{"id":"https://openalex.org/W2946946092","doi":"https://doi.org/10.1109/mra.2019.2896360","title":"The Compliant Joint Toolbox for MATLAB: An Introduction With Examples","display_name":"The Compliant Joint Toolbox for MATLAB: An Introduction With Examples","publication_year":2019,"publication_date":"2019-09-01","ids":{"openalex":"https://openalex.org/W2946946092","doi":"https://doi.org/10.1109/mra.2019.2896360","mag":"2946946092"},"language":"en","primary_location":{"id":"doi:10.1109/mra.2019.2896360","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mra.2019.2896360","pdf_url":null,"source":{"id":"https://openalex.org/S132261465","display_name":"IEEE Robotics & Automation Magazine","issn_l":"1070-9932","issn":["1070-9932","1558-223X"],"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 & Automation Magazine","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://research.utwente.nl/files/108749130/08684261.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","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":true,"raw_author_name":"Joern Malzahn","raw_affiliation_strings":["Humanoids and Human-Centered Mechatronics Lab, Istituto Italiano di Tecnologia, Genova, Italy"],"raw_orcid":"https://orcid.org/0000-0001-6367-7869","affiliations":[{"raw_affiliation_string":"Humanoids and Human-Centered Mechatronics Lab, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039681112","display_name":"Wesley Roozing","orcid":"https://orcid.org/0000-0002-7991-3704"},"institutions":[{"id":"https://openalex.org/I94624287","display_name":"University of Twente","ror":"https://ror.org/006hf6230","country_code":"NL","type":"education","lineage":["https://openalex.org/I94624287"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Wesley Roozing","raw_affiliation_strings":["Robotics and Mechatronics, University of Twente, The Netherlands"],"raw_orcid":"https://orcid.org/0000-0002-7991-3704","affiliations":[{"raw_affiliation_string":"Robotics and Mechatronics, University of Twente, The Netherlands","institution_ids":["https://openalex.org/I94624287"]}]},{"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 Tsagarakis","raw_affiliation_strings":["Humanoids and Human-Centered Mechatronics Lab, Istituto Italiano di Tecnologia, Genova, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Humanoids and Human-Centered Mechatronics Lab, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5068938836"],"corresponding_institution_ids":["https://openalex.org/I30771326"],"apc_list":null,"apc_paid":null,"fwci":0.2989,"has_fulltext":true,"cited_by_count":7,"citation_normalized_percentile":{"value":0.55214734,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"26","issue":"3","first_page":"52","last_page":"63"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9997000098228455,"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":0.9997000098228455,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9871000051498413,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9789000153541565,"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/toolbox","display_name":"Toolbox","score":0.8583984375},{"id":"https://openalex.org/keywords/matlab","display_name":"MATLAB","score":0.7310053110122681},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6888334155082703},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6588190793991089},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5472627878189087},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5252377986907959},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.5246767401695251},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5194244384765625},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.48627936840057373},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.30441129207611084},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2692098617553711},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.17293518781661987},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.07631954550743103}],"concepts":[{"id":"https://openalex.org/C2777655017","wikidata":"https://www.wikidata.org/wiki/Q1501161","display_name":"Toolbox","level":2,"score":0.8583984375},{"id":"https://openalex.org/C2780365114","wikidata":"https://www.wikidata.org/wiki/Q169478","display_name":"MATLAB","level":2,"score":0.7310053110122681},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6888334155082703},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6588190793991089},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5472627878189087},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5252377986907959},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.5246767401695251},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5194244384765625},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.48627936840057373},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.30441129207611084},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2692098617553711},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.17293518781661987},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.07631954550743103},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/mra.2019.2896360","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mra.2019.2896360","pdf_url":null,"source":{"id":"https://openalex.org/S132261465","display_name":"IEEE