{"id":"https://openalex.org/W2219793128","doi":"https://doi.org/10.1109/iros.2015.7353676","title":"A selective recruitment strategy for exploiting muscle-like actuator impedance properties","display_name":"A selective recruitment strategy for exploiting muscle-like actuator impedance properties","publication_year":2015,"publication_date":"2015-09-01","ids":{"openalex":"https://openalex.org/W2219793128","doi":"https://doi.org/10.1109/iros.2015.7353676","mag":"2219793128"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2015.7353676","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7353676","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5037750952","display_name":"Joshua Schultz","orcid":"https://orcid.org/0000-0002-2311-8656"},"institutions":[{"id":"https://openalex.org/I87208437","display_name":"University of Tulsa","ror":"https://ror.org/04wn28048","country_code":"US","type":"education","lineage":["https://openalex.org/I87208437"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Joshua Schultz","raw_affiliation_strings":["Department of Mechanical Engineering, University of Tulsa, Tulsa, OK, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Tulsa, Tulsa, OK, USA","institution_ids":["https://openalex.org/I87208437"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024952805","display_name":"Glenn Mathijssen","orcid":"https://orcid.org/0000-0002-1357-8165"},"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/I13469542","display_name":"Vrije Universiteit Brussel","ror":"https://ror.org/006e5kg04","country_code":"BE","type":"education","lineage":["https://openalex.org/I13469542"]}],"countries":["BE","IT"],"is_corresponding":false,"raw_author_name":"Glenn Mathijssen","raw_affiliation_strings":["Department of Mechanical Engineering, Vrije Universiteit Brussel, Brussels, Belgium","Universit\u00e0 di Pisa, Pisa, PI, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Vrije Universiteit Brussel, Brussels, Belgium","institution_ids":["https://openalex.org/I13469542"]},{"raw_affiliation_string":"Universit\u00e0 di Pisa, Pisa, PI, Italy","institution_ids":["https://openalex.org/I108290504"]}]},{"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/I13469542","display_name":"Vrije Universiteit Brussel","ror":"https://ror.org/006e5kg04","country_code":"BE","type":"education","lineage":["https://openalex.org/I13469542"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Bram Vanderborght","raw_affiliation_strings":["Department of Mechanical Engineering, Vrije Universiteit Brussel, Brussels, Belgium"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Vrije Universiteit Brussel, Brussels, Belgium","institution_ids":["https://openalex.org/I13469542"]}]},{"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/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":"Antonio Bicchi","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, GE, Italy","Universit\u00e0 di Pisa, Pisa, PI, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, GE, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Universit\u00e0 di Pisa, Pisa, PI, Italy","institution_ids":["https://openalex.org/I108290504"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5037750952"],"corresponding_institution_ids":["https://openalex.org/I87208437"],"apc_list":null,"apc_paid":null,"fwci":0.3637,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.64260574,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"2005","issue":null,"first_page":"2231","last_page":"2237"},"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":0.9983000159263611,"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":0.9959999918937683,"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/redundancy","display_name":"Redundancy (engineering)","score":0.7995703220367432},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.7852621078491211},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.7348238229751587},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.664043664932251},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6313326358795166},{"id":"https://openalex.org/keywords/artificial-muscle","display_name":"Artificial muscle","score":0.5568100214004517},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.5488237142562866},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.508396565914154},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.5000593662261963},{"id":"https://openalex.org/keywords/mechanical-impedance","display_name":"Mechanical impedance","score":0.48985764384269714},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4644958972930908},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.4272347688674927},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.41080984473228455},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3581072688102722},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.35530638694763184},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3434363603591919},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.22567716240882874},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21466442942619324},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.13192147016525269},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.13036218285560608}],"concepts":[{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.7995703220367432},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7852621078491211},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.7348238229751587},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.664043664932251},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6313326358795166},{"id":"https://openalex.org/C196628372","wikidata":"https://www.wikidata.org/wiki/Q4801090","display_name":"Artificial