.":[96],"Also,":[97],"an":[98],"accurate":[99],"controller":[101],"inertial":[103],"compensation":[104],"for":[107],"via":[110],"singular":[112],"perturbation":[113],"theory,":[114],"its":[116],"stability":[117],"proved.":[119],"feasibility":[121],"output":[130],"performance":[132],"are":[135],"verified":[136],"by":[137],"experiments.":[138]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2}],"updated_date":"2026-03-13T16:22:10.518609","created_date":"2025-10-10T00:00:00"}