{"id":"https://openalex.org/W2063138827","doi":"https://doi.org/10.1109/robio.2011.6181580","title":"Biologically inspired elastic transmission for stiffness variability in actuation: Design and implementation","display_name":"Biologically inspired elastic transmission for stiffness variability in actuation: Design and implementation","publication_year":2011,"publication_date":"2011-12-01","ids":{"openalex":"https://openalex.org/W2063138827","doi":"https://doi.org/10.1109/robio.2011.6181580","mag":"2063138827"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2011.6181580","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2011.6181580","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Biomimetics","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/A5042918687","display_name":"Soumen Sen","orcid":"https://orcid.org/0000-0003-4906-7727"},"institutions":[{"id":"https://openalex.org/I70735523","display_name":"Central Mechanical Engineering Research Institute","ror":"https://ror.org/059h0ng81","country_code":"IN","type":"facility","lineage":["https://openalex.org/I2799351866","https://openalex.org/I4210134808","https://openalex.org/I66760702","https://openalex.org/I70735523"]}],"countries":["IN"],"is_corresponding":true,"raw_author_name":"Soumen Sen","raw_affiliation_strings":["Robotics and Automation Division, Central Mechanical Engineering Research Institute, CSIR, Durgapur, India","Central Mechanical Engineering Research Institute (CSIR), Durgapur 713209, India"],"affiliations":[{"raw_affiliation_string":"Robotics and Automation Division, Central Mechanical Engineering Research Institute, CSIR, Durgapur, India","institution_ids":["https://openalex.org/I70735523"]},{"raw_affiliation_string":"Central Mechanical Engineering Research Institute (CSIR), Durgapur 713209, India","institution_ids":["https://openalex.org/I70735523"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5042918687"],"corresponding_institution_ids":["https://openalex.org/I70735523"],"apc_list":null,"apc_paid":null,"fwci":0.4197,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.65391019,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1973","last_page":"1978"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.9986000061035156,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9986000061035156,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9984999895095825,"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/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9972000122070312,"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/stiffness","display_name":"Stiffness","score":0.7902216911315918},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6196778416633606},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6100608110427856},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6083638668060303},{"id":"https://openalex.org/keywords/artificial-muscle","display_name":"Artificial muscle","score":0.5386796593666077},{"id":"https://openalex.org/keywords/compliant-mechanism","display_name":"Compliant mechanism","score":0.5299395322799683},{"id":"https://openalex.org/keywords/mechanical-impedance","display_name":"Mechanical impedance","score":0.5177056789398193},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49445629119873047},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.47386837005615234},{"id":"https://openalex.org/keywords/elasticity","display_name":"Elasticity (physics)","score":0.4221484363079071},{"id":"https://openalex.org/keywords/vibration","display_name":"Vibration","score":0.4203430414199829},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.4021788537502289},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3881479799747467},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3612547218799591},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3511902689933777},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.3456587791442871},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.18941080570220947},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17479288578033447},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.16171959042549133},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.14175260066986084},{"id":"https://openalex.org/keywords/finite-element-method","display_name":"Finite element method","score":0.1407853364944458},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12799072265625}],"concepts":[{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.7902216911315918},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6196778416633606},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6100608110427856},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6083638668060303},{"id":"https://openalex.org/C196628372","wikidata":"https://www.wikidata.org/wiki/Q4801090","display_name":"Artificial muscle","level":3,"score":0.5386796593666077},{"id":"https://openalex.org/C79772673","wikidata":"https://www.wikidata.org/wiki/Q5156643","display_name":"Compliant mechanism","level":3,"score":0.5299395322799683},{"id":"https://openalex.org/C159447365","wikidata":"https://www.wikidata.org/wiki/Q6421317","display_name":"Mechanical