{"id":"https://openalex.org/W2920806553","doi":"https://doi.org/10.1109/robio.2018.8665039","title":"Design and Control of a Variable Viscous Damping Actuator (VVDA) for Compliant Robotic Joints","display_name":"Design and Control of a Variable Viscous Damping Actuator (VVDA) for Compliant Robotic Joints","publication_year":2018,"publication_date":"2018-12-01","ids":{"openalex":"https://openalex.org/W2920806553","doi":"https://doi.org/10.1109/robio.2018.8665039","mag":"2920806553"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2018.8665039","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2018.8665039","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 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/A5031291151","display_name":"Zhi De","orcid":null},"institutions":[{"id":"https://openalex.org/I198091727","display_name":"Tianjin Polytechnic University","ror":"https://ror.org/00xsr9m91","country_code":"CN","type":"education","lineage":["https://openalex.org/I198091727"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"De Zhi","raw_affiliation_strings":["School of Mechanical Engineering, Tianjin Polytechnic University, Tianjin, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Tianjin Polytechnic University, Tianjin, China","institution_ids":["https://openalex.org/I198091727"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100706939","display_name":"Zhiyou Feng","orcid":"https://orcid.org/0000-0001-9362-7002"},"institutions":[{"id":"https://openalex.org/I198091727","display_name":"Tianjin Polytechnic University","ror":"https://ror.org/00xsr9m91","country_code":"CN","type":"education","lineage":["https://openalex.org/I198091727"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiyou Feng","raw_affiliation_strings":["School of Mechanical Engineering, Tianjin Polytechnic University, Tianjin, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Tianjin Polytechnic University, Tianjin, China","institution_ids":["https://openalex.org/I198091727"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102851623","display_name":"Wenbin Xu","orcid":"https://orcid.org/0000-0002-1489-2105"},"institutions":[{"id":"https://openalex.org/I198091727","display_name":"Tianjin Polytechnic University","ror":"https://ror.org/00xsr9m91","country_code":"CN","type":"education","lineage":["https://openalex.org/I198091727"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenbin Xu","raw_affiliation_strings":["School of Mechanical Engineering, Tianjin Polytechnic University, Tianjin, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Tianjin Polytechnic University, Tianjin, China","institution_ids":["https://openalex.org/I198091727"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055850799","display_name":"Rongjie Kang","orcid":"https://orcid.org/0000-0001-5663-4481"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Rongjie Kang","raw_affiliation_strings":["Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin, China"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5091442724","display_name":"Lisha Chen","orcid":"https://orcid.org/0000-0001-8980-5275"},"institutions":[{"id":"https://openalex.org/I198091727","display_name":"Tianjin Polytechnic University","ror":"https://ror.org/00xsr9m91","country_code":"CN","type":"education","lineage":["https://openalex.org/I198091727"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lisha Chen","raw_affiliation_strings":["School of Mechanical Engineering, Tianjin Polytechnic University, Tianjin, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Tianjin Polytechnic University, Tianjin, China","institution_ids":["https://openalex.org/I198091727"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5031291151"],"corresponding_institution_ids":["https://openalex.org/I198091727"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.18317281,"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":"1876","last_page":"1881"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9998999834060669,"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":0.9998999834060669,"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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9934999942779541,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.9884999990463257,"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":0.7136591076850891},{"id":"https://openalex.org/keywords/viscous-damping","display_name":"Viscous damping","score":0.6653188467025757},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5422954559326172},{"id":"https://openalex.org/keywords/body-orifice","display_name":"Body orifice","score":0.5412437915802002},{"id":"https://openalex.org/keywords/hydraulic-machinery","display_name":"Hydraulic machinery","score":0.5291032195091248},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4983668327331543},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4521189332008362},{"id":"https://openalex.org/keywords/rotary-actuator","display_name":"Rotary actuator","score":0.4416831135749817},{"id":"https://openalex.org/keywords/servo","display_name":"Servo","score":0.4364374279975891},{"id":"https://openalex.org/keywords/hydraulic-cylinder","display_name":"Hydraulic cylinder","score":0.4310459494590759},{"id":"https://openalex.org/keywords/servomotor","display_name":"Servomotor","score":0.4243001639842987},{"id":"https://openalex.org/keywords/continuously-variable-transmission","display_name":"Continuously variable transmission","score":0.4201778471469879},{"id":"https://openalex.org/keywords/vibration","display_name":"Vibration","score":0.4177168011665344},{"id":"https://openalex.org/keywords/valve-actuator","display_name":"Valve actuator","score":0.414995402097702},{"id":"https://openalex.org/keywords/transmission","display_name":"Transmission (telecommunications)","score":0.40334951877593994},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3306710720062256},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.30050939321517944},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12961268424987793},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.10944473743438721},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.08891099691390991}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7136591076850891},{"id":"https://openalex.org/C2989485891","wikidata":"https://www.wikidata.org/wiki/Q56291844","display_name":"Viscous damping","level":3,"score":0.6653188467025757},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5422954559326172},{"id":"https://openalex.org/C194242075","wikidata":"https://www.wikidata.org/wiki/Q546776","display_name":"Body orifice","level":2,"score":0.5412437915802002},{"id":"https://openalex.org/C11394606","wikidata":"https://www.wikidata.org/wiki/Q1972552","display_name":"Hydraulic machinery","level":2,"score":0.5291032195091248},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4983668327331543},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4521189332008362},{"id":"https://openalex.org/C110682481","wikidata":"https://www.wikidata.org/wiki/Q7370260","display_name":"Rotary actuator","level":3,"score":0.4416831135749817},{"id":"https://openalex.org/C107354338","wikidata":"https://www.wikidata.org/wiki/Q1937153","display_name":"Servo","level":2,"score":0.4364374279975891},{"id":"https://openalex.org/C48431260","wikidata":"https://www.wikidata.org/wiki/Q2318337","display_name":"Hydraulic cylinder","level":2,"score":0.4310459494590759},{"id":"https://openalex.org/C109441226","wikidata":"https://www.wikidata.org/wiki/Q1137255","display_name":"Servomotor","level":2,"score":0.4243001639842987},{"id":"https://openalex.org/C193235527","wikidata":"https://www.wikidata.org/wiki/Q863787","display_name":"Continuously variable transmission","level":3,"score":0.4201778471469879},{"id":"https://openalex.org/C198394728","wikidata":"https://www.wikidata.org/wiki/Q3695508","display_name":"Vibration","level":2,"score":0.4177168011665344},{"id":"https://openalex.org/C173909513","wikidata":"https://www.wikidata.org/wiki/Q645549","display_name":"Valve actuator","level":3,"score":0.414995402097702},{"id":"https://openalex.org/C761482","wikidata":"https://www.wikidata.org/wiki/Q118093","display_name":"Transmission (telecommunications)","level":2,"score":0.40334951877593994},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3306710720062256},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.30050939321517944},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12961268424987793},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.10944473743438721},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.08891099691390991},{"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/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2018.8665039","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2018.8665039","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W183703075","https://openalex.org/W1600914722","https://openalex.org/W1974751498","https://openalex.org/W1977705313","https://openalex.org/W1996869048","https://openalex.org/W2022037314","https://openalex.org/W2031366515","https://openalex.org/W2062142552","https://openalex.org/W2096178249","https://openalex.org/W2107643544","https://openalex.org/W2111253117","https://openalex.org/W2113593135","https://openalex.org/W2113899190","https://openalex.org/W2126728198","https://openalex.org/W2127891267","https://openalex.org/W2152291423","https://openalex.org/W2154874053","https://openalex.org/W2166230296","https://openalex.org/W2169706473","https://openalex.org/W6685103607"],"related_works":["https://openalex.org/W2011948302","https://openalex.org/W4246726846","https://openalex.org/W2391030641","https://openalex.org/W4387011732","https://openalex.org/W4248456200","https://openalex.org/W2238885361","https://openalex.org/W1843153341","https://openalex.org/W2369090938","https://openalex.org/W63635417","https://openalex.org/W2040722171"],"abstract_inverted_index":{"Due":[0],"to":[1,21,50,54,94,136],"the":[2,11,22,26,40,44,47,96,112,118,122,132,138,148,152],"increasing":[3],"demand":[4],"for":[5],"safe":[6],"human-robot":[7],"or":[8],"environment-robot":[9],"interaction,":[10],"development":[12],"of":[13,28,43,98,111,151],"intrinsically":[14],"compliant":[15],"actuators":[16],"becomes":[17],"a":[18,61,70,78,88,141],"key":[19],"issue":[20],"robotic":[23],"design.":[24],"However,":[25],"introduction":[27],"compliance":[29],"in":[30,75,121,140],"an":[31],"actuation":[32],"system":[33,36,45,48],"will":[34],"increase":[35],"oscillations":[37],"and":[38,91,101,117],"reduce":[39,137],"mechanical":[41],"bandwidth":[42],"making":[46],"difficult":[49],"control.":[51],"In":[52],"order":[53],"solve":[55],"such":[56],"problems,":[57],"this":[58],"paper":[59],"proposes":[60],"novel":[62],"Variable":[63],"Viscous":[64],"Damping":[65],"Actuator":[66],"(VVDA)":[67],"which":[68],"has":[69],"hydraulic":[71,84,123],"transmission":[72,81,85,124],"unit":[73,86,125],"placed":[74],"parallel":[76],"with":[77],"series":[79],"elastic":[80],"element.":[82],"The":[83,108],"utilizes":[87],"servo":[89],"motor":[90],"slider-crank":[92],"linkage":[93],"change":[95,147],"area":[97],"internal":[99],"orifices":[100],"therefore":[102],"regulates":[103],"its":[104],"viscous":[105,149],"damping":[106,150],"coefficient.":[107],"dynamic":[109],"model":[110],"VVDA":[113,133],"is":[114,126,134],"then":[115],"formulated":[116],"orifice":[119],"effect":[120],"analyzed.":[127],"Experimental":[128],"results":[129],"show":[130],"that":[131],"able":[135],"vibration":[139],"position":[142],"control":[143],"process":[144],"by":[145],"actively":[146],"system.":[153]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2022,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