muscle","level":3,"score":0.5568100214004517},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.5488237142562866},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.508396565914154},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.5000593662261963},{"id":"https://openalex.org/C159447365","wikidata":"https://www.wikidata.org/wiki/Q6421317","display_name":"Mechanical impedance","level":3,"score":0.48985764384269714},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4644958972930908},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.4272347688674927},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.41080984473228455},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3581072688102722},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.35530638694763184},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3434363603591919},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.22567716240882874},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21466442942619324},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.13192147016525269},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.13036218285560608},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/iros.2015.7353676","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7353676","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:arpi.unipi.it:11568/765066","is_oa":false,"landing_page_url":"http://hdl.handle.net/11568/765066","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:vubissmart:VUBISSMART:2000:95167","is_oa":false,"landing_page_url":"https://biblio.vub.ac.be/vubir/a-selective-recruitment-strategy-for-exploiting-musclelike-actuator-impedance-properties(f882cd7f-556a-4f03-94eb-9d7e843cc551).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":"","raw_type":"article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G6849981485","display_name":"CNIC: US-Belgium Engineering Planning Visit: Simplified Models for Bio-inspired Actuators","funder_award_id":"1427787","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320323479","display_name":"Centro Nacional de Investigaciones Cardiovasculares","ror":"https://ror.org/02qs1a797"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W1987361672","https://openalex.org/W2007437631","https://openalex.org/W2054475962","https://openalex.org/W2060281402","https://openalex.org/W2073136132","https://openalex.org/W2080785335","https://openalex.org/W2096178249","https://openalex.org/W2098329609","https://openalex.org/W2102762991","https://openalex.org/W2165615727","https://openalex.org/W6684518077"],"related_works":["https://openalex.org/W4392865002","https://openalex.org/W2742397931","https://openalex.org/W3160402413","https://openalex.org/W4388570999","https://openalex.org/W4386484067","https://openalex.org/W4308998796","https://openalex.org/W3111785497","https://openalex.org/W4253527034","https://openalex.org/W4381597292","https://openalex.org/W4307031992"],"abstract_inverted_index":{"Two":[0],"leading":[1],"qualities":[2],"of":[3,35,65,157],"skeletal":[4],"muscle":[5,133],"that":[6,37,71,126,146],"produce":[7],"good":[8,152],"performance":[9],"in":[10,30,45,60,136],"uncertain":[11],"environments":[12],"are":[13,27,84],"damage":[14],"tolerance":[15],"and":[16,42,69,116],"the":[17,32,57,86,90,97,106,120,131,137,161,164,168,172,176],"ability":[18,165],"to":[19,55,104,166,175],"modulate":[20],"impedance.":[21],"For":[22],"this":[23,147],"reason,":[24],"robotics":[25],"researchers":[26],"greatly":[28],"interested":[29],"discovering":[31],"key":[33],"characteristics":[34],"muscles":[36],"give":[38],"them":[39,44],"these":[40,74],"properties":[41],"replicating":[43],"actuators":[46],"for":[47],"robotic":[48],"devices.":[49],"This":[50,143],"paper":[51,144],"describes":[52],"a":[53],"method":[54],"harness":[56],"redundancy":[58],"present":[59],"muscle-like":[61],"actuation":[62,121],"systems":[63],"composed":[64],"multiple":[66,124],"motor":[67,82],"units":[68,83],"shows":[70,145],"they":[72],"have":[73],"same":[75,98],"two":[76],"qualities.":[77],"By":[78],"carefully":[79],"choosing":[80],"which":[81,105],"recruited,":[85],"impedance":[87,107,169],"viewed":[88],"from":[89],"environment":[91],"can":[92,108],"be":[93,109],"modulated":[94],"while":[95],"maintaining":[96],"overall":[99],"activation":[100,114],"level.":[101],"The":[102],"degree":[103],"controlled":[110],"varies":[111],"with":[112,171],"total":[113],"level":[115],"actuator":[117],"length.":[118],"Discretizing":[119],"effort":[122,174],"into":[123],"parts":[125],"work":[127,135],"together,":[128],"inspired":[129],"by":[130],"way":[132],"fibers":[134],"human":[138],"body,":[139],"produces":[140,150],"damage-tolerant":[141],"behavior.":[142],"not":[148],"only":[149],"reasonably":[151],"resolutions":[153],"without":[154],"inordinate":[155],"numbers":[156],"units,":[158],"but":[159],"gives":[160],"control":[162],"system":[163],"set":[167],"along":[170],"drive":[173],"load.":[177]},"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1}],"updated_date":"2026-04-10T15:06:20.359241","created_date":"2025-10-10T00:00:00"}