{"id":"https://openalex.org/W2034225728","doi":"https://doi.org/10.1109/robio.2013.6739862","title":"Design of a unidirectional joint with adjustable stiffness for energy efficient hopping leg","display_name":"Design of a unidirectional joint with adjustable stiffness for energy efficient hopping leg","publication_year":2013,"publication_date":"2013-12-01","ids":{"openalex":"https://openalex.org/W2034225728","doi":"https://doi.org/10.1109/robio.2013.6739862","mag":"2034225728"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2013.6739862","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2013.6739862","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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/A5101818755","display_name":"Peng Yin","orcid":"https://orcid.org/0000-0002-8269-6691"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Peng Yin","raw_affiliation_strings":["State Key Lab. of Robotics and System, Harbin Institute of Technology, China","State Key Lab. of Robot & Syst., Harbin Inst. of Technol., Harbin, China"],"affiliations":[{"raw_affiliation_string":"State Key Lab. of Robotics and System, Harbin Institute of Technology, China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"State Key Lab. of Robot & Syst., Harbin Inst. of Technol., Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102985038","display_name":"Mantian Li","orcid":"https://orcid.org/0000-0003-4689-3484"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mantian Li","raw_affiliation_strings":["State Key Lab. of Robotics and System, Harbin Institute of Technology, China","State Key Lab. of Robot & Syst., Harbin Inst. of Technol., Harbin, China"],"affiliations":[{"raw_affiliation_string":"State Key Lab. of Robotics and System, Harbin Institute of Technology, China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"State Key Lab. of Robot & Syst., Harbin Inst. of Technol., Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101729383","display_name":"Wei Guo","orcid":"https://orcid.org/0000-0002-8461-8902"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Guo","raw_affiliation_strings":["State Key Lab. of Robotics and System, Harbin Institute of Technology, China","State Key Lab. of Robot & Syst., Harbin Inst. of Technol., Harbin, China"],"affiliations":[{"raw_affiliation_string":"State Key Lab. of Robotics and System, Harbin Institute of Technology, China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"State Key Lab. of Robot & Syst., Harbin Inst. of Technol., Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100399553","display_name":"Pengfei Wang","orcid":"https://orcid.org/0000-0002-3061-9897"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Pengfei Wang","raw_affiliation_strings":["State Key Lab. of Robotics and System, Harbin Institute of Technology, China","State Key Lab. of Robot & Syst., Harbin Inst. of Technol., Harbin, China"],"affiliations":[{"raw_affiliation_string":"State Key Lab. of Robotics and System, Harbin Institute of Technology, China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"State Key Lab. of Robot & Syst., Harbin Inst. of Technol., Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103061771","display_name":"Lining Sun","orcid":"https://orcid.org/0000-0002-9354-735X"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lining Sun","raw_affiliation_strings":["State Key Lab. of Robotics and System, Harbin Institute of Technology, China","State Key Lab. of Robot & Syst., Harbin Inst. of Technol., Harbin, China"],"affiliations":[{"raw_affiliation_string":"State Key Lab. of Robotics and System, Harbin Institute of Technology, China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"State Key Lab. of Robot & Syst., Harbin Inst. of Technol., Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5101818755"],"corresponding_institution_ids":["https://openalex.org/I204983213"],"apc_list":null,"apc_paid":null,"fwci":0.3997,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.64093052,"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":"2587","last_page":"2592"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9994999766349792,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9994999766349792,"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":0.9994000196456909,"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":0.9861000180244446,"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":0.6904463768005371},{"id":"https://openalex.org/keywords/lever","display_name":"Lever","score":0.5913884043693542},{"id":"https://openalex.org/keywords/legged-robot","display_name":"Legged robot","score":0.5724800229072571},{"id":"https://openalex.org/keywords/torsion","display_name":"Torsion (gastropod)","score":0.5298953652381897},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5224553346633911},{"id":"https://openalex.org/keywords/joint-stiffness","display_name":"Joint stiffness","score":0.5137856602668762},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.5006420612335205},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4662705063819885},{"id":"https://openalex.org/keywords/torsion-spring","display_name":"Torsion