Robotics & Automation Magazine","issn_l":"1070-9932","issn":["1070-9932","1558-223X"],"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 & Automation Magazine","raw_type":"journal-article"},{"id":"pmh:oai:ris.utwente.nl:publications/39b64ad1-246c-4946-948a-c247d5347a3b","is_oa":true,"landing_page_url":"https://research.utwente.nl/en/publications/39b64ad1-246c-4946-948a-c247d5347a3b","pdf_url":"https://research.utwente.nl/files/108749130/08684261.pdf","source":{"id":"https://openalex.org/S4406922991","display_name":"University of Twente Research Information","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":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Malzahn, J, Roozing, W & Tsagarakis, N 2019, 'The Compliant Joint Toolbox for MATLAB : An Introduction with Examples', IEEE Robotics and Automation Magazine, vol. 26, no. 3, 8684261, pp. 52-63. https://doi.org/10.1109/MRA.2019.2896360","raw_type":"info:eu-repo/semantics/publishedVersion"}],"best_oa_location":{"id":"pmh:oai:ris.utwente.nl:publications/39b64ad1-246c-4946-948a-c247d5347a3b","is_oa":true,"landing_page_url":"https://research.utwente.nl/en/publications/39b64ad1-246c-4946-948a-c247d5347a3b","pdf_url":"https://research.utwente.nl/files/108749130/08684261.pdf","source":{"id":"https://openalex.org/S4406922991","display_name":"University of Twente Research Information","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":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Malzahn, J, Roozing, W & Tsagarakis, N 2019, 'The Compliant Joint Toolbox for MATLAB : An Introduction with Examples', IEEE Robotics and Automation Magazine, vol. 26, no. 3, 8684261, pp. 52-63. https://doi.org/10.1109/MRA.2019.2896360","raw_type":"info:eu-repo/semantics/publishedVersion"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G165982933","display_name":null,"funder_award_id":"611832","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G5622932190","display_name":"Cognitive Interaction in Motion","funder_award_id":"644727","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G6391539045","display_name":null,"funder_award_id":"611832 (WALK-MAN)","funder_id":"https://openalex.org/F4320338335","funder_display_name":"H2020 European Research Council"},{"id":"https://openalex.org/G7198314622","display_name":null,"funder_award_id":"644839","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G7842005466","display_name":null,"funder_award_id":"Horizon 2020","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G7993666610","display_name":null,"funder_award_id":"644839 (CENTAURO); 644727 (CogIMon)","funder_id":"https://openalex.org/F4320332999","funder_display_name":"Horizon 2020 Framework Programme"}],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320320983","display_name":"Queensland University of Technology","ror":"https://ror.org/03pnv4752"},{"id":"https://openalex.org/F4320332999","display_name":"Horizon 2020 Framework Programme","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320338335","display_name":"H2020 European Research Council","ror":"https://ror.org/0472cxd90"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2946946092.pdf","grobid_xml":"https://content.openalex.org/works/W2946946092.grobid-xml"},"referenced_works_count":22,"referenced_works":["https://openalex.org/W74807133","https://openalex.org/W326908268","https://openalex.org/W1535570778","https://openalex.org/W1991055075","https://openalex.org/W2080785832","https://openalex.org/W2109777206","https://openalex.org/W2111898076","https://openalex.org/W2117038705","https://openalex.org/W2137165191","https://openalex.org/W2147276700","https://openalex.org/W2150024155","https://openalex.org/W2158583539","https://openalex.org/W2166230296","https://openalex.org/W2212383095","https://openalex.org/W2485992890","https://openalex.org/W2565463332","https://openalex.org/W2735152057","https://openalex.org/W2772007885","https://openalex.org/W2790168702","https://openalex.org/W2916485816","https://openalex.org/W4234700488","https://openalex.org/W6603098663"],"related_works":["https://openalex.org/W4205140848","https://openalex.org/W2068663075","https://openalex.org/W2978678743","https://openalex.org/W2797837731","https://openalex.org/W4393677513","https://openalex.org/W4390832911","https://openalex.org/W2377984624","https://openalex.org/W2348740175","https://openalex.org/W4243049533","https://openalex.org/W2372487761"],"abstract_inverted_index":{"This":[0],"article":[1],"presents":[2],"the":[3,9],"Complianhis":[4],"Compliant":[5],"Joint":[6],"Toolbox":[7],"for":[8],"modeling,":[10],"simu":[11],"lation,":[12],"and":[13],"controller":[14],"development":[15],"of":[16,31,49],"compliant":[17],"robot":[18],"actuators.":[19],"The":[20],"object-oriented":[21],"toolbox":[22],"is":[23],"written":[24],"in":[25,45],"MATLAB/Simulink.":[26],"In":[27],"a":[28,47],"few":[29],"lines":[30],"code,":[32],"it":[33],"can":[34],"batch-generate":[35],"ready-to-use":[36],"joint":[37],"actuator":[38],"model":[39],"classes":[40],"from":[41],"multiple":[42],"parameter":[43],"sets,":[44],"corporating":[46],"variety":[48],"nonlinear":[50],"dynamics":[51],"effects.":[52]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1}],"updated_date":"2026-05-05T08:41:31.759640","created_date":"2025-10-10T00:00:00"}