{"id":"https://openalex.org/W4416749614","doi":"https://doi.org/10.1109/iros60139.2025.11247107","title":"LITHE-joint: Variable Stiffness Compliant Spherical Contact Joint in an Under-Actuated System","display_name":"LITHE-joint: Variable Stiffness Compliant Spherical Contact Joint in an Under-Actuated System","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416749614","doi":"https://doi.org/10.1109/iros60139.2025.11247107"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11247107","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247107","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/A5098675260","display_name":"Sanpoom Punapanont","orcid":null},"institutions":[{"id":"https://openalex.org/I4210153049","display_name":"Vidyasirimedhi Institute of Science and Technology","ror":"https://ror.org/053jehz60","country_code":"TH","type":"education","lineage":["https://openalex.org/I4210153049"]}],"countries":["TH"],"is_corresponding":true,"raw_author_name":"Sanpoom Punapanont","raw_affiliation_strings":["Vidyasirimedhi Institute of Science and Technology (VISTEC),School of Information Science and Technology (IST),Rayong,Thailand"],"affiliations":[{"raw_affiliation_string":"Vidyasirimedhi Institute of Science and Technology (VISTEC),School of Information Science and Technology (IST),Rayong,Thailand","institution_ids":["https://openalex.org/I4210153049"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5093883965","display_name":"Run Janna","orcid":null},"institutions":[{"id":"https://openalex.org/I4210153049","display_name":"Vidyasirimedhi Institute of Science and Technology","ror":"https://ror.org/053jehz60","country_code":"TH","type":"education","lineage":["https://openalex.org/I4210153049"]}],"countries":["TH"],"is_corresponding":false,"raw_author_name":"Run Janna","raw_affiliation_strings":["Vidyasirimedhi Institute of Science and Technology (VISTEC),School of Information Science and Technology (IST),Rayong,Thailand"],"affiliations":[{"raw_affiliation_string":"Vidyasirimedhi Institute of Science and Technology (VISTEC),School of Information Science and Technology (IST),Rayong,Thailand","institution_ids":["https://openalex.org/I4210153049"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031141212","display_name":"Harn Sison","orcid":"https://orcid.org/0000-0002-7802-1368"},"institutions":[{"id":"https://openalex.org/I4210153049","display_name":"Vidyasirimedhi Institute of Science and Technology","ror":"https://ror.org/053jehz60","country_code":"TH","type":"education","lineage":["https://openalex.org/I4210153049"]}],"countries":["TH"],"is_corresponding":false,"raw_author_name":"Harn Sison","raw_affiliation_strings":["Vidyasirimedhi Institute of Science and Technology (VISTEC),School of Information Science and Technology (IST),Rayong,Thailand"],"affiliations":[{"raw_affiliation_string":"Vidyasirimedhi Institute of Science and Technology (VISTEC),School of Information Science and Technology (IST),Rayong,Thailand","institution_ids":["https://openalex.org/I4210153049"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5034246691","display_name":"Poramate Manoonpong","orcid":"https://orcid.org/0000-0002-4806-7576"},"institutions":[{"id":"https://openalex.org/I4210153049","display_name":"Vidyasirimedhi Institute of Science and Technology","ror":"https://ror.org/053jehz60","country_code":"TH","type":"education","lineage":["https://openalex.org/I4210153049"]}],"countries":["TH"],"is_corresponding":false,"raw_author_name":"Poramate Manoonpong","raw_affiliation_strings":["Vidyasirimedhi Institute of Science and Technology (VISTEC),School of Information Science and Technology (IST),Rayong,Thailand"],"affiliations":[{"raw_affiliation_string":"Vidyasirimedhi Institute of Science and Technology (VISTEC),School of Information Science and Technology (IST),Rayong,Thailand","institution_ids":["https://openalex.org/I4210153049"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5098675260"],"corresponding_institution_ids":["https://openalex.org/I4210153049"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.35150145,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"5228","last_page":"5235"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.3781999945640564,"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":0.3781999945640564,"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":0.24060000479221344,"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/T11737","display_name":"Advanced Materials and Mechanics","score":0.1363999992609024,"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":0.7871000170707703},{"id":"https://openalex.org/keywords/bending-stiffness","display_name":"Bending stiffness","score":0.6503000259399414},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6466000080108643},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.6157000064849854},{"id":"https://openalex.org/keywords/joint-stiffness","display_name":"Joint stiffness","score":0.603600025177002},{"id":"https://openalex.org/keywords/bending","display_name":"Bending","score":0.49300000071525574},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.4738999903202057},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.4381999969482422}],"concepts":[{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.7871000170707703},{"id":"https://openalex.org/C128172907","wikidata":"https://www.wikidata.org/wiki/Q4887116","display_name":"Bending