{"id":"https://openalex.org/W2017514441","doi":"https://doi.org/10.1109/iros.2010.5648902","title":"A novel actuator with adjustable stiffness (AwAS)","display_name":"A novel actuator with adjustable stiffness (AwAS)","publication_year":2010,"publication_date":"2010-10-01","ids":{"openalex":"https://openalex.org/W2017514441","doi":"https://doi.org/10.1109/iros.2010.5648902","mag":"2017514441"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2010.5648902","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2010.5648902","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5050878269","display_name":"Amir Jafari","orcid":"https://orcid.org/0000-0003-0593-3507"},"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":true,"raw_author_name":"Amir Jafari","raw_affiliation_strings":["Italian Institute of Technology, Genoa, Italy"],"affiliations":[{"raw_affiliation_string":"Italian Institute of Technology, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","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 G Tsagarakis","raw_affiliation_strings":["Italian Institute of Technology, Genoa, Italy"],"affiliations":[{"raw_affiliation_string":"Italian Institute of Technology, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010914606","display_name":"Bram Vanderborght","orcid":"https://orcid.org/0000-0003-4881-9341"},"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":"Bram Vanderborght","raw_affiliation_strings":["Italian Institute of Technology, Genoa, Italy","University of Brussels, Brussels, Belgium"],"affiliations":[{"raw_affiliation_string":"Italian Institute of Technology, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"University of Brussels, Brussels, Belgium","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044243940","display_name":"Darwin G. Caldwell","orcid":"https://orcid.org/0000-0002-6233-9961"},"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":"Darwin G Caldwell","raw_affiliation_strings":["Italian Institute of Technology, Genoa, Italy"],"affiliations":[{"raw_affiliation_string":"Italian Institute of Technology, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5050878269"],"corresponding_institution_ids":["https://openalex.org/I30771326"],"apc_list":null,"apc_paid":null,"fwci":12.1723,"has_fulltext":false,"cited_by_count":187,"citation_normalized_percentile":{"value":0.99068916,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"4201","last_page":"4206"},"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":0.9950000047683716,"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":0.98089998960495,"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/stiffness","display_name":"Stiffness","score":0.7794085741043091},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.7364588975906372},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6167200803756714},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.5400157570838928},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4629982113838196},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4357200264930725},{"id":"https://openalex.org/keywords/exoskeleton","display_name":"Exoskeleton","score":0.4334891140460968},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.41699349880218506},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.32515740394592285},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2945273816585541},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.19674000144004822},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.18335774540901184},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.15955334901809692},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12755802273750305}],"concepts":[{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.7794085741043091},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7364588975906372},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6167200803756714},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.5400157570838928},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4629982113838196},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4357200264930725},{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.4334891140460968},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.41699349880218506},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.32515740394592285},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2945273816585541},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.19674000144004822},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.18335774540901184},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.15955334901809692},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12755802273750305},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/iros.2010.5648902","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2010.5648902","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:vubissmart:VUBISSMART:2000:204195","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4306402573","display_name":"VUBIR (Vrije Universiteit Brussel)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I13469542","host_organization_name":"Vrije Universiteit Brussel","host_organization_lineage":["https://openalex.org/I13469542"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},{"id":"pmh:oai:vubissmart:VUBISSMART:2000:65350","is_oa":false,"landing_page_url":"https://biblio.vub.ac.be/vubir/a-novel-actuator-with-adjustable-stiffness-awas(014ff573-abc9-47a1-8fb5-e49de935627e).html","pdf_url":null,"source":{"id":"https://openalex.org/S4306402573","display_name":"VUBIR (Vrije Universiteit Brussel)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I13469542","host_organization_name":"Vrije Universiteit Brussel","host_organization_lineage":["https://openalex.org/I13469542"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","score":0.8700000047683716,"id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W1962965017","https://openalex.org/W1996555579","https://openalex.org/W2060281402","https://openalex.org/W2096178249","https://openalex.org/W2102858053","https://openalex.org/W2108154420","https://openalex.org/W2108394619","https://openalex.org/W2111253117","https://openalex.org/W2128137193","https://openalex.org/W2142621959","https://openalex.org/W2154874053","https://openalex.org/W2169100281","https://openalex.org/W2169706473","https://openalex.org/W6685103607"],"related_works":["https://openalex.org/W2901258812","https://openalex.org/W2887985348","https://openalex.org/W2401700601","https://openalex.org/W2570835373","https://openalex.org/W3198063775","https://openalex.org/W3017269254","https://openalex.org/W2557545276","https://openalex.org/W4387054232","https://openalex.org/W2590554196","https://openalex.org/W2591464318"],"abstract_inverted_index":{"This":[0,88,159],"paper":[1],"describes":[2],"the":[3,57,61,65,70,76,81,86,93,96,99,104,112,115,131,136,141,145,152,157,161,168,182,191],"design":[4,72],"and":[5,35,48,189],"development":[6],"of":[7,69,95,98,106,114,126,163,184],"a":[8,120,164,173],"new":[9],"actuator":[10,38],"with":[11,31,73],"adjustable":[12],"stiffness":[13,49,137,169,192],"(AwAS)":[14],"which":[15,21],"can":[16,43],"be":[17],"used":[18,83],"in":[19,40,103,172],"robots":[20],"are":[22,178],"necessary":[23],"to":[24,27,75,84,134,140,150,155,180,186],"work":[25,42],"close":[26],"or":[28],"physically":[29],"interact":[30],"humans,":[32],"e.g.":[33],"humanoids":[34],"exoskeletons.":[36],"The":[37,53,67],"presented":[39,179],"this":[41,127,148],"independently":[44],"control":[45,187],"equilibrium":[46,58],"position":[47,59,188],"by":[50,110,144],"two":[51],"motors.":[52],"first":[54],"motor":[55,63,166],"controls":[56],"while":[60],"second":[62],"regulates":[64],"compliance.":[66,87],"novelty":[68],"proposed":[71],"respect":[74],"existing":[77,107],"systems":[78],"is":[79,89,129,138],"on":[80],"principle":[82],"regulate":[85,190],"done":[90],"not":[91],"through":[92],"tuning":[94],"pretension":[97],"elastic":[100,116],"element":[101],"as":[102],"majority":[105],"system":[108],"but":[109],"controlling":[111],"fixation":[113],"elements":[117],"(springs)":[118],"using":[119],"linear":[121],"drive.":[122],"An":[123],"important":[124],"consequence":[125],"approach":[128],"that":[130],"displacement":[132],"needed":[133],"change":[135,156],"perpendicular":[139],"forces":[142],"generated":[143],"springs,":[146],"thus":[147],"helps":[149],"minimize":[151],"energy/power":[153],"required":[154],"stiffness.":[158],"permits":[160],"use":[162],"small":[165],"for":[167],"adjustment":[170],"resulting":[171],"lighter":[174],"setup.":[175],"Experimental":[176],"results":[177],"show":[181],"ability":[183],"AwAS":[185],"independently.":[193]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":16},{"year":2021,"cited_by_count":12},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":9},{"year":2018,"cited_by_count":16},{"year":2017,"cited_by_count":12},{"year":2016,"cited_by_count":14},{"year":2015,"cited_by_count":14},{"year":2014,"cited_by_count":15},{"year":2013,"cited_by_count":16},{"year":2012,"cited_by_count":22}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}