{"id":"https://openalex.org/W2970604139","doi":"https://doi.org/10.1109/lra.2019.2937479","title":"Novel Lockable and Stackable Compliant Actuation Unit for Modular +SPEA Actuators","display_name":"Novel Lockable and Stackable Compliant Actuation Unit for Modular +SPEA Actuators","publication_year":2019,"publication_date":"2019-08-26","ids":{"openalex":"https://openalex.org/W2970604139","doi":"https://doi.org/10.1109/lra.2019.2937479","mag":"2970604139"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2019.2937479","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2019.2937479","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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/A5024952805","display_name":"Glenn Mathijssen","orcid":"https://orcid.org/0000-0002-1357-8165"},"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":"Glenn Mathijssen","raw_affiliation_strings":["Vrije Universiteit Brussel, Brussels, Belgium"],"raw_orcid":"https://orcid.org/0000-0002-1357-8165","affiliations":[{"raw_affiliation_string":"Vrije Universiteit Brussel, Brussels, Belgium","institution_ids":["https://openalex.org/I13469542"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091700026","display_name":"Rapha\u00ebl Furn\u00e9mont","orcid":"https://orcid.org/0000-0003-3732-559X"},"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":"Raphael Furnemont","raw_affiliation_strings":["Vrije Universiteit Brussel, Brussels, Belgium"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Vrije Universiteit Brussel, Brussels, Belgium","institution_ids":["https://openalex.org/I13469542"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065841511","display_name":"Elias Saerens","orcid":"https://orcid.org/0000-0002-9174-3808"},"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":"Elias Saerens","raw_affiliation_strings":["Vrije Universiteit Brussel, Brussels, Belgium"],"raw_orcid":"https://orcid.org/0000-0002-9174-3808","affiliations":[{"raw_affiliation_string":"Vrije Universiteit Brussel, Brussels, Belgium","institution_ids":["https://openalex.org/I13469542"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042460018","display_name":"Manolo Garabini","orcid":"https://orcid.org/0000-0002-5873-3173"},"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"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Manolo Garabini","raw_affiliation_strings":["University of Pisa, Pisa, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I108290504"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056194661","display_name":"Manuel G. Catalano","orcid":"https://orcid.org/0000-0003-1950-6186"},"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":"Manuel Giuseppe Catalano","raw_affiliation_strings":["Istituto Italiano di Tecnologia, Genoa, Italy"],"raw_orcid":"https://orcid.org/0000-0003-1950-6186","affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064738584","display_name":"Dirk Lefeber","orcid":"https://orcid.org/0000-0003-4442-4473"},"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":"Dirk Lefeber","raw_affiliation_strings":["Vrije Universiteit Brussel, Brussels, Belgium"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Vrije Universiteit Brussel, Brussels, Belgium","institution_ids":["https://openalex.org/I13469542"]}]},{"author_position":"middle","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"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Antonio Bicchi","raw_affiliation_strings":["University of Pisa, Pisa, Italy"],"raw_orcid":"https://orcid.org/0000-0001-8635-5571","affiliations":[{"raw_affiliation_string":"University of Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I108290504"]}]},{"author_position":"last","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":["Vrije Universiteit Brussel, Brussels, Belgium"],"raw_orcid":"https://orcid.org/0000-0003-4881-9341","affiliations":[{"raw_affiliation_string":"Vrije Universiteit Brussel, Brussels, Belgium","institution_ids":["https://openalex.org/I13469542"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.4117,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.55927293,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"4","issue":"4","first_page":"4445","last_page":"4451"},"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/T10868","display_name":"Soft Robotics and Applications","score":0.996399998664856,"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":0.9854999780654907,"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/modular-design","display_name":"Modular design","score":0.8967936038970947},{"id":"https://openalex.org/keywords/modularity","display_name":"Modularity (biology)","score":0.8761206865310669},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.7137740254402161},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7127118110656738},{"id":"https://openalex.org/keywords/component","display_name":"Component (thermodynamics)","score":0.5520315170288086},{"id":"https://openalex.org/keywords/layer","display_name":"Layer (electronics)","score":0.538600742816925},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.26889288425445557},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.1488805115222931},{"id":"https://openalex.org/keywords/nanotechnology","display_name":"Nanotechnology","score":0.08054611086845398}],"concepts":[{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.8967936038970947},{"id":"https://openalex.org/C2779478453","wikidata":"https://www.wikidata.org/wiki/Q6889748","display_name":"Modularity (biology)","level":2,"score":0.8761206865310669},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7137740254402161},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7127118110656738},{"id":"https://openalex.org/C168167062","wikidata":"https://www.wikidata.org/wiki/Q1117970","display_name":"Component (thermodynamics)","level":2,"score":0.5520315170288086},{"id":"https://openalex.org/C2779227376","wikidata":"https://www.wikidata.org/wiki/Q6505497","display_name":"Layer (electronics)","level":2,"score":0.538600742816925},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.26889288425445557},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.1488805115222931},{"id":"https://openalex.org/C171250308","wikidata":"https://www.wikidata.org/wiki/Q11468","display_name":"Nanotechnology","level":1,"score":0.08054611086845398},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/lra.2019.2937479","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2019.2937479","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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"},{"id":"pmh:oai:arpi.unipi.it:11568/1003941","is_oa":false,"landing_page_url":"http://hdl.handle.net/11568/1003941","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/article"},{"id":"pmh:oai:arpi.unipi.it:11568/1068673","is_oa":false,"landing_page_url":"http://hdl.handle.net/11568/1068673","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/article"},{"id":"pmh:oai:vubissmart:VUBISSMART:2000:125627","is_oa":false,"landing_page_url":"https://biblio.vub.ac.be/vubir/novel-lockable-and-stackable-compliant-actuation-unit-for-modular-spea-actuators(1914e2f7-d462-4f23-a33f-a6898d9a3ad0).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":null,"raw_type":"article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.6700000166893005}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W624408077","https://openalex.org/W799020659","https://openalex.org/W1915593659","https://openalex.org/W1982437470","https://openalex.org/W2047941492","https://openalex.org/W2048383675","https://openalex.org/W2070268063","https://openalex.org/W2073136132","https://openalex.org/W2107914600","https://openalex.org/W2111253117","https://openalex.org/W2118331730","https://openalex.org/W2120630110","https://openalex.org/W2170213280","https://openalex.org/W2580234597","https://openalex.org/W2588211988","https://openalex.org/W2591052799","https://openalex.org/W2727958503","https://openalex.org/W2805115916","https://openalex.org/W2883863306"],"related_works":["https://openalex.org/W2297768894","https://openalex.org/W2378076731","https://openalex.org/W3109014690","https://openalex.org/W2122405502","https://openalex.org/W2114254072","https://openalex.org/W2127721729","https://openalex.org/W2884798239","https://openalex.org/W1531253727","https://openalex.org/W2366669483","https://openalex.org/W2080845967"],"abstract_inverted_index":{"On":[0],"compliant":[1,53],"robotic":[2],"systems,":[3],"modularity":[4,35],"is":[5],"recently":[6],"adopted":[7],"for":[8],"the":[9,16,20,25,37,70,97,115],"ease":[10],"of":[11,27,31],"up-":[12],"and":[13,15,51,75,80],"downscaling":[14],"possibility":[17],"to":[18,60,102],"downgrade":[19],"costs,":[21],"by":[22],"moving":[23],"towards":[24],"combination":[26],"standard":[28],"units":[29],"instead":[30],"custom":[32],"designs.":[33],"However,":[34],"on":[36,89],"actuator":[38],"level":[39],"itself":[40],"lacks":[41],"more":[42],"thorough":[43],"evaluation.":[44],"We":[45],"have":[46],"developed":[47],"a":[48,109],"novel":[49],"lockable":[50],"stackable":[52],"actuation":[54],"unit":[55],"which":[56],"can":[57,99,111],"be":[58,112],"used":[59],"form":[61],"modular":[62,71,116],"series-parallel":[63],"elastic":[64],"actuators":[65],"(+SPEA).":[66],"This":[67],"letter":[68],"describes":[69],"+SPEA":[72,117],"layer":[73,98],"architecture":[74],"discusses":[76],"its":[77],"two-way":[78],"overrunner":[79],"rubber":[81],"springs":[82],"in":[83],"detail,":[84],"while":[85],"providing":[86],"experimental":[87],"validation":[88],"each":[90],"component":[91],"as":[92],"well.":[93],"First":[94],"experiments":[95],"show":[96],"deliver":[100],"up":[101],"20":[103],"Nm.":[104],"Finally,":[105],"we":[106],"present":[107],"how":[108],"manipulator":[110],"equipped":[113],"with":[114],"layers.":[118]},"counts_by_year":[{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":2},{"year":2019,"cited_by_count":1}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}