stiffness","level":3,"score":0.6503000259399414},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6466000080108643},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6157000064849854},{"id":"https://openalex.org/C2781415944","wikidata":"https://www.wikidata.org/wiki/Q559210","display_name":"Joint stiffness","level":3,"score":0.603600025177002},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.5030999779701233},{"id":"https://openalex.org/C87210426","wikidata":"https://www.wikidata.org/wiki/Q1072476","display_name":"Bending","level":2,"score":0.49300000071525574},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.4738999903202057},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.4381999969482422},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.4162999987602234},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.41269999742507935},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4083999991416931},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.36980000138282776},{"id":"https://openalex.org/C79772673","wikidata":"https://www.wikidata.org/wiki/Q5156643","display_name":"Compliant mechanism","level":3,"score":0.3693999946117401},{"id":"https://openalex.org/C171912257","wikidata":"https://www.wikidata.org/wiki/Q11019","display_name":"Mechanical system","level":2,"score":0.36070001125335693},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.33309999108314514},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.32109999656677246},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.3082999885082245},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3009999990463257},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.2989000082015991},{"id":"https://openalex.org/C15777418","wikidata":"https://www.wikidata.org/wiki/Q1552626","display_name":"Mechanical joint","level":3,"score":0.27000001072883606},{"id":"https://openalex.org/C121854251","wikidata":"https://www.wikidata.org/wiki/Q62932","display_name":"Elasticity (physics)","level":2,"score":0.2581000030040741},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.25209999084472656},{"id":"https://openalex.org/C135628077","wikidata":"https://www.wikidata.org/wiki/Q220184","display_name":"Finite element method","level":2,"score":0.2513999938964844}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11247107","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247107","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/F4320313904","display_name":"Vidyasirimedhi Institute of Science and Technology","ror":"https://ror.org/053jehz60"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1997635873","https://openalex.org/W2035014647","https://openalex.org/W2051681843","https://openalex.org/W2064267416","https://openalex.org/W2074535625","https://openalex.org/W2169357327","https://openalex.org/W2333868129","https://openalex.org/W2491939967","https://openalex.org/W2583494560","https://openalex.org/W2736736250","https://openalex.org/W2792288577","https://openalex.org/W2910348050","https://openalex.org/W3044118814","https://openalex.org/W3087218609","https://openalex.org/W3162343675","https://openalex.org/W3185046826","https://openalex.org/W4231327205","https://openalex.org/W4295872860","https://openalex.org/W4303832876","https://openalex.org/W4312936130","https://openalex.org/W4313031154","https://openalex.org/W4399368372","https://openalex.org/W4399469378"],"related_works":[],"abstract_inverted_index":{"The":[0,23,144,161],"concept":[1],"of":[2,20,51,79,112,120,140,146,163,180,188],"morphological":[3],"computation":[4],"(MC)":[5],"is":[6,130,151],"applied":[7],"in":[8,69,105],"the":[9,14,18,49,56,128,157,164,178,185,189,192,197],"robotics":[10],"field":[11],"to":[12,37,42,55,102,114,132],"improve":[13],"design":[15,75],"and":[16,41,142,148,156,191],"reduce":[17,48],"complexity":[19],"control":[21,103],"systems.":[22],"MC":[24,57],"uses":[25,89],"mechanical":[26],"intelligence,":[27],"where":[28],"stiffness":[29,64,88,104,111,126,155,171],"properties":[30],"play":[31],"an":[32,70,181],"important":[33],"role":[34],"as":[35,177],"constraints":[36],"enhance":[38],"system":[39],"flexibility":[40],"store":[43],"elastic":[44],"energy.":[45],"This":[46,59,73,95],"can":[47],"number":[50],"required":[52],"actuators.":[53],"According":[54],"principle,":[58],"work":[60],"proposes":[61],"LITHE-joint:":[62],"variable":[63,125,170],"compliant":[65,82,166],"spherical":[66,83],"contact":[67,84],"joint":[68,85,96,129,154,167],"under-actuated":[71,182],"system.":[72],"compact":[74],"for":[76],"a":[77,90,106,110,118,169],"2-degrees":[78],"freedom":[80],"(DOF)":[81],"with":[86,117,168],"controllable":[87],"pneumatic":[91],"artificial":[92],"muscle":[93],"(PAM).":[94],"requires":[97],"only":[98],"one":[99],"PAM":[100],"actuator":[101],"2-DOF":[107],"system,":[108],"achieving":[109],"up":[113],"0.38":[115],"Nm/rad":[116],"bandwidth":[119],"0.1967":[121],"Nm/rad.":[122],"With":[123],"its":[124,134],"properties,":[127],"able":[131],"adapt":[133],"bending":[135,149,187],"behavior,":[136],"enabling":[137],"energy":[138],"redistribution":[139],"torque":[141,147],"angle.":[143],"modulation":[145],"angle":[150],"governed":[152],"by":[153,175],"passive":[158,186],"body":[159,190],"dynamics.":[160],"benefits":[162],"passive,":[165],"property":[172],"are":[173],"demonstrated":[174],"using":[176,196],"spine":[179],"robot,":[183],"controlling":[184],"robot\u2019s":[193],"walking":[194],"direction":[195],"adjustable":[198],"stiffness.":[199]},"counts_by_year":[],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-11-28T00:00:00"}