{"id":"https://openalex.org/W2042958777","doi":"https://doi.org/10.1109/iros.2010.5649774","title":"VSA-HD: From the enumeration analysis to the prototypical implementation","display_name":"VSA-HD: From the enumeration analysis to the prototypical implementation","publication_year":2010,"publication_date":"2010-10-01","ids":{"openalex":"https://openalex.org/W2042958777","doi":"https://doi.org/10.1109/iros.2010.5649774","mag":"2042958777"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2010.5649774","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2010.5649774","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":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://zenodo.org/record/3444509","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5056194661","display_name":"Manuel G. Catalano","orcid":"https://orcid.org/0000-0003-1950-6186"},"institutions":[{"id":"https://openalex.org/I108290504","display_name":"University of Pisa","ror":"https://ror.org/03ad39j10","country_code":"IT","type":"education","lineage":["https://openalex.org/I108290504"]},{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"M G Catalano","raw_affiliation_strings":["Centro Interdipartimentale di Ricerca E Piaggio, University of Pisa, Pisa, Italy","Centro Interdipartipartimentale di Ricerca \u201c\u2018E. Piaggio\u2019\u201d, University of Pisa, 56126, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centro Interdipartimentale di Ricerca E Piaggio, University of Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I108290504","https://openalex.org/I1300504238"]},{"raw_affiliation_string":"Centro Interdipartipartimentale di Ricerca \u201c\u2018E. Piaggio\u2019\u201d, University of Pisa, 56126, Italy","institution_ids":["https://openalex.org/I108290504","https://openalex.org/I1300504238"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079017232","display_name":"Giorgio Grioli","orcid":"https://orcid.org/0000-0002-5310-2997"},"institutions":[{"id":"https://openalex.org/I108290504","display_name":"University of Pisa","ror":"https://ror.org/03ad39j10","country_code":"IT","type":"education","lineage":["https://openalex.org/I108290504"]},{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"G Grioli","raw_affiliation_strings":["Centro Interdipartimentale di Ricerca E Piaggio, University of Pisa, Pisa, Italy","Centro Interdipartipartimentale di Ricerca \u201c\u2018E. Piaggio\u2019\u201d, University of Pisa, 56126, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centro Interdipartimentale di Ricerca E Piaggio, University of Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I108290504","https://openalex.org/I1300504238"]},{"raw_affiliation_string":"Centro Interdipartipartimentale di Ricerca \u201c\u2018E. Piaggio\u2019\u201d, University of Pisa, 56126, Italy","institution_ids":["https://openalex.org/I108290504","https://openalex.org/I1300504238"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011951129","display_name":"Flavia Bonomo","orcid":"https://orcid.org/0000-0002-9872-7528"},"institutions":[{"id":"https://openalex.org/I108290504","display_name":"University of Pisa","ror":"https://ror.org/03ad39j10","country_code":"IT","type":"education","lineage":["https://openalex.org/I108290504"]},{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"F Bonomo","raw_affiliation_strings":["Centro Interdipartimentale di Ricerca E Piaggio, University of Pisa, Pisa, Italy","Centro Interdipartipartimentale di Ricerca \u201c\u2018E. Piaggio\u2019\u201d, University of Pisa, 56126, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centro Interdipartimentale di Ricerca E Piaggio, University of Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I108290504","https://openalex.org/I1300504238"]},{"raw_affiliation_string":"Centro Interdipartipartimentale di Ricerca \u201c\u2018E. Piaggio\u2019\u201d, University of Pisa, 56126, Italy","institution_ids":["https://openalex.org/I108290504","https://openalex.org/I1300504238"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074566639","display_name":"Riccardo Schiavi","orcid":null},"institutions":[{"id":"https://openalex.org/I108290504","display_name":"University of Pisa","ror":"https://ror.org/03ad39j10","country_code":"IT","type":"education","lineage":["https://openalex.org/I108290504"]},{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"R Schiavi","raw_affiliation_strings":["Centro Interdipartimentale di Ricerca E Piaggio, University of Pisa, Pisa, Italy","Centro Interdipartipartimentale di Ricerca \u201c\u2018E. Piaggio\u2019\u201d, University of Pisa, 56126, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centro Interdipartimentale di Ricerca E Piaggio, University of Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I108290504","https://openalex.org/I1300504238"]},{"raw_affiliation_string":"Centro Interdipartipartimentale di Ricerca \u201c\u2018E. Piaggio\u2019\u201d, University of Pisa, 56126, Italy","institution_ids":["https://openalex.org/I108290504","https://openalex.org/I1300504238"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5082180334","display_name":"Antonio Bicchi","orcid":"https://orcid.org/0000-0001-8635-5571"},"institutions":[{"id":"https://openalex.org/I108290504","display_name":"University of Pisa","ror":"https://ror.org/03ad39j10","country_code":"IT","type":"education","lineage":["https://openalex.org/I108290504"]},{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"A Bicchi","raw_affiliation_strings":["Centro Interdipartimentale di Ricerca E Piaggio, University of Pisa, Pisa, Italy","Centro Interdipartipartimentale di Ricerca \u201c\u2018E. Piaggio\u2019\u201d, University of Pisa, 56126, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centro Interdipartimentale di Ricerca E Piaggio, University of Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I108290504","https://openalex.org/I1300504238"]},{"raw_affiliation_string":"Centro Interdipartipartimentale di Ricerca \u201c\u2018E. Piaggio\u2019\u201d, University of Pisa, 56126, Italy","institution_ids":["https://openalex.org/I108290504","https://openalex.org/I1300504238"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":7.0178,"has_fulltext":false,"cited_by_count":23,"citation_normalized_percentile":{"value":0.9755963,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"3676","last_page":"3681"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9986000061035156,"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":0.9986000061035156,"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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9958000183105469,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.9904000163078308,"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/actuator","display_name":"Actuator","score":0.8378760814666748},{"id":"https://openalex.org/keywords/enumeration","display_name":"Enumeration","score":0.8044261932373047},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.6747869253158569},{"id":"https://openalex.org/keywords/variable","display_name":"Variable (mathematics)","score":0.6190451383590698},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.6078625321388245},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5877088308334351},{"id":"https://openalex.org/keywords/harmonic","display_name":"Harmonic","score":0.5301378965377808},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3782285153865814},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.36550819873809814},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3095112442970276},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2103928029537201},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15219005942344666},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.14367225766181946},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.13474041223526},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.09276428818702698},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.06767278909683228}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.8378760814666748},{"id":"https://openalex.org/C156340839","wikidata":"https://www.wikidata.org/wiki/Q2704791","display_name":"Enumeration","level":2,"score":0.8044261932373047},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.6747869253158569},{"id":"https://openalex.org/C182365436","wikidata":"https://www.wikidata.org/wiki/Q50701","display_name":"Variable (mathematics)","level":2,"score":0.6190451383590698},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.6078625321388245},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5877088308334351},{"id":"https://openalex.org/C127934551","wikidata":"https://www.wikidata.org/wiki/Q1148098","display_name":"Harmonic","level":2,"score":0.5301378965377808},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3782285153865814},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.36550819873809814},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3095112442970276},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2103928029537201},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15219005942344666},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.14367225766181946},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.13474041223526},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.09276428818702698},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.06767278909683228},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/iros.2010.5649774","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2010.5649774","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:arpi.unipi.it:11568/142876","is_oa":false,"landing_page_url":"http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=5649774","pdf_url":null,"source":{"id":"https://openalex.org/S4377196265","display_name":"CINECA IRIS Institutial research information system (University of Pisa)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I108290504","host_organization_name":"University of Pisa","host_organization_lineage":["https://openalex.org/I108290504"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:oai:zenodo.org:3444509","is_oa":true,"landing_page_url":"https://zenodo.org/record/3444509","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:zenodo.org:3444509","is_oa":true,"landing_page_url":"https://zenodo.org/record/3444509","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.6200000047683716}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1512338139","https://openalex.org/W1628775737","https://openalex.org/W2020619194","https://openalex.org/W2096178249","https://openalex.org/W2102762991","https://openalex.org/W2118301273","https://openalex.org/W2126171192","https://openalex.org/W2128137193","https://openalex.org/W2130378187","https://openalex.org/W2133872400","https://openalex.org/W2148267777","https://openalex.org/W2162036575","https://openalex.org/W2169706473","https://openalex.org/W4285719527","https://openalex.org/W6630816804","https://openalex.org/W6637043611","https://openalex.org/W6679581562"],"related_works":["https://openalex.org/W108845024","https://openalex.org/W2578985712","https://openalex.org/W4300125793","https://openalex.org/W2406961474","https://openalex.org/W2143566611","https://openalex.org/W2013740965","https://openalex.org/W588267724","https://openalex.org/W2952598754","https://openalex.org/W2026779193","https://openalex.org/W3042106073"],"abstract_inverted_index":{"This":[0,116],"paper":[1,117],"presents":[2],"design,":[3],"implementation":[4],"and":[5,44,51,82,86,113,140],"performance":[6,62],"of":[7,38,63,66,129],"a":[8,49,71],"new":[9,131],"Variable":[10],"Stiffness":[11],"Actuator":[12],"(VSA)":[13],"based":[14],"on":[15],"Harmonic":[16],"Drives":[17],"(VSA-HD),":[18],"which":[19],"is":[20,138],"an":[21],"improvement":[22],"over":[23],"past":[24],"work":[25],"reported":[26],"in.":[27,95],"While":[28],"previous":[29],"prototypes":[30],"have":[31],"been":[32,57,104],"developed":[33],"to":[34,47],"demonstrate":[35],"the":[36,39,45,54,61,64,83,88,99,121,126,130,136],"effectiveness":[37],"variable":[40],"stiffness":[41],"actuation":[42],"principle":[43],"possibility":[46],"develop":[48],"compact":[50],"reliable":[52],"actuator,":[53],"VSA-HD":[55,100],"has":[56,103],"obtained":[58],"by":[59,142],"exploring":[60],"enumeration":[65,98],"all":[67,87],"VSA":[68],"made":[69],"out":[70],"basic":[72],"components":[73],"set":[74],"(i.e.":[75],"two":[76,79],"prime":[77],"movers,":[78],"harmonic-drive":[80],"gears,":[81],"output":[84],"shaft)":[85],"feasible":[89],"interconnections":[90],"between":[91,110],"them":[92],"as":[93,106],"presented":[94],"Along":[96],"this":[97],"conceptual":[101],"layout":[102],"selected":[105],"being":[107],"good":[108],"trade-off":[109],"mechanical":[111,123],"complexity":[112],"overall":[114],"performance.":[115],"discusses":[118],"in":[119],"depth":[120],"actuator":[122,137],"layout,":[124],"highlighting":[125],"main":[127],"characteristics":[128],"design.":[132],"A":[133],"model":[134],"for":[135],"introduced":[139],"validated":[141],"experimental":[143],"results.":[144]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":3},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2015,"cited_by_count":3},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":5}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2016-06-24T00:00:00"}