{"id":"https://openalex.org/W2292032615","doi":"https://doi.org/10.1109/robio.2015.7419126","title":"Design of a flexure-based variable stiffness device for cable-driven joint modules","display_name":"Design of a flexure-based variable stiffness device for cable-driven joint modules","publication_year":2015,"publication_date":"2015-12-01","ids":{"openalex":"https://openalex.org/W2292032615","doi":"https://doi.org/10.1109/robio.2015.7419126","mag":"2292032615"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2015.7419126","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2015.7419126","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 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/A5100369613","display_name":"Jun Wang","orcid":"https://orcid.org/0000-0002-7574-9468"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jun Wang","raw_affiliation_strings":["Laboratory of Robotics and Intelligent Manufacturing Equipment Technology, Chinese Academy of Sciences, Ningbo, Zhejiang, People's Republic of China"],"affiliations":[{"raw_affiliation_string":"Laboratory of Robotics and Intelligent Manufacturing Equipment Technology, Chinese Academy of Sciences, Ningbo, Zhejiang, People's Republic of China","institution_ids":["https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018655903","display_name":"Guilin Yang","orcid":"https://orcid.org/0000-0001-6144-3401"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guilin Yang","raw_affiliation_strings":["Laboratory of Robotics and Intelligent Manufacturing Equipment Technology, Chinese Academy of Sciences, Ningbo, Zhejiang, People's Republic of China"],"affiliations":[{"raw_affiliation_string":"Laboratory of Robotics and Intelligent Manufacturing Equipment Technology, Chinese Academy of Sciences, Ningbo, Zhejiang, People's Republic of China","institution_ids":["https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071790281","display_name":"Kaisheng Yang","orcid":"https://orcid.org/0000-0001-7298-094X"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kaisheng Yang","raw_affiliation_strings":["Laboratory of Robotics and Intelligent Manufacturing Equipment Technology, Chinese Academy of Sciences, Ningbo, Zhejiang, People's Republic of China"],"affiliations":[{"raw_affiliation_string":"Laboratory of Robotics and Intelligent Manufacturing Equipment Technology, Chinese Academy of Sciences, Ningbo, Zhejiang, People's Republic of China","institution_ids":["https://openalex.org/I19820366"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101500342","display_name":"Chin-Yin Chen","orcid":"https://orcid.org/0000-0001-5868-5813"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chin-Yin Chen","raw_affiliation_strings":["Laboratory of Robotics and Intelligent Manufacturing Equipment Technology, Chinese Academy of Sciences, Ningbo, Zhejiang, People's Republic of China"],"affiliations":[{"raw_affiliation_string":"Laboratory of Robotics and Intelligent Manufacturing Equipment Technology, Chinese Academy of Sciences, Ningbo, Zhejiang, People's Republic of China","institution_ids":["https://openalex.org/I19820366"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5100369613"],"corresponding_institution_ids":["https://openalex.org/I19820366"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.13711442,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"2353","last_page":"2358"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"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"}},"topics":[{"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/T10868","display_name":"Soft Robotics and Applications","score":0.9970999956130981,"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":0.9958999752998352,"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":0.8714841604232788},{"id":"https://openalex.org/keywords/revolute-joint","display_name":"Revolute joint","score":0.7763208150863647},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.658478856086731},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6224433779716492},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.6024042367935181},{"id":"https://openalex.org/keywords/tension","display_name":"Tension (geology)","score":0.4967654347419739},{"id":"https://openalex.org/keywords/joint-stiffness","display_name":"Joint stiffness","score":0.43351536989212036},{"id":"https://openalex.org/keywords/deformation","display_name":"Deformation (meteorology)","score":0.4251471757888794},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4223233759403229},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4167421758174896},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.22602182626724243},{"id":"https://openalex.org/keywords/ultimate-tensile-strength","display_name":"Ultimate tensile strength","score":0.09512042999267578},{"id":"https://openalex.org/keywords/composite-material","display_name":"Composite material","score":0.08870768547058105}],"concepts":[{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.8714841604232788},{"id":"https://openalex.org/C5643039","wikidata":"https://www.wikidata.org/wiki/Q3819341","display_name":"Revolute joint","level":3,"score":0.7763208150863647},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.658478856086731},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6224433779716492},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.6024042367935181},{"id":"https://openalex.org/C186068551","wikidata":"https://www.wikidata.org/wiki/Q13255585","display_name":"Tension (geology)","level":3,"score":0.4967654347419739},{"id":"https://openalex.org/C2781415944","wikidata":"https://www.wikidata.org/wiki/Q559210","display_name":"Joint stiffness","level":3,"score":0.43351536989212036},{"id":"https://openalex.org/C204366326","wikidata":"https://www.wikidata.org/wiki/Q3027650","display_name":"Deformation (meteorology)","level":2,"score":0.4251471757888794},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4223233759403229},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4167421758174896},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.22602182626724243},{"id":"https://openalex.org/C112950240","wikidata":"https://www.wikidata.org/wiki/Q76005","display_name":"Ultimate tensile strength","level":2,"score":0.09512042999267578},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.08870768547058105},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/robio.2015.7419126","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2015.7419126","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"},{"id":"pmh:oai:ir.nimte.ac.cn/:174433/16293","is_oa":false,"landing_page_url":"http://ir.nimte.ac.cn/handle/174433/16293","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"\u4f1a\u8bae\u8bba\u6587"},{"id":"pmh:oai:ir.nimte.ac.cn/:174433/23483","is_oa":false,"landing_page_url":"http://ir.nimte.ac.cn/handle/174433/23483","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"\u4f1a\u8bae\u8bba\u6587"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5799999833106995,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":9,"referenced_works":["https://openalex.org/W1564897360","https://openalex.org/W1768957880","https://openalex.org/W1971357119","https://openalex.org/W1974985128","https://openalex.org/W1980024785","https://openalex.org/W1985063735","https://openalex.org/W2041737075","https://openalex.org/W2096178249","https://openalex.org/W2146031911"],"related_works":["https://openalex.org/W1963990040","https://openalex.org/W3114149462","https://openalex.org/W2083759350","https://openalex.org/W3133687580","https://openalex.org/W2021098562","https://openalex.org/W2526541772","https://openalex.org/W2274365341","https://openalex.org/W1566538768","https://openalex.org/W1897710365","https://openalex.org/W2942851934"],"abstract_inverted_index":{"Robots":[0],"with":[1,36,88],"variable":[2,21],"stiffness":[3,22,34,62,69,100],"can":[4],"achieve":[5,31],"intrinsically":[6],"safe":[7],"motions,":[8],"which":[9,65,96],"are":[10,93],"essential":[11],"for":[12,25,68],"human-robot":[13],"interactions.":[14],"This":[15],"paper":[16],"aims":[17],"to":[18,30],"design":[19,50],"a":[20,32,37,40,57,72],"device":[23],"(VSD)":[24],"cable-driven":[26,73,84],"robots.":[27],"In":[28],"order":[29],"large":[33],"variation":[35],"compact":[38],"design,":[39],"novel":[41],"VSD":[42,55],"based":[43],"on":[44],"flexure":[45],"mechanisms":[46],"is":[47,66,101],"proposed.":[48],"Through":[49],"optimization,":[51],"the":[52,78,81,97,107],"resultant":[53],"flexure-based":[54],"exhibits":[56],"liner":[58],"relationship":[59],"between":[60],"its":[61],"and":[63],"deformation,":[64],"ideal":[67],"control":[70,105],"of":[71,80,91,106],"joint":[74,86,98],"module.":[75],"To":[76],"illustrate":[77],"effectiveness":[79],"proposed":[82],"VSD,":[83],"revolute":[85],"modules":[87],"different":[89],"arrangement":[90],"VSDs":[92],"studied,":[94],"in":[95],"module":[99],"regulated":[102],"through":[103],"tension":[104],"driving":[108],"cables.":[109]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
