{"id":"https://openalex.org/W2072653428","doi":"https://doi.org/10.1109/robio.2014.7090684","title":"Humanoid arm with the integrated serial elastic actuator","display_name":"Humanoid arm with the integrated serial elastic actuator","publication_year":2014,"publication_date":"2014-12-01","ids":{"openalex":"https://openalex.org/W2072653428","doi":"https://doi.org/10.1109/robio.2014.7090684","mag":"2072653428"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2014.7090684","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2014.7090684","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)","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/A5062415344","display_name":"Xijian Huo","orcid":null},"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":"Xijian Huo","raw_affiliation_strings":["State Key Laboratory of Robotics and System Harbin Institute of Technology, Harbin, China","State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin~, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin~, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056751056","display_name":"Yanfeng Xia","orcid":null},"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":"Yanfeng Xia","raw_affiliation_strings":["State Key Laboratory of Robotics and System Harbin Institute of Technology, Harbin, China","State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin~, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin~, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100348074","display_name":"Yiwei Liu","orcid":"https://orcid.org/0000-0001-5260-8315"},"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":"Yiwei Liu","raw_affiliation_strings":["State Key Laboratory of Robotics and System Harbin Institute of Technology, Harbin, China","State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin~, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin~, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006956791","display_name":"Li Jiang","orcid":"https://orcid.org/0000-0003-1740-5525"},"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":"Li Jiang","raw_affiliation_strings":["State Key Laboratory of Robotics and System Harbin Institute of Technology, Harbin, China","State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin~, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin~, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100410370","display_name":"Hong Liu","orcid":"https://orcid.org/0000-0003-3629-2626"},"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":"Hong Liu","raw_affiliation_strings":["State Key Laboratory of Robotics and System Harbin Institute of Technology, Harbin, China","State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin~, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin~, China","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I204983213"],"apc_list":null,"apc_paid":null,"fwci":1.201,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.77419169,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"1","issue":null,"first_page":"2321","last_page":"2326"},"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9991000294685364,"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":0.9954000115394592,"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":0.7536154389381409},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.5779234170913696},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5673266649246216},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.5321285724639893},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5224658250808716},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.47974908351898193},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.41619592905044556},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.32207730412483215},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2873460054397583},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.23211222887039185},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.15529975295066833},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12436139583587646},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12087774276733398}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7536154389381409},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.5779234170913696},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5673266649246216},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.5321285724639893},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5224658250808716},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.47974908351898193},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.41619592905044556},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.32207730412483215},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2873460054397583},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.23211222887039185},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.15529975295066833},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12436139583587646},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12087774276733398},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"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/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2014.7090684","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2014.7090684","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8799999952316284,"display_name":"Life below water","id":"https://metadata.un.org/sdg/14"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W74807133","https://openalex.org/W1659916879","https://openalex.org/W1964064577","https://openalex.org/W1980387813","https://openalex.org/W2004207977","https://openalex.org/W2034225728","https://openalex.org/W2036566205","https://openalex.org/W2074206144","https://openalex.org/W2104571370","https://openalex.org/W2119010034","https://openalex.org/W2147288676","https://openalex.org/W2158641070","https://openalex.org/W6603098663","https://openalex.org/W6636841141"],"related_works":["https://openalex.org/W2745063183","https://openalex.org/W2129850190","https://openalex.org/W4256317079","https://openalex.org/W2295425790","https://openalex.org/W1991876829","https://openalex.org/W4389009354","https://openalex.org/W1974803039","https://openalex.org/W2088677124","https://openalex.org/W1589423663","https://openalex.org/W3101820272"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"the":[3,18,22,40,43,48,72,76,96,99,102,106],"design":[4,49],"and":[5,75,105],"development":[6],"of":[7,28,36,50,93,98],"an":[8,68],"integrated":[9,69],"serial":[10],"elastic":[11,37,58],"actuator":[12],"(SEA)":[13],"which":[14],"is":[15,63,79,89],"used":[16],"as":[17],"elbow":[19],"joint":[20,87],"in":[21],"soft":[23],"humanoid":[24,84],"arm.":[25],"First,":[26],"requirements":[27],"SEA":[29,70,94,104],"are":[30,45],"illustrated.":[31],"And":[32,54,81],"six":[33],"different":[34],"types":[35],"elements":[38],"(e.g.":[39],"discoid":[41,57],"element,":[42],"cylindrical)":[44],"analyzed":[46],"using":[47],"experiment":[51],"(DOE)":[52],"method.":[53],"then,":[55],"a":[56,82],"element":[59],"with":[60,86],"larger":[61],"flexibility":[62],"developed.":[64,80],"Based":[65],"on":[66],"this,":[67],"containing":[71],"position":[73],"sensors":[74],"torque":[77],"sensor":[78],"7-degree-of-freedom":[83],"arm":[85],"flexibilities":[88],"designed.":[90],"Finally,":[91],"experiments":[92],"demonstrate":[95],"approximation":[97],"stiffness":[100],"between":[101],"desired":[103],"prototype.":[107]},"counts_by_year":[{"year":2023,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
