{"id":"https://openalex.org/W3195298687","doi":"https://doi.org/10.1109/ro-man50785.2021.9515444","title":"Design and Control of a Linear Springs-Based Rotary Series Elastic Actuator for Portable Assistive Exoskeletons","display_name":"Design and Control of a Linear Springs-Based Rotary Series Elastic Actuator for Portable Assistive Exoskeletons","publication_year":2021,"publication_date":"2021-08-08","ids":{"openalex":"https://openalex.org/W3195298687","doi":"https://doi.org/10.1109/ro-man50785.2021.9515444","mag":"3195298687"},"language":"en","primary_location":{"id":"doi:10.1109/ro-man50785.2021.9515444","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ro-man50785.2021.9515444","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 30th IEEE International Conference on Robot &amp; Human Interactive Communication (RO-MAN)","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/A5033039042","display_name":"Luca Tiseni","orcid":"https://orcid.org/0000-0003-0971-4520"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Luca Tiseni","raw_affiliation_strings":["Perceptual Robotics Lab of TeCIP Institute, Sant\u2019Anna School of Advanced Studies, Italy","Perceptual Robotics Lab of TeCIP Institute, Sant'Anna School of Advanced Studies, Italy"],"affiliations":[{"raw_affiliation_string":"Perceptual Robotics Lab of TeCIP Institute, Sant\u2019Anna School of Advanced Studies, Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"Perceptual Robotics Lab of TeCIP Institute, Sant'Anna School of Advanced Studies, Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037733365","display_name":"Gianluca Rinaldi","orcid":"https://orcid.org/0000-0003-4835-3406"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Gianluca Rinaldi","raw_affiliation_strings":["Perceptual Robotics Lab of TeCIP Institute, Sant\u2019Anna School of Advanced Studies, Italy","Perceptual Robotics Lab of TeCIP Institute, Sant'Anna School of Advanced Studies, Italy"],"affiliations":[{"raw_affiliation_string":"Perceptual Robotics Lab of TeCIP Institute, Sant\u2019Anna School of Advanced Studies, Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"Perceptual Robotics Lab of TeCIP Institute, Sant'Anna School of Advanced Studies, Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073326156","display_name":"Domenico Chiaradia","orcid":"https://orcid.org/0000-0002-6183-0804"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Domenico Chiaradia","raw_affiliation_strings":["Perceptual Robotics Lab of TeCIP Institute, Sant\u2019Anna School of Advanced Studies, Italy","Perceptual Robotics Lab of TeCIP Institute, Sant'Anna School of Advanced Studies, Italy"],"affiliations":[{"raw_affiliation_string":"Perceptual Robotics Lab of TeCIP Institute, Sant\u2019Anna School of Advanced Studies, Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"Perceptual Robotics Lab of TeCIP Institute, Sant'Anna School of Advanced Studies, Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5090204404","display_name":"Antonio Frisoli","orcid":"https://orcid.org/0000-0002-7126-4113"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Antonio Frisoli","raw_affiliation_strings":["Perceptual Robotics Lab of TeCIP Institute, Sant\u2019Anna School of Advanced Studies, Italy","Perceptual Robotics Lab of TeCIP Institute, Sant'Anna School of Advanced Studies, Italy"],"affiliations":[{"raw_affiliation_string":"Perceptual Robotics Lab of TeCIP Institute, Sant\u2019Anna School of Advanced Studies, Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"Perceptual Robotics Lab of TeCIP Institute, Sant'Anna School of Advanced Studies, Italy","institution_ids":["https://openalex.org/I162290304"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5033039042"],"corresponding_institution_ids":["https://openalex.org/I162290304"],"apc_list":null,"apc_paid":null,"fwci":0.423,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.57236766,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"434","last_page":"439"},"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9815999865531921,"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/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9427000284194946,"subfield":{"id":"https://openalex.org/subfields/2742","display_name":"Rehabilitation"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/exoskeleton","display_name":"Exoskeleton","score":0.7862914800643921},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.7790875434875488},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6940479874610901},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6505873799324036},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.5138907432556152},{"id":"https://openalex.org/keywords/damping-torque","display_name":"Damping torque","score":0.5095999240875244},{"id":"https://openalex.org/keywords/rotary-actuator","display_name":"Rotary actuator","score":0.4541548788547516},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4421572983264923},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.43382593989372253},{"id":"https://openalex.org/keywords/spring","display_name":"Spring (device)","score":0.4313647747039795},{"id":"https://openalex.org/keywords/direct-torque-control","display_name":"Direct torque