{"id":"https://openalex.org/W2066032982","doi":"https://doi.org/10.1109/iros.2012.6385789","title":"Variable Stiffness Actuator applied to an active ankle prosthesis: Principle, energy-efficiency, and control","display_name":"Variable Stiffness Actuator applied to an active ankle prosthesis: Principle, energy-efficiency, and control","publication_year":2012,"publication_date":"2012-10-01","ids":{"openalex":"https://openalex.org/W2066032982","doi":"https://doi.org/10.1109/iros.2012.6385789","mag":"2066032982"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2012.6385789","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6385789","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 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/A5003408902","display_name":"Christophe Everarts","orcid":null},"institutions":[{"id":"https://openalex.org/I95674353","display_name":"UCLouvain","ror":"https://ror.org/02495e989","country_code":"BE","type":"education","lineage":["https://openalex.org/I95674353"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Christophe Everarts","raw_affiliation_strings":["Centre for Research in Mechatronics, Institute of Mechanics, Materials and Civil Engineering, Universit\u00e9 catholique de Louvain, Louvain-la-Neuve, Belgium","Centre for Research in Mechatronics, Institute of Mechanics, Materials and Civil Engineering, Universit\u00e9 catholique de Louvain, B-1348 Louvain-la-Neuve, Belgium"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centre for Research in Mechatronics, Institute of Mechanics, Materials and Civil Engineering, Universit\u00e9 catholique de Louvain, Louvain-la-Neuve, Belgium","institution_ids":["https://openalex.org/I95674353"]},{"raw_affiliation_string":"Centre for Research in Mechatronics, Institute of Mechanics, Materials and Civil Engineering, Universit\u00e9 catholique de Louvain, B-1348 Louvain-la-Neuve, Belgium","institution_ids":["https://openalex.org/I95674353"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062673518","display_name":"Bruno Dehez","orcid":"https://orcid.org/0000-0001-6315-5585"},"institutions":[{"id":"https://openalex.org/I95674353","display_name":"UCLouvain","ror":"https://ror.org/02495e989","country_code":"BE","type":"education","lineage":["https://openalex.org/I95674353"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Bruno Dehez","raw_affiliation_strings":["Centre for Research in Mechatronics, Institute of Mechanics, Materials and Civil Engineering, Universit\u00e9 catholique de Louvain, Louvain-la-Neuve, Belgium","Centre for Research in Mechatronics, Institute of Mechanics, Materials and Civil Engineering, Universit\u00e9 catholique de Louvain, B-1348 Louvain-la-Neuve, Belgium"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centre for Research in Mechatronics, Institute of Mechanics, Materials and Civil Engineering, Universit\u00e9 catholique de Louvain, Louvain-la-Neuve, Belgium","institution_ids":["https://openalex.org/I95674353"]},{"raw_affiliation_string":"Centre for Research in Mechatronics, Institute of Mechanics, Materials and Civil Engineering, Universit\u00e9 catholique de Louvain, B-1348 Louvain-la-Neuve, Belgium","institution_ids":["https://openalex.org/I95674353"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5091658578","display_name":"Renaud Ronsse","orcid":"https://orcid.org/0000-0003-0823-9633"},"institutions":[{"id":"https://openalex.org/I95674353","display_name":"UCLouvain","ror":"https://ror.org/02495e989","country_code":"BE","type":"education","lineage":["https://openalex.org/I95674353"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Renaud Ronsse","raw_affiliation_strings":["Centre for Research in Mechatronics, Institute of Mechanics, Materials and Civil Engineering, Universit\u00e9 catholique de Louvain, Louvain-la-Neuve, Belgium","Centre for Research in Mechatronics, Institute of Mechanics, Materials and Civil Engineering, Universit\u00e9 catholique de Louvain, B-1348 Louvain-la-Neuve, Belgium"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centre for Research in Mechatronics, Institute of Mechanics, Materials and Civil Engineering, Universit\u00e9 catholique de Louvain, Louvain-la-Neuve, Belgium","institution_ids":["https://openalex.org/I95674353"]},{"raw_affiliation_string":"Centre for Research in Mechatronics, Institute of Mechanics, Materials and Civil Engineering, Universit\u00e9 catholique de Louvain, B-1348 Louvain-la-Neuve, Belgium","institution_ids":["https://openalex.org/I95674353"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.2426,"has_fulltext":false,"cited_by_count":33,"citation_normalized_percentile":{"value":0.79284983,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"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":0.9998999834060669,"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":0.9779000282287598,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9747999906539917,"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":0.707177460193634},{"id":"https://openalex.org/keywords/variable","display_name":"Variable (mathematics)","score":0.5356122851371765},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5351022481918335},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.4856628179550171},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.45221275091171265},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.416187584400177},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3353825509548187},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3112606406211853},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.16175785660743713},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1500808596611023},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1460445523262024}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.707177460193634},{"id":"https://openalex.org/C182365436","wikidata":"https://www.wikidata.org/wiki/Q50701","display_name":"Variable (mathematics)","level":2,"score":0.5356122851371765},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5351022481918335},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.4856628179550171},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.45221275091171265},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.416187584400177},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3353825509548187},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3112606406211853},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.16175785660743713},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1500808596611023},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1460445523262024},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2012.6385789","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6385789","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:dial.uclouvain.be:boreal:119760","is_oa":false,"landing_page_url":"http://hdl.handle.net/2078.1/119760","pdf_url":null,"source":{"id":"https://openalex.org/S4306401902","display_name":"Digital Access to Libraries (Universit\u00e9 catholique de Louvain (UCL), l'Universit\u00e9 de Namur (UNamur) and the Universit\u00e9 Saint-Louis (USL-B))","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I95674353","host_organization_name":"UCLouvain","host_organization_lineage":["https://openalex.org/I95674353"],"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":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.9100000262260437,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1565591705","https://openalex.org/W1774024727","https://openalex.org/W2002555447","https://openalex.org/W2020619194","https://openalex.org/W2022561860","https://openalex.org/W2042958777","https://openalex.org/W2045324134","https://openalex.org/W2084126792","https://openalex.org/W2096003909","https://openalex.org/W2096178249","https://openalex.org/W2100636128","https://openalex.org/W2108394619","https://openalex.org/W2109135013","https://openalex.org/W2111253117","https://openalex.org/W2117872137","https://openalex.org/W2118712229","https://openalex.org/W2125393120","https://openalex.org/W2131106602","https://openalex.org/W2131404784","https://openalex.org/W2142512174","https://openalex.org/W2147809815","https://openalex.org/W2156206828","https://openalex.org/W6661367452","https://openalex.org/W7001316512"],"related_works":["https://openalex.org/W2490690736","https://openalex.org/W2099333796","https://openalex.org/W1999058329","https://openalex.org/W2080330449","https://openalex.org/W585100505","https://openalex.org/W2007221537","https://openalex.org/W2169474978","https://openalex.org/W4229591372","https://openalex.org/W4234906596","https://openalex.org/W2071544734"],"abstract_inverted_index":{"Series":[0],"elastic":[1,12,155],"actuators":[2],"are":[3],"very":[4],"popular":[5],"in":[6,153],"rehabilitation":[7],"robotics.":[8],"Among":[9],"other":[10],"advantages,":[11],"elements":[13],"between":[14],"the":[15,18,27,32,38,53,100,107,111,148,154],"actuator":[16],"and":[17,23,37,67,114,132],"load":[19],"permit":[20],"to":[21,51,73,92,105,127,146],"store":[22],"release":[24],"energy":[25,33,136,151],"during":[26],"task":[28],"completion,":[29],"such":[30,56],"that":[31,57,140],"balance":[34],"is":[35,42,70,126,144],"improved":[36],"motor":[39],"power":[40],"peak":[41],"decreased.":[43],"In":[44],"rhythmic":[45],"tasks":[46],"like":[47],"walking,":[48],"this":[49,122],"reduces":[50],"design":[52,74,131],"spring":[54],"stiffness":[55,108],"it":[58,69],"works":[59],"at":[60],"resonance.":[61],"To":[62],"comply":[63],"with":[64],"different":[65],"gaits":[66],"cadences,":[68],"therefore":[71],"necessary":[72],"Variable":[75],"Stiffness":[76],"Actuators":[77],"(VSA).":[78],"This":[79],"paper":[80],"proposes":[81],"three":[82],"contributions:":[83],"(i)":[84],"we":[85,98,116],"apply":[86],"a":[87,129,133,141],"particular":[88],"concept":[89],"of":[90,102,150],"VSA":[91,104],"an":[93],"active":[94],"ankle":[95],"prosthesis;":[96],"(ii)":[97],"discuss":[99],"relevance":[101],"using":[103],"change":[106],"also":[109],"within":[110],"gait":[112],"cycle;":[113],"(iii)":[115],"elaborate":[117],"some":[118],"control":[119,147],"strategies":[120],"for":[121],"device.":[123],"Our":[124],"guideline":[125],"track":[128],"mechanical":[130],"controller":[134],"maximizing":[135],"efficiency.":[137],"We":[138],"establish":[139],"promising":[142],"approach":[143],"simply":[145],"amount":[149],"stored":[152],"element.":[156]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":9},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
