{"id":"https://openalex.org/W4405786616","doi":"https://doi.org/10.1109/iros58592.2024.10801599","title":"A Series Variable-stiffness Joint for Robot-assisted Resistance Training","display_name":"A Series Variable-stiffness Joint for Robot-assisted Resistance Training","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405786616","doi":"https://doi.org/10.1109/iros58592.2024.10801599"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10801599","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10801599","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5063913523","display_name":"Xingyu Hu","orcid":"https://orcid.org/0000-0002-7370-1196"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xingyu Hu","raw_affiliation_strings":["Beihang University,School of Mechanical Engineering and Automation"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beihang University,School of Mechanical Engineering and Automation","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053507182","display_name":"Y. J. Li","orcid":"https://orcid.org/0000-0001-8702-431X"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuebing Li","raw_affiliation_strings":["Beihang University,School of Mechanical Engineering and Automation"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beihang University,School of Mechanical Engineering and Automation","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5107873484","display_name":"H. Wu","orcid":"https://orcid.org/0000-0002-9718-3178"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haoyang Wu","raw_affiliation_strings":["Beihang University,School of Mechanical Engineering and Automation"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beihang University,School of Mechanical Engineering and Automation","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051332306","display_name":"Wuxiang Zhang","orcid":"https://orcid.org/0000-0001-6141-3368"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wuxiang Zhang","raw_affiliation_strings":["Beihang University,School of Mechanical Engineering and Automation"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beihang University,School of Mechanical Engineering and Automation","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068494352","display_name":"Yanggang Feng","orcid":"https://orcid.org/0000-0001-6161-3394"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanggang Feng","raw_affiliation_strings":["Beihang University,School of Mechanical Engineering and Automation"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beihang University,School of Mechanical Engineering and Automation","institution_ids":["https://openalex.org/I82880672"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5063913523"],"corresponding_institution_ids":["https://openalex.org/I82880672"],"apc_list":null,"apc_paid":null,"fwci":0.1692,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.49587102,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"4658","last_page":"4663"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.996999979019165,"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":0.996999979019165,"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":0.9811000227928162,"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":0.9628999829292297,"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/series","display_name":"Series (stratigraphy)","score":0.63338702917099},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5922749042510986},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5885049104690552},{"id":"https://openalex.org/keywords/variable","display_name":"Variable (mathematics)","score":0.5642832517623901},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.5594809055328369},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.33010756969451904},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21018707752227783},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.13865110278129578},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.13184013962745667},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.11579519510269165}],"concepts":[{"id":"https://openalex.org/C143724316","wikidata":"https://www.wikidata.org/wiki/Q312468","display_name":"Series (stratigraphy)","level":2,"score":0.63338702917099},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5922749042510986},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5885049104690552},{"id":"https://openalex.org/C182365436","wikidata":"https://www.wikidata.org/wiki/Q50701","display_name":"Variable (mathematics)","level":2,"score":0.5642832517623901},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.5594809055328369},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.33010756969451904},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21018707752227783},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.13865110278129578},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.13184013962745667},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.11579519510269165},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros58592.2024.10801599","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10801599","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1987361672","https://openalex.org/W2023502005","https://openalex.org/W2033821778","https://openalex.org/W2051681843","https://openalex.org/W2066032982","https://openalex.org/W2075150129","https://openalex.org/W2093021904","https://openalex.org/W2096003909","https://openalex.org/W2159610989","https://openalex.org/W2333868129","https://openalex.org/W2433776280","https://openalex.org/W2614533470","https://openalex.org/W2743298241","https://openalex.org/W2752062577","https://openalex.org/W2783371735","https://openalex.org/W2786120529","https://openalex.org/W2823393592","https://openalex.org/W2992963769","https://openalex.org/W3018308611","https://openalex.org/W3027568585","https://openalex.org/W4309455861","https://openalex.org/W4311223027","https://openalex.org/W4386438305","https://openalex.org/W4388483406","https://openalex.org/W6695863454"],"related_works":["https://openalex.org/W1919101720","https://openalex.org/W1996130883","https://openalex.org/W2748574964","https://openalex.org/W4390822878","https://openalex.org/W2888483922","https://openalex.org/W96888382","https://openalex.org/W4386126592","https://openalex.org/W4396737233","https://openalex.org/W2041308758","https://openalex.org/W8302103"],"abstract_inverted_index":{"As":[0],"the":[1,16,20,40,97,109,115],"safe":[2],"and":[3,53,67],"comfortable":[4],"human-robot":[5],"interaction":[6],"draw":[7],"more":[8],"attention,":[9],"variable":[10,51,65,77],"stiffness":[11,52,66,78,94],"joints":[12],"are":[13],"adopted":[14],"in":[15,34,39],"rehabilitation":[17,41,117],"robots":[18],"for":[19,57],"compliant":[21],"experiences.":[22],"For":[23],"patients":[24],"with":[25,50,89],"joint":[26,49,106],"injury,":[27],"resistance":[28,59],"training":[29],"has":[30,119],"demonstrated":[31,72],"its":[32],"efficacy":[33],"concurrently":[35],"enhancing":[36],"muscle":[37],"strength":[38],"process.":[42],"Here,":[43],"we":[44],"introduce":[45],"a":[46,74,90],"compact":[47],"passive":[48,68],"damping":[54],"generation":[55],"capability":[56],"robot-assisted":[58],"training.":[60],"The":[61,76],"abilities":[62],"of":[63,93,111],"serial":[64],"angle":[69],"tracking":[70],"were":[71],"by":[73,83],"prototype.":[75],"mechanism":[79],"was":[80],"mainly":[81],"formed":[82],"3D-printing,":[84],"which":[85],"only":[86],"weighs":[87],"0.1kg":[88],"wide":[91],"range":[92],"(0.004-11.176Nm/rad).":[95],"Moreover,":[96],"torque-angular":[98],"displacement":[99],"characteristics":[100],"show":[101],"excellent":[102],"linearity":[103],"at":[104],"high":[105],"stiffness.":[107],"Finally,":[108],"feasibility":[110],"being":[112],"integrated":[113],"into":[114],"wearable":[116],"robot":[118],"been":[120],"evaluated.":[121]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-05-20T08:49:12.498775","created_date":"2025-10-10T00:00:00"}