impedance","level":3,"score":0.5177056789398193},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49445629119873047},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.47386837005615234},{"id":"https://openalex.org/C121854251","wikidata":"https://www.wikidata.org/wiki/Q62932","display_name":"Elasticity (physics)","level":2,"score":0.4221484363079071},{"id":"https://openalex.org/C198394728","wikidata":"https://www.wikidata.org/wiki/Q3695508","display_name":"Vibration","level":2,"score":0.4203430414199829},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.4021788537502289},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3881479799747467},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3612547218799591},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3511902689933777},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.3456587791442871},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.18941080570220947},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17479288578033447},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.16171959042549133},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.14175260066986084},{"id":"https://openalex.org/C135628077","wikidata":"https://www.wikidata.org/wiki/Q220184","display_name":"Finite element method","level":2,"score":0.1407853364944458},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12799072265625},{"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/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2011.6181580","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2011.6181580","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Biomimetics","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7900000214576721,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W240272400","https://openalex.org/W789458867","https://openalex.org/W1551450806","https://openalex.org/W1967377907","https://openalex.org/W1973358354","https://openalex.org/W1996630649","https://openalex.org/W1999626173","https://openalex.org/W2016810115","https://openalex.org/W2072731418","https://openalex.org/W2073016833","https://openalex.org/W2080487795","https://openalex.org/W2096178249","https://openalex.org/W2102762991","https://openalex.org/W2108154420","https://openalex.org/W2113873479","https://openalex.org/W2125025789","https://openalex.org/W2128137193","https://openalex.org/W2130353476","https://openalex.org/W2131404784","https://openalex.org/W2150367199","https://openalex.org/W2160808930","https://openalex.org/W3022067750","https://openalex.org/W6622657166"],"related_works":["https://openalex.org/W2364778587","https://openalex.org/W2011737899","https://openalex.org/W2105126143","https://openalex.org/W4308480823","https://openalex.org/W2573068166","https://openalex.org/W1992974134","https://openalex.org/W2904885586","https://openalex.org/W1910603216","https://openalex.org/W3003109530","https://openalex.org/W4229014760"],"abstract_inverted_index":{"Muscular":[0],"actions":[1],"in":[2,11,23,29,50,59,75],"the":[3,17,20,60,65,70,85],"biological":[4],"world":[5,25],"are":[6],"associated":[7],"with":[8,131],"stiffness/impedance":[9],"variation":[10],"a":[12,81,97,135,144],"wide":[13],"range":[14],"depending":[15],"upon":[16],"need":[18],"of":[19,46,64,72,84,106,115,173,176],"task.":[21],"Again,":[22],"artificial":[24,34],"variable-stiffness-actuation":[26],"finds":[27],"applications":[28],"areas":[30],"like":[31],"legged":[32],"machines,":[33],"prostheses,":[35],"vibration":[36],"control,":[37],"automotive":[38],"suspension,":[39],"and":[40,118,134,178],"compliant":[41],"robots":[42],"etc.":[43],"Nonlinear":[44],"elasticity":[45],"transmission":[47,128],"is":[48,79,99,102,110,122,129,153,169,185],"indispensable":[49],"any":[51,90,149],"passively":[52],"variable":[53],"stiffness":[54,141],"mechanisms.":[55],"Many":[56],"designs":[57,66],"exist":[58],"literature;":[61],"however,":[62],"majority":[63],"attain":[67],"nonlinearity":[68,73],"for":[69,138,147],"sake":[71],"only;":[74],"most":[76],"cases":[77],"neither":[78],"there":[80],"preferred":[82],"choice":[83],"nonlinear":[86],"force-displacement":[87],"function,":[88],"nor":[89],"design":[91,98],"guideline":[92],"exists.":[93],"In":[94],"this":[95,181],"report":[96],"presented":[100],"which":[101],"inspired":[103],"by":[104],"properties":[105,114],"muscles.":[107],"A":[108],"principle":[109],"derived":[111],"from":[112,124],"passive":[113],"muscle":[116],"fibers":[117],"an":[119,132,157,160],"elastic":[120,127],"function":[121,152],"obtained":[123],"that.":[125],"The":[126],"designed":[130],"objective":[133],"functional":[136],"specification":[137],"some":[139],"desired":[140],"behaviour.":[142],"Next,":[143],"generic":[145],"method":[146],"realizing":[148],"continuous":[150],"monotonic":[151],"illustrated.":[154],"Finally,":[155],"as":[156],"exemplar":[158],"implementation,":[159],"agonistic-antagonistic":[161],"simple":[162],"actuation":[163],"arrangement":[164],"similar":[165],"to":[166],"musculoskeletal":[167],"system":[168],"described.":[170],"Initial":[171],"result":[172],"simultaneous":[174],"control":[175],"motion":[177],"stiffness/internal-force":[179],"on":[180],"one":[182],"degree-of-freedom":[183],"variable-stiffness-actuator":[184],"reported.":[186]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2013,"cited_by_count":2}],"updated_date":"2025-11-25T21:42:39.735039","created_date":"2025-10-10T00:00:00"}
