{"id":"https://openalex.org/W2735152057","doi":"https://doi.org/10.1109/lra.2017.2726141","title":"On the Stiffness Selection for Torque-Controlled Series-Elastic Actuators","display_name":"On the Stiffness Selection for Torque-Controlled Series-Elastic Actuators","publication_year":2017,"publication_date":"2017-07-12","ids":{"openalex":"https://openalex.org/W2735152057","doi":"https://doi.org/10.1109/lra.2017.2726141","mag":"2735152057"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2017.2726141","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2017.2726141","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-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/A5039681112","display_name":"Wesley Roozing","orcid":"https://orcid.org/0000-0002-7991-3704"},"institutions":[{"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":true,"raw_author_name":"Wesley Roozing","raw_affiliation_strings":["Department of Advanced Robotics, (Fondazione) Istituto Italiano di Tecnologia, Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, (Fondazione) Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068938836","display_name":"J\u00f6rn Malzahn","orcid":"https://orcid.org/0000-0001-6367-7869"},"institutions":[{"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":"Jorn Malzahn","raw_affiliation_strings":["Department of Advanced Robotics, (Fondazione) Istituto Italiano di Tecnologia, Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, (Fondazione) Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070252862","display_name":"Navvab Kashiri","orcid":"https://orcid.org/0000-0002-1219-2447"},"institutions":[{"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":"Navvab Kashiri","raw_affiliation_strings":["Department of Advanced Robotics, (Fondazione) Istituto Italiano di Tecnologia, Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, (Fondazione) Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044243940","display_name":"Darwin G. Caldwell","orcid":"https://orcid.org/0000-0002-6233-9961"},"institutions":[{"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":"Darwin G. Caldwell","raw_affiliation_strings":["Department of Advanced Robotics, (Fondazione) Istituto Italiano di Tecnologia, Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, (Fondazione) Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5031036223","display_name":"Nikos G. Tsagarakis","orcid":"https://orcid.org/0000-0002-9877-8237"},"institutions":[{"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":"Nikos G. Tsagarakis","raw_affiliation_strings":["Department of Advanced Robotics, (Fondazione) Istituto Italiano di Tecnologia, Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, (Fondazione) Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5039681112"],"corresponding_institution_ids":["https://openalex.org/I30771326"],"apc_list":null,"apc_paid":null,"fwci":2.7465,"has_fulltext":false,"cited_by_count":46,"citation_normalized_percentile":{"value":0.90241227,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"2","issue":"4","first_page":"2255","last_page":"2262"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9998000264167786,"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":0.9998000264167786,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9968000054359436,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9929999709129333,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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":0.8477534651756287},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6863230466842651},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.6739624738693237},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.6221721768379211},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5405572652816772},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5401029586791992},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5109447836875916},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.47033414244651794},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.4571525752544403},{"id":"https://openalex.org/keywords/joint-stiffness","display_name":"Joint stiffness","score":0.450361043214798},{"id":"https://openalex.org/keywords/deflection","display_name":"Deflection (physics)","score":0.42131349444389343},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.30571919679641724},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.26712092757225037},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.15092656016349792},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1295948326587677},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08722656965255737},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.06227058172225952}],"concepts":[{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.8477534651756287},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6863230466842651},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.6739624738693237},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6221721768379211},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5405572652816772},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5401029586791992},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5109447836875916},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.47033414244651794},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.4571525752544403},{"id":"https://openalex.org/C2781415944","wikidata":"https://www.wikidata.org/wiki/Q559210","display_name":"Joint stiffness","level":3,"score":0.450361043214798},{"id":"https://openalex.org/C2781355719","wikidata":"https://www.wikidata.org/wiki/Q2080698","display_name":"Deflection (physics)","level":2,"score":0.42131349444389343},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.30571919679641724},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.26712092757225037},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.15092656016349792},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1295948326587677},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08722656965255737},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.06227058172225952},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2017.2726141","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2017.2726141","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W244326475","https://openalex.org/W1991058191","https://openalex.org/W2111253117","https://openalex.org/W2116767351","https://openalex.org/W2117038705","https://openalex.org/W2136715573","https://openalex.org/W2158641070","https://openalex.org/W2166230296","https://openalex.org/W2220306460","https://openalex.org/W2291824066","https://openalex.org/W2295584263","https://openalex.org/W2394901438","https://openalex.org/W2536253713","https://openalex.org/W2549216668","https://openalex.org/W2565463332","https://openalex.org/W2590114338","https://openalex.org/W3101417067","https://openalex.org/W4250058668","https://openalex.org/W6733990764"],"related_works":["https://openalex.org/W2007221537","https://openalex.org/W2314048082","https://openalex.org/W1548357495","https://openalex.org/W1968487248","https://openalex.org/W2097006611","https://openalex.org/W4295916778","https://openalex.org/W2112995122","https://openalex.org/W2165087119","https://openalex.org/W4288391497","https://openalex.org/W2099582829"],"abstract_inverted_index":{"Series-elastic":[0],"actuators":[1],"are":[2,103],"quickly":[3],"becoming":[4],"the":[5,23,26,44,65,79,93,96,107],"core":[6],"component":[7],"of":[8,25,46,67,95],"robots":[9],"operating":[10],"in":[11,64],"real-world":[12],"environments,":[13],"allowing":[14],"for":[15,43,88],"robust,":[16],"safe,":[17],"torque-controlled":[18],"robots.":[19],"This":[20,60,83],"letter":[21],"investigates":[22],"influence":[24],"selected":[27],"stiffness":[28,49,55,74,90],"and":[29,100],"control":[30],"parameters.":[31],"By":[32],"consolidating":[33],"several":[34],"analyses,":[35],"it":[36],"is":[37,62],"shown":[38],"two":[39],"opposing":[40],"criteria":[41],"exist":[42],"choice":[45],"stiffness:":[47],"lowering":[48],"increases":[50,56],"actuator":[51],"transparency,":[52],"while":[53],"increasing":[54],"torque":[57],"tracking":[58],"bandwidth.":[59],"fact":[61],"used":[63],"context":[66],"impedance":[68,81],"rendering":[69],"to":[70],"propose":[71],"an":[72],"optimal":[73],"selection":[75],"criterion":[76],"that":[77,105],"maximizes":[78],"renderable":[80],"frequency.":[82],"provides":[84],"a":[85],"concrete":[86],"method":[87],"choosing":[89],"based":[91],"on":[92],"application":[94],"joint.":[97],"Extensive":[98],"simulation":[99],"experimental":[101],"results":[102],"presented":[104],"validate":[106],"analyses.":[108]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":8},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":2}],"updated_date":"2026-03-27T14:29:43.386196","created_date":"2025-10-10T00:00:00"}