spring","score":0.46451276540756226},{"id":"https://openalex.org/keywords/vibration","display_name":"Vibration","score":0.45444923639297485},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.4249371886253357},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.38641923666000366},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.37723973393440247},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.37623831629753113},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.35570603609085083},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.28908294439315796},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.21821138262748718},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.13770994544029236},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.08550116419792175}],"concepts":[{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.6904463768005371},{"id":"https://openalex.org/C107524782","wikidata":"https://www.wikidata.org/wiki/Q40164","display_name":"Lever","level":2,"score":0.5913884043693542},{"id":"https://openalex.org/C2779908020","wikidata":"https://www.wikidata.org/wiki/Q1424704","display_name":"Legged robot","level":3,"score":0.5724800229072571},{"id":"https://openalex.org/C77461463","wikidata":"https://www.wikidata.org/wiki/Q7827201","display_name":"Torsion (gastropod)","level":2,"score":0.5298953652381897},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5224553346633911},{"id":"https://openalex.org/C2781415944","wikidata":"https://www.wikidata.org/wiki/Q559210","display_name":"Joint stiffness","level":3,"score":0.5137856602668762},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.5006420612335205},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4662705063819885},{"id":"https://openalex.org/C57614664","wikidata":"https://www.wikidata.org/wiki/Q27037480","display_name":"Torsion spring","level":2,"score":0.46451276540756226},{"id":"https://openalex.org/C198394728","wikidata":"https://www.wikidata.org/wiki/Q3695508","display_name":"Vibration","level":2,"score":0.45444923639297485},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.4249371886253357},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.38641923666000366},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.37723973393440247},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.37623831629753113},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.35570603609085083},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.28908294439315796},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.21821138262748718},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.13770994544029236},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.08550116419792175},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","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},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2013.6739862","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2013.6739862","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 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":0.9100000262260437}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1964753307","https://openalex.org/W1973805002","https://openalex.org/W1987361672","https://openalex.org/W2008342119","https://openalex.org/W2013784146","https://openalex.org/W2065170173","https://openalex.org/W2075135730","https://openalex.org/W2078751797","https://openalex.org/W2097755366","https://openalex.org/W2108394619","https://openalex.org/W2111253117","https://openalex.org/W2120227089","https://openalex.org/W2131106602","https://openalex.org/W2141329540","https://openalex.org/W2143291158","https://openalex.org/W2154200048","https://openalex.org/W2155190044","https://openalex.org/W2162167832","https://openalex.org/W2169357327","https://openalex.org/W2169706473","https://openalex.org/W6643596254"],"related_works":["https://openalex.org/W1968521411","https://openalex.org/W2386255425","https://openalex.org/W1520492402","https://openalex.org/W2366469220","https://openalex.org/W2024628765","https://openalex.org/W4235604659","https://openalex.org/W2972719527","https://openalex.org/W1985604153","https://openalex.org/W2000257464","https://openalex.org/W2322172386"],"abstract_inverted_index":{"In":[0,47],"this":[1],"paper":[2],"we":[3,57],"introduced":[4],"a":[5],"unidirectional":[6,61],"joint":[7,27,30,85,104],"with":[8,63,92],"adjustable":[9],"stiffness":[10,67,109],"(UJAS)":[11],"for":[12,44],"legged":[13,121],"robot":[14],"applications.":[15],"It":[16,98],"allowed":[17],"the":[18,60,70,103,115],"robotic":[19,122],"leg":[20,52,79],"to":[21,33,49,117],"change":[22],"dynamic":[23,82],"property":[24],"by":[25],"tuning":[26],"parameters.":[28],"The":[29,84],"was":[31,87],"designed":[32],"provide":[34,107],"large":[35],"compliant":[36],"motion":[37],"range":[38],"and":[39,69,81,112],"sufficient":[40],"energy":[41],"storage":[42],"capacity":[43],"passive":[45],"gaits.":[46],"order":[48],"avoid":[50],"undesired":[51],"vibration":[53],"during":[54],"flying":[55],"phase":[56],"brought":[58],"about":[59],"design":[62,86,105],"mechanical":[64],"stops.":[65],"Rotational":[66],"output":[68,110],"neutral":[71],"position":[72],"could":[73,106],"be":[74,118],"controlled":[75],"independently":[76],"allowing":[77],"different":[78,108],"configurations":[80],"features.":[83],"based":[88],"on":[89],"lever":[90],"mechanism":[91],"torsion":[93],"springs":[94],"providing":[95],"necessary":[96],"compliant.":[97],"is":[99],"experimentally":[100],"tested":[101],"that":[102],"characters":[111],"it":[113],"has":[114],"potential":[116],"used":[119],"in":[120],"systems.":[123]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2014,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}