{"id":"https://openalex.org/W4200257844","doi":"https://doi.org/10.1109/iros51168.2021.9636766","title":"A Safe and Rapidly Switchable Stiffness Hydrostatic Actuator through Valve-controlled Air Springs","display_name":"A Safe and Rapidly Switchable Stiffness Hydrostatic Actuator through Valve-controlled Air Springs","publication_year":2021,"publication_date":"2021-09-27","ids":{"openalex":"https://openalex.org/W4200257844","doi":"https://doi.org/10.1109/iros51168.2021.9636766"},"language":"en","primary_location":{"id":"doi:10.1109/iros51168.2021.9636766","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636766","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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":"2021 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/A5100620757","display_name":"Sungbin Park","orcid":"https://orcid.org/0000-0001-9700-2608"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Sungbin Park","raw_affiliation_strings":["Korea Advanced Institute of Science and Technology,Daejeon,South Korea,34141"],"affiliations":[{"raw_affiliation_string":"Korea Advanced Institute of Science and Technology,Daejeon,South Korea,34141","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037889492","display_name":"Kyungseo Park","orcid":"https://orcid.org/0000-0002-9146-2686"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Kyungseo Park","raw_affiliation_strings":["Korea Advanced Institute of Science and Technology,Daejeon,South Korea,34141"],"affiliations":[{"raw_affiliation_string":"Korea Advanced Institute of Science and Technology,Daejeon,South Korea,34141","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075857465","display_name":"Hwayeong Jeong","orcid":"https://orcid.org/0000-0002-0840-7425"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hwayeong Jeong","raw_affiliation_strings":["Korea Advanced Institute of Science and Technology,Daejeon,South Korea,34141"],"affiliations":[{"raw_affiliation_string":"Korea Advanced Institute of Science and Technology,Daejeon,South Korea,34141","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101432112","display_name":"Wonseok Shin","orcid":"https://orcid.org/0000-0003-0450-4137"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Wonseok Shin","raw_affiliation_strings":["Korea Advanced Institute of Science and Technology,Daejeon,South Korea,34141"],"affiliations":[{"raw_affiliation_string":"Korea Advanced Institute of Science and Technology,Daejeon,South Korea,34141","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100608898","display_name":"Jung Kim","orcid":"https://orcid.org/0000-0002-1825-6325"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jung Kim","raw_affiliation_strings":["Korea Advanced Institute of Science and Technology,Daejeon,South Korea,34141"],"affiliations":[{"raw_affiliation_string":"Korea Advanced Institute of Science and Technology,Daejeon,South Korea,34141","institution_ids":["https://openalex.org/I157485424"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5100620757"],"corresponding_institution_ids":["https://openalex.org/I157485424"],"apc_list":null,"apc_paid":null,"fwci":1.5375,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.8124039,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"9333","last_page":"9338"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9990000128746033,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9990000128746033,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9962999820709229,"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":0.9957000017166138,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.7750051021575928},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.7113351225852966},{"id":"https://openalex.org/keywords/hydrostatic-equilibrium","display_name":"Hydrostatic equilibrium","score":0.6563939452171326},{"id":"https://openalex.org/keywords/inertia","display_name":"Inertia","score":0.5569161772727966},{"id":"https://openalex.org/keywords/solenoid-valve","display_name":"Solenoid valve","score":0.4713905453681946},{"id":"https://openalex.org/keywords/spring","display_name":"Spring (device)","score":0.46023795008659363},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.45321011543273926},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.4523428976535797},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.4175228774547577},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.38723766803741455},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.318511426448822},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11998316645622253},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.11785826086997986}],"concepts":[{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.7750051021575928},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7113351225852966},{"id":"https://openalex.org/C134853933","wikidata":"https://www.wikidata.org/wiki/Q208641","display_name":"Hydrostatic equilibrium","level":2,"score":0.6563939452171326},{"id":"https://openalex.org/C110407247","wikidata":"https://www.wikidata.org/wiki/Q122508","display_name":"Inertia","level":2,"score":0.5569161772727966},{"id":"https://openalex.org/C2777112803","wikidata":"https://www.wikidata.org/wiki/Q1430621","display_name":"Solenoid