{"id":"https://openalex.org/W2036566205","doi":"https://doi.org/10.1109/robio.2012.6491222","title":"A new prismatic series elastic actuator with compact size and high performance","display_name":"A new prismatic series elastic actuator with compact size and high performance","publication_year":2012,"publication_date":"2012-12-01","ids":{"openalex":"https://openalex.org/W2036566205","doi":"https://doi.org/10.1109/robio.2012.6491222","mag":"2036566205"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2012.6491222","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2012.6491222","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5020957357","display_name":"Nicholas Paine","orcid":"https://orcid.org/0000-0001-7238-7206"},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nicholas Paine","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Texas, Austin, TX 78712 USA","Department of Electrical and Computer Engineering, University of Texas Austin, TX 78712, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Texas, Austin, TX 78712 USA","institution_ids":["https://openalex.org/I86519309"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Texas Austin, TX 78712, USA","institution_ids":["https://openalex.org/I86519309"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5079374033","display_name":"Luis Sentis","orcid":"https://orcid.org/0000-0003-2856-4863"},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Luis Sentis","raw_affiliation_strings":["Department of Mechanical Engineering, University of Texas, Austin, TX 78712 USA","Department of Mechanical Engineering, University of Texas Austin, TX 78712, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Texas, Austin, TX 78712 USA","institution_ids":["https://openalex.org/I86519309"]},{"raw_affiliation_string":"Department of Mechanical Engineering, University of Texas Austin, TX 78712, USA","institution_ids":["https://openalex.org/I86519309"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I86519309"],"apc_list":null,"apc_paid":null,"fwci":3.8735,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":{"value":0.93249805,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1759","last_page":"1766"},"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9922999739646912,"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":0.9757000207901001,"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/actuator","display_name":"Actuator","score":0.8674923181533813},{"id":"https://openalex.org/keywords/piston","display_name":"Piston (optics)","score":0.5852212905883789},{"id":"https://openalex.org/keywords/rotary-actuator","display_name":"Rotary actuator","score":0.5634492635726929},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5205914974212646},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.502532958984375},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.40066832304000854},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3127300441265106},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1479123830795288},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.11482518911361694},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.0827023983001709}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.8674923181533813},{"id":"https://openalex.org/C199524791","wikidata":"https://www.wikidata.org/wiki/Q7198512","display_name":"Piston (optics)","level":3,"score":0.5852212905883789},{"id":"https://openalex.org/C110682481","wikidata":"https://www.wikidata.org/wiki/Q7370260","display_name":"Rotary actuator","level":3,"score":0.5634492635726929},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5205914974212646},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.502532958984375},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.40066832304000854},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3127300441265106},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1479123830795288},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.11482518911361694},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0827023983001709},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","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},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C165699331","wikidata":"https://www.wikidata.org/wiki/Q461533","display_name":"Wavefront","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2012.6491222","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2012.6491222","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.8899999856948853}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":44,"referenced_works":["https://openalex.org/W74807133","https://openalex.org/W571154039","https://openalex.org/W1659916879","https://openalex.org/W1964064577","https://openalex.org/W1973805002","https://openalex.org/W1975230295","https://openalex.org/W1987361672","https://openalex.org/W2013540137","https://openalex.org/W2044953135","https://openalex.org/W2073737169","https://openalex.org/W2080785832","https://openalex.org/W2095437523","https://openalex.org/W2102046115","https://openalex.org/W2104571370","https://openalex.org/W2111253117","https://openalex.org/W2113899190","https://openalex.org/W2115676463","https://openalex.org/W2120675177","https://openalex.org/W2126728198","https://openalex.org/W2129936198","https://openalex.org/W2136715573","https://openalex.org/W2139086916","https://openalex.org/W2144834630","https://openalex.org/W2148259688","https://openalex.org/W2151718485","https://openalex.org/W2155109795","https://openalex.org/W2158641070","https://openalex.org/W2159873858","https://openalex.org/W2160686985","https://openalex.org/W2161427949","https://openalex.org/W2162666782","https://openalex.org/W2165213282","https://openalex.org/W2166230296","https://openalex.org/W2171996789","https://openalex.org/W2191096371","https://openalex.org/W2308740634","https://openalex.org/W2546246867","https://openalex.org/W2546286443","https://openalex.org/W3145253324","https://openalex.org/W6603098663","https://openalex.org/W6636841141","https://openalex.org/W6643596254","https://openalex.org/W6647461681","https://openalex.org/W6697898680"],"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/W2168431619","https://openalex.org/W2107042504","https://openalex.org/W2024711962","https://openalex.org/W3101820272"],"abstract_inverted_index":{"This":[0],"paper":[1],"discusses":[2],"design":[3,27],"and":[4,20,72,83,92,119],"control":[5,95,120],"of":[6,33,64,89,106,116],"a":[7,18,26,65,73,104],"prismatic":[8],"series":[9,35,105],"elastic":[10,36],"actuator":[11,52,112],"with":[12,44,103],"high":[13,40],"mechanical":[14,118],"power":[15],"output":[16],"in":[17],"small":[19],"lightweight":[21],"form":[22],"factor.":[23],"We":[24,78],"introduce":[25],"that":[28],"pushes":[29],"the":[30,62,111,114],"performance":[31,102],"boundary":[32],"electric":[34],"actuators":[37],"by":[38],"using":[39],"motor":[41],"voltage":[42],"coupled":[43],"an":[45],"efficient":[46],"drivetrain":[47],"to":[48,109],"enable":[49],"large":[50],"continuous":[51],"force":[53,82],"while":[54],"retaining":[55],"speed.":[56],"Compact":[57],"size":[58],"is":[59],"achieved":[60],"through":[61],"use":[63],"novel":[66],"piston-style":[67],"ball":[68],"screw":[69],"support":[70],"mechanism":[71],"concentrically":[74],"placed":[75],"compliant":[76],"element.":[77],"develop":[79],"controllers":[80],"for":[81],"position":[84],"tracking":[85],"based":[86],"on":[87],"combinations":[88],"PID,":[90],"model-based,":[91],"disturbance":[93],"observer":[94],"structures.":[96],"Finally,":[97],"we":[98],"demonstrate":[99],"our":[100],"actuator's":[101],"experiments":[107],"designed":[108],"operate":[110],"at":[113],"limits":[115],"its":[117],"capability.":[121]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":6},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":4}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
