{"id":"https://openalex.org/W3001339944","doi":"https://doi.org/10.1109/robio49542.2019.8961703","title":"Design and Validation of an Asymmetric Bowden-Cable-Driven Series Elastic Actuator","display_name":"Design and Validation of an Asymmetric Bowden-Cable-Driven Series Elastic Actuator","publication_year":2019,"publication_date":"2019-12-01","ids":{"openalex":"https://openalex.org/W3001339944","doi":"https://doi.org/10.1109/robio49542.2019.8961703","mag":"3001339944"},"language":"en","primary_location":{"id":"doi:10.1109/robio49542.2019.8961703","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio49542.2019.8961703","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 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/A5101759250","display_name":"Ning Sun","orcid":"https://orcid.org/0000-0003-3467-5973"},"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"]},{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Ning Sun","raw_affiliation_strings":["Institute of Automation, Chinese Academy of Sciences,State Key Laboratory of Management and Control for Complex Systems,Beijing,China,100190","State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Institute of Automation, Chinese Academy of Sciences,State Key Laboratory of Management and Control for Complex Systems,Beijing,China,100190","institution_ids":["https://openalex.org/I4210094879","https://openalex.org/I19820366"]},{"raw_affiliation_string":"State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210094879","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108401200","display_name":"Long Cheng","orcid":"https://orcid.org/0000-0001-7565-8788"},"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"]},{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Long Cheng","raw_affiliation_strings":["Institute of Automation, Chinese Academy of Sciences,State Key Laboratory of Management and Control for Complex Systems,Beijing,China,100190","State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Institute of Automation, Chinese Academy of Sciences,State Key Laboratory of Management and Control for Complex Systems,Beijing,China,100190","institution_ids":["https://openalex.org/I4210094879","https://openalex.org/I19820366"]},{"raw_affiliation_string":"State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210094879","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074798849","display_name":"Lin Tian","orcid":null},"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"]},{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lin Tian","raw_affiliation_strings":["Institute of Automation, Chinese Academy of Sciences,State Key Laboratory of Management and Control for Complex Systems,Beijing,China,100190","State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Institute of Automation, Chinese Academy of Sciences,State Key Laboratory of Management and Control for Complex Systems,Beijing,China,100190","institution_ids":["https://openalex.org/I4210094879","https://openalex.org/I19820366"]},{"raw_affiliation_string":"State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210094879","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109333020","display_name":"Zeng\u2010Guang Hou","orcid":"https://orcid.org/0000-0002-1534-5840"},"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"]},{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zeng-Guang Hou","raw_affiliation_strings":["Institute of Automation, Chinese Academy of Sciences,State Key Laboratory of Management and Control for Complex Systems,Beijing,China,100190","State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Institute of Automation, Chinese Academy of Sciences,State Key Laboratory of Management and Control for Complex Systems,Beijing,China,100190","institution_ids":["https://openalex.org/I4210094879","https://openalex.org/I19820366"]},{"raw_affiliation_string":"State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210094879","https://openalex.org/I19820366"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024708104","display_name":"Min Tan","orcid":"https://orcid.org/0000-0002-1986-8438"},"institutions":[{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]},{"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":"Min Tan","raw_affiliation_strings":["Institute of Automation, Chinese Academy of Sciences,State Key Laboratory of Management and Control for Complex Systems,Beijing,China,100190","State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Institute of Automation, Chinese Academy of Sciences,State Key Laboratory of Management and Control for Complex Systems,Beijing,China,100190","institution_ids":["https://openalex.org/I4210094879","https://openalex.org/I19820366"]},{"raw_affiliation_string":"State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210094879","https://openalex.org/I19820366"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5101759250"],"corresponding_institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210094879"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.16538018,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"852","last_page":"857"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9987000226974487,"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":0.9987000226974487,"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":0.9944999814033508,"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/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9896000027656555,"subfield":{"id":"https://openalex.org/subfields/2742","display_name":"Rehabilitation"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.8332871198654175},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.8088350296020508},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.658842921257019},{"id":"https://openalex.org/keywords/exoskeleton","display_name":"Exoskeleton","score":0.6121790409088135},{"id":"https://openalex.org/keywords/series","display_name":"Series (stratigraphy)","score":0.47864997386932373},{"id":"https://openalex.org/keywords/bandwidth","display_name":"Bandwidth (computing)","score":0.4456183612346649},{"id":"https://openalex.org/keywords/damping-torque","display_name":"Damping torque","score":0.43845057487487793},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.37996530532836914},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3674258589744568},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.26127201318740845},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2156842052936554},{"id":"https://openalex.org/keywords/direct-torque-control","display_name":"Direct torque control","score":0.20458516478538513},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.11450836062431335},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.08494770526885986},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.07334741950035095}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.8332871198654175},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.8088350296020508},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.658842921257019},{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.6121790409088135},{"id":"https://openalex.org/C143724316","wikidata":"https://www.wikidata.org/wiki/Q312468","display_name":"Series (stratigraphy)","level":2,"score":0.47864997386932373},{"id":"https://openalex.org