valve","level":2,"score":0.4713905453681946},{"id":"https://openalex.org/C2778712887","wikidata":"https://www.wikidata.org/wiki/Q102836","display_name":"Spring (device)","level":2,"score":0.46023795008659363},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.45321011543273926},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.4523428976535797},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.4175228774547577},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.38723766803741455},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.318511426448822},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11998316645622253},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.11785826086997986},{"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros51168.2021.9636766","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636766","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5400000214576721,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320322014","display_name":"Ministry of Food and Drug Safety","ror":"https://ror.org/01f7dp456"},{"id":"https://openalex.org/F4320338440","display_name":"HORIZON EUROPE Health","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W173653310","https://openalex.org/W579472749","https://openalex.org/W596362354","https://openalex.org/W1480220726","https://openalex.org/W1967377907","https://openalex.org/W1977278088","https://openalex.org/W1984929297","https://openalex.org/W2017096789","https://openalex.org/W2050835671","https://openalex.org/W2053036469","https://openalex.org/W2062308233","https://openalex.org/W2096178249","https://openalex.org/W2116139612","https://openalex.org/W2123864353","https://openalex.org/W2131404784","https://openalex.org/W2162207896","https://openalex.org/W2221119198","https://openalex.org/W2331138946","https://openalex.org/W2333868129","https://openalex.org/W2414419152","https://openalex.org/W2762248135","https://openalex.org/W2892623727","https://openalex.org/W2911086490","https://openalex.org/W2948218505","https://openalex.org/W2963166639","https://openalex.org/W2996232476","https://openalex.org/W2999711615","https://openalex.org/W3038639781","https://openalex.org/W3129468722","https://openalex.org/W6628564860"],"related_works":["https://openalex.org/W2808213426","https://openalex.org/W2016759238","https://openalex.org/W2807711811","https://openalex.org/W2808279233","https://openalex.org/W1978394698","https://openalex.org/W2086997282","https://openalex.org/W2046860462","https://openalex.org/W2801366556","https://openalex.org/W2802936690","https://openalex.org/W2046787684"],"abstract_inverted_index":{"Hydrostatic":[0],"transmission":[1,84],"has":[2],"shown":[3],"promising":[4],"results":[5],"for":[6,52,107,187],"enabling":[7],"the":[8,22,27,49,57,70,126,134,159,163,198,206,211],"manipulator":[9,51],"to":[10,44,90,104,162,184,210],"achieve":[11],"low":[12,96],"effective":[13],"inertia,":[14],"high":[15,18],"stiffness,":[16],"and":[17,64,79,95,114,213],"torque":[19],"density.":[20],"However,":[21],"incompressibility":[23],"of":[24,29,136,145],"fluid":[25,93],"causes":[26],"lack":[28],"compliance,":[30],"so":[31],"that":[32,133,154,165],"it":[33,40,180],"could":[34,157],"not":[35,169],"provide":[36],"intrinsic":[37],"safety.":[38],"Thus,":[39],"would":[41,168],"be":[42,118,170,185],"advantageous":[43],"introduce":[45],"series":[46],"compliance":[47],"on":[48,56,69],"hydrostatic":[50,66,83],"adjusting":[53],"stiffness":[54,72,130,135,173,216],"depending":[55],"situation.":[58],"Here,":[59],"we":[60],"developed":[61,199],"a":[62,166,196],"safe":[63],"high-performance":[65],"actuator":[67,200],"based":[68],"switchable":[71,215],"mechanism":[73],"implemented":[74,86],"with":[75,87,190],"an":[76],"air":[77],"spring":[78,100],"solenoid":[80,127],"valve.":[81,128],"The":[82,172],"is":[85,101,139,181],"rolling":[88],"diaphragms":[89],"attain":[91],"zero":[92],"leakage":[94],"seal":[97],"friction.":[98],"Air":[99],"serially":[102],"connected":[103],"hydraulic":[105],"lines":[106],"achieving":[108],"compliance.":[109],"Its":[110],"modes":[111],"(i.e.,":[112],"stiff":[113,137],"compliant":[115,146,155],"modes)":[116],"can":[117,201],"rapidly":[119,214],"switched":[120,175],"by":[121],"modulating":[122],"water":[123],"flow":[124],"via":[125],"Block":[129],"experiment":[131],"shows":[132],"mode":[138,147,156],"9.63":[140],"times":[141],"stiffer":[142],"than":[143],"one":[144],"at":[148],"100":[149],"kPa.":[150],"We":[151],"experimentally":[152],"demonstrated":[153],"mitigate":[158],"impact":[160],"force":[161],"level":[164],"tangerine":[167],"crushed.":[171],"was":[174],"within":[176],"12":[177],"ms;":[178],"hence":[179],"fast":[182],"enough":[183],"used":[186],"feedback":[188],"application":[189],"vision":[191],"or":[192],"tactile":[193],"sensors.":[194],"As":[195],"result,":[197],"ensure":[202],"safety":[203],"without":[204],"sacrificing":[205],"dynamic":[207],"performance,":[208],"owing":[209],"simple":[212],"mechanism.":[217]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}