{"id":"https://openalex.org/W2120062212","doi":"https://doi.org/10.1109/iros.2011.6094675","title":"Instantaneous stiffness effects on impact forces in human-friendly robots","display_name":"Instantaneous stiffness effects on impact forces in human-friendly robots","publication_year":2011,"publication_date":"2011-09-01","ids":{"openalex":"https://openalex.org/W2120062212","doi":"https://doi.org/10.1109/iros.2011.6094675","mag":"2120062212"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2011.6094675","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2011.6094675","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":"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/A5101720556","display_name":"Dongjun Shin","orcid":"https://orcid.org/0000-0003-2321-5605"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Dongjun Shin","raw_affiliation_strings":["Artificial Intelligence Laboratory, Stanford University, Stanford, CA, USA","Artificial Intelligence Laboratory, Stanford University, CA 94305, USA"],"affiliations":[{"raw_affiliation_string":"Artificial Intelligence Laboratory, Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]},{"raw_affiliation_string":"Artificial Intelligence Laboratory, Stanford University, CA 94305, USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087793378","display_name":"Zhan Fan Quek","orcid":"https://orcid.org/0000-0001-7157-6910"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zhan Fan Quek","raw_affiliation_strings":["Biomimetic and Dexterous Manipulation Laboratory, Stanford University, Stanford, CA, USA","Biomimetic and Dexterous Manipulation Laboratory, Stanford University, CA 94305, USA"],"affiliations":[{"raw_affiliation_string":"Biomimetic and Dexterous Manipulation Laboratory, Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]},{"raw_affiliation_string":"Biomimetic and Dexterous Manipulation Laboratory, Stanford University, CA 94305, USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063373032","display_name":"Samson Phan","orcid":null},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Samson Phan","raw_affiliation_strings":["Biomimetic and Dexterous Manipulation Laboratory, Stanford University, Stanford, CA, USA","Biomimetic and Dexterous Manipulation Laboratory, Stanford University, CA 94305, USA"],"affiliations":[{"raw_affiliation_string":"Biomimetic and Dexterous Manipulation Laboratory, Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]},{"raw_affiliation_string":"Biomimetic and Dexterous Manipulation Laboratory, Stanford University, CA 94305, USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046683404","display_name":"Mark R. Cutkosky","orcid":"https://orcid.org/0000-0003-4730-0900"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mark Cutkosky","raw_affiliation_strings":["Biomimetic and Dexterous Manipulation Laboratory, Stanford University, Stanford, CA, USA","Biomimetic and Dexterous Manipulation Laboratory, Stanford University, CA 94305, USA"],"affiliations":[{"raw_affiliation_string":"Biomimetic and Dexterous Manipulation Laboratory, Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]},{"raw_affiliation_string":"Biomimetic and Dexterous Manipulation Laboratory, Stanford University, CA 94305, USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5051336665","display_name":"Oussama Khatib","orcid":"https://orcid.org/0000-0003-0482-1415"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Oussama Khatib","raw_affiliation_strings":["Artificial Intelligence Laboratory, Stanford University, Stanford, CA, USA","Artificial Intelligence Laboratory, Stanford University, CA 94305, USA"],"affiliations":[{"raw_affiliation_string":"Artificial Intelligence Laboratory, Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]},{"raw_affiliation_string":"Artificial Intelligence Laboratory, Stanford University, CA 94305, USA","institution_ids":["https://openalex.org/I97018004"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5101720556"],"corresponding_institution_ids":["https://openalex.org/I97018004"],"apc_list":null,"apc_paid":null,"fwci":1.382,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.80993228,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9998000264167786,"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":0.9998000264167786,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9872999787330627,"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/stiffness","display_name":"Stiffness","score":0.8520817160606384},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6557669043540955},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.590279221534729},{"id":"https://openalex.org/keywords/joint-stiffness","display_name":"Joint stiffness","score":0.5151644945144653},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5112512111663818},{"id":"https://openalex.org/keywords/bandwidth","display_name":"Bandwidth (computing)","score":0.5068648457527161},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5058750510215759},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.44456946849823},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3998420834541321},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3936208188533783},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3630715608596802},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.36093568801879883},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.21152451634407043},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1825081706047058},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11337754130363464}],"concepts":[{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.8520817160606384},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6557669043540955},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.590279221534729},{"id":"https://openalex.org/C2781415944","wikidata":"https://www.wikidata.org/wiki/Q559210","display_name":"Joint stiffness","level":3,"score":0.5151644945144653},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5112512111663818},{"id":"https://openalex.org/C2776257435","wikidata":"https://www.wikidata.org/wiki/Q1576430","display_name":"Bandwidth (computing)","level":2,"score":0.5068648457527161},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5058750510215759},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.44456946849823},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3998420834541321},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3936208188533783},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3630715608596802},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.36093568801879883},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.21152451634407043},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1825081706047058},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11337754130363464},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2011.6094675","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2011.6094675","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":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.5600000023841858}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W22268490","https://openalex.org/W1480904650","https://openalex.org/W1510152894","https://openalex.org/W1973805308","https://openalex.org/W1976902567","https://openalex.org/W2117038705","https://openalex.org/W2131063775","https://openalex.org/W2131404784","https://openalex.org/W2140790068","https://openalex.org/W2141828240","https://openalex.org/W2142621959","https://openalex.org/W2156378823","https://openalex.org/W2162189406","https://openalex.org/W2164898903","https://openalex.org/W2169008203","https://openalex.org/W3127242956","https://openalex.org/W6628660249"],"related_works":["https://openalex.org/W2083759350","https://openalex.org/W3133687580","https://openalex.org/W2021098562","https://openalex.org/W2526541772","https://openalex.org/W2274365341","https://openalex.org/W1566538768","https://openalex.org/W1897710365","https://openalex.org/W2942851934","https://openalex.org/W2116005591","https://openalex.org/W4386883573"],"abstract_inverted_index":{"Joint":[0],"stiffness":[1,29,52,72,89,109],"plays":[2],"an":[3],"important":[4],"role":[5],"in":[6,13,36],"both":[7],"safety":[8,35,74,122],"and":[9,31,53,101,116],"control":[10,24,117,126],"performance,":[11],"particularly":[12],"human-friendly":[14],"robots":[15],"using":[16],"artificial":[17],"pneumatic":[18,27],"muscles.":[19],"Due":[20],"to":[21,118],"the":[22,37,48,58,94,105,108,120,125],"limited":[23],"bandwidth":[25],"of":[26,50,70,80],"muscles,":[28],"characteristics":[30,110],"their":[32],"effects":[33,69,92],"on":[34,73,93,98],"frequency":[38],"domain":[39],"should":[40],"be":[41],"taken":[42],"into":[43],"account.":[44],"This":[45],"paper":[46,106],"introduces":[47],"concept":[49],"instantaneous":[51,71],"validates":[54],"its":[55],"model":[56],"with":[57],"Stanford":[59],"Safety":[60],"Robot":[61],"(S2":[62],"<inf":[63],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[64],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">\u03c1</inf>":[65],".":[66],"The":[67],"potential":[68],"is":[75],"explored":[76],"through":[77],"experimental":[78],"comparison":[79],"peak":[81],"impact":[82,86,95,99],"accelerations":[83],"under":[84],"various":[85],"conditions.":[87],"Instantaneous":[88],"demonstrates":[90],"different":[91],"acceleration":[96],"depending":[97],"velocity":[100],"controller":[102],"gain.":[103],"Finally,":[104],"discusses":[107],"as":[111],"a":[112],"guideline":[113],"for":[114],"design":[115],"improve":[119],"robot":[121],"while":[123],"maintaining":[124],"performance.":[127]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2013,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