control","score":0.36372196674346924},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3304591774940491},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.22871893644332886},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.1488037109375},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.09708353877067566},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09289976954460144}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.7862914800643921},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.7790875434875488},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6940479874610901},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6505873799324036},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.5138907432556152},{"id":"https://openalex.org/C40226289","wikidata":"https://www.wikidata.org/wiki/Q5212950","display_name":"Damping torque","level":5,"score":0.5095999240875244},{"id":"https://openalex.org/C110682481","wikidata":"https://www.wikidata.org/wiki/Q7370260","display_name":"Rotary actuator","level":3,"score":0.4541548788547516},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4421572983264923},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.43382593989372253},{"id":"https://openalex.org/C2778712887","wikidata":"https://www.wikidata.org/wiki/Q102836","display_name":"Spring (device)","level":2,"score":0.4313647747039795},{"id":"https://openalex.org/C109871850","wikidata":"https://www.wikidata.org/wiki/Q1227571","display_name":"Direct torque control","level":4,"score":0.36372196674346924},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3304591774940491},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.22871893644332886},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.1488037109375},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.09708353877067566},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09289976954460144},{"id":"https://openalex.org/C80962145","wikidata":"https://www.wikidata.org/wiki/Q207450","display_name":"Induction motor","level":3,"score":0.0},{"id":"https://openalex.org/C165801399","wikidata":"https://www.wikidata.org/wiki/Q25428","display_name":"Voltage","level":2,"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/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/ro-man50785.2021.9515444","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ro-man50785.2021.9515444","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 30th IEEE International Conference on Robot &amp; Human Interactive Communication (RO-MAN)","raw_type":"proceedings-article"},{"id":"pmh:oai:www.iris.sssup.it:11382/551332","is_oa":false,"landing_page_url":"https://hdl.handle.net/11382/551332","pdf_url":null,"source":{"id":"https://openalex.org/S4377196376","display_name":"CINECA IRIS Institutional Research Information System (Sant'Anna School of Advanced Studies)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I162290304","host_organization_name":"Scuola Superiore Sant'Anna","host_organization_lineage":["https://openalex.org/I162290304"],"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":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8600000143051147,"id":"https://metadata.un.org/sdg/14","display_name":"Life below water"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1888192366","https://openalex.org/W1962965017","https://openalex.org/W1968334754","https://openalex.org/W2073136132","https://openalex.org/W2111253117","https://openalex.org/W2126663592","https://openalex.org/W2126728198","https://openalex.org/W2134375322","https://openalex.org/W2155109795","https://openalex.org/W2333868129","https://openalex.org/W2586732371","https://openalex.org/W2731213698","https://openalex.org/W2735152057","https://openalex.org/W2794170378","https://openalex.org/W2887985348","https://openalex.org/W2966422716","https://openalex.org/W2967875189","https://openalex.org/W2999222405","https://openalex.org/W3003391783","https://openalex.org/W3012542762","https://openalex.org/W3048142777"],"related_works":["https://openalex.org/W2038783858","https://openalex.org/W1995108588","https://openalex.org/W2070476548","https://openalex.org/W2334414976","https://openalex.org/W4233104623","https://openalex.org/W2380996288","https://openalex.org/W2107398868","https://openalex.org/W2168431619","https://openalex.org/W2328640053","https://openalex.org/W2158120472"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3],"present":[4],"a":[5,9,47],"novel":[6],"prototype":[7],"of":[8],"flat":[10],"and":[11,22,40,58,74,94,97,132],"compact":[12],"series":[13,31],"elastic":[14,28,105],"actuator":[15],"(SEA)":[16],"intended":[17,114],"for":[18,78,112],"use":[19],"in":[20,30,119,128,137],"assistive":[21],"portable":[23],"upper":[24],"limb":[25],"exoskeletons.":[26],"The":[27,107],"joint":[29,70],"to":[32,45,50,62,89,95],"the":[33,55,64,69,75,79,91,99,104,113],"brushless":[34],"motor":[35],"is":[36,72,81],"based":[37,67,102],"on":[38,68,103],"reliable":[39],"robust":[41],"linear":[42],"tension":[43],"springs":[44],"achieve":[46],"high":[48],"torque":[49,76,100,121,127,134],"weight":[51],"ratio":[52],"while":[53],"keeping":[54],"design":[56,63],"simple":[57],"cheap.":[59],"A":[60],"method":[61],"spring":[65],"stiffness,":[66],"requirements,":[71],"proposed,":[73],"controller":[77],"device":[80],"presented.":[82],"Characterization":[83],"experiments":[84],"have":[85],"been":[86],"carried":[87],"out":[88],"verify":[90],"concept":[92],"model":[93],"tune":[96],"validate":[98],"estimator":[101],"joint.":[106],"SEA":[108],"exhibits":[109],"suitable":[110],"performance":[111,136],"application:":[115],"39.7":[116],"Hz":[117],"bandwidth":[118],"closed-loop":[120],"control;":[122],"about":[123],"0.2":[124],"Nm":[125],"RMS":[126],"transparency":[129],"operations;":[130],"stability":[131],"acceptable":[133],"tracking":[135],"compliant":[138],"control":[139],"mode.":[140]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2021,"cited_by_count":1}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}
