{"id":"https://openalex.org/W1965346310","doi":"https://doi.org/10.1109/iros.2011.6094467","title":"Stiffness adjustment of a series elastic actuator in a knee prosthesis for walking and running: The trade-off between energy and peak power optimization","display_name":"Stiffness adjustment of a series elastic actuator in a knee prosthesis for walking and running: The trade-off between energy and peak power optimization","publication_year":2011,"publication_date":"2011-09-01","ids":{"openalex":"https://openalex.org/W1965346310","doi":"https://doi.org/10.1109/iros.2011.6094467","mag":"1965346310"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2011.6094467","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2011.6094467","pdf_url":null,"source":{"id":"https://openalex.org/S4363608614","display_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5070939684","display_name":"Martin Grimmer","orcid":"https://orcid.org/0000-0003-1921-1433"},"institutions":[{"id":"https://openalex.org/I76198965","display_name":"Friedrich Schiller University Jena","ror":"https://ror.org/05qpz1x62","country_code":"DE","type":"education","lineage":["https://openalex.org/I76198965"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"M. Grimmer","raw_affiliation_strings":["Lauflabor Locomotion Laboratory, Institute of Sports Science, Friedrich Schiller University, Jena, Germany","Lauflabor Locomotion Laboratory, Institute of Sports Science, Friedrich Schiller University, Jena, 07743, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Lauflabor Locomotion Laboratory, Institute of Sports Science, Friedrich Schiller University, Jena, Germany","institution_ids":["https://openalex.org/I76198965"]},{"raw_affiliation_string":"Lauflabor Locomotion Laboratory, Institute of Sports Science, Friedrich Schiller University, Jena, 07743, Germany","institution_ids":["https://openalex.org/I76198965"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5015080938","display_name":"Andr\u00e9 Seyfarth","orcid":"https://orcid.org/0000-0001-8285-2415"},"institutions":[{"id":"https://openalex.org/I76198965","display_name":"Friedrich Schiller University Jena","ror":"https://ror.org/05qpz1x62","country_code":"DE","type":"education","lineage":["https://openalex.org/I76198965"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"A. Seyfarth","raw_affiliation_strings":["Lauflabor Locomotion Laboratory, Institute of Sports Science, Friedrich Schiller University, Jena, Germany","Lauflabor Locomotion Laboratory, Institute of Sports Science, Friedrich Schiller University, Jena, 07743, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Lauflabor Locomotion Laboratory, Institute of Sports Science, Friedrich Schiller University, Jena, Germany","institution_ids":["https://openalex.org/I76198965"]},{"raw_affiliation_string":"Lauflabor Locomotion Laboratory, Institute of Sports Science, Friedrich Schiller University, Jena, 07743, Germany","institution_ids":["https://openalex.org/I76198965"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I76198965"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"3","issue":null,"first_page":"1811","last_page":"1816"},"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":0.9965000152587891,"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/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9722999930381775,"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/actuator","display_name":"Actuator","score":0.7653579711914062},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.613166868686676},{"id":"https://openalex.org/keywords/power","display_name":"Power (physics)","score":0.5214802026748657},{"id":"https://openalex.org/keywords/series","display_name":"Series (stratigraphy)","score":0.5137485265731812},{"id":"https://openalex.org/keywords/energy","display_name":"Energy (signal processing)","score":0.4997715950012207},{"id":"https://openalex.org/keywords/mechanical-energy","display_name":"Mechanical energy","score":0.48921871185302734},{"id":"https://openalex.org/keywords/prosthesis","display_name":"Prosthesis","score":0.43220099806785583},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.42752906680107117},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.40084463357925415},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.31950175762176514},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2936641573905945},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18757641315460205},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.15502884984016418},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10143375396728516},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.09819415211677551},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.08252492547035217}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7653579711914062},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.613166868686676},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.5214802026748657},{"id":"https://openalex.org/C143724316","wikidata":"https://www.wikidata.org/wiki/Q312468","display_name":"Series (stratigraphy)","level":2,"score":0.5137485265731812},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.4997715950012207},{"id":"https://openalex.org/C107240024","wikidata":"https://www.wikidata.org/wiki/Q184550","display_name":"Mechanical energy","level":3,"score":0.48921871185302734},{"id":"https://openalex.org/C2778715743","wikidata":"https://www.wikidata.org/wiki/Q181802","display_name":"Prosthesis","level":2,"score":0.43220099806785583},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.42752906680107117},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.40084463357925415},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.31950175762176514},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2936641573905945},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18757641315460205},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.15502884984016418},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10143375396728516},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.09819415211677551},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.08252492547035217},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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/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/iros.2011.6094467","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2011.6094467","pdf_url":null,"source":{"id":"https://openalex.org/S4363608614","display_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8999999761581421,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W80316205","https://openalex.org/W1978679575","https://openalex.org/W1990263710","https://openalex.org/W1998292550","https://openalex.org/W2001998296","https://openalex.org/W2045324134","https://openalex.org/W2058801071","https://openalex.org/W2072844052","https://openalex.org/W2095820912","https://openalex.org/W2098682658","https://openalex.org/W2111253117","https://openalex.org/W2116978994","https://openalex.org/W2122327728","https://openalex.org/W2125393120","https://openalex.org/W2133978851","https://openalex.org/W2169470463","https://openalex.org/W4236611057"],"related_works":["https://openalex.org/W2327344714","https://openalex.org/W1974719269","https://openalex.org/W1578823997","https://openalex.org/W2084768615","https://openalex.org/W4220939574","https://openalex.org/W2369461288","https://openalex.org/W1604971701","https://openalex.org/W3200362149","https://openalex.org/W2521152441","https://openalex.org/W1540803829"],"abstract_inverted_index":{"In":[0],"ankle-foot":[1],"prostheses":[2],"a":[3,36,40,60,80,104],"serial":[4,61],"spring":[5,62],"can":[6,23,63],"assist":[7],"the":[8,33,57],"motor":[9],"to":[10,98,122],"reduce":[11,65],"peak":[12],"power":[13],"(PP)":[14],"and":[15,67,71,92,109,118,124],"energy":[16],"requirements":[17],"(ER)":[18],"during":[19],"locomotion.":[20],"Similar":[21],"benefits":[22],"be":[24],"expected":[25],"for":[26,45,49,103],"an":[27],"active":[28],"knee":[29,58],"prosthesis.":[30],"We":[31],"compare":[32],"situation":[34],"of":[35,107,116],"direct":[37],"drive":[38],"with":[39,90,112],"series":[41],"elastic":[42],"actuator":[43],"optimized":[44,126],"minimal":[46,50],"ER":[47,66,83,117],"or":[48],"PP.":[51],"The":[52,86],"simulations":[53],"indicate":[54],"that":[55],"at":[56],"joint":[59],"highly":[64],"PP":[68,119],"in":[69,82,120],"running":[70,110],"fast":[72],"walking.":[73],"Around":[74],"preferred":[75],"walking":[76,108],"speed":[77,91,123],"(1.3m/s)":[78],"only":[79,113],"reduction":[81],"is":[84,96],"found.":[85],"optimal":[87],"stiffness":[88,102],"changes":[89],"gait.":[93],"Still":[94],"it":[95],"possible":[97],"use":[99],"one":[100],"constant":[101],"huge":[105],"range":[106],"speeds":[111],"moderate":[114],"increases":[115],"comparison":[121],"gait":[125],"values.":[127]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":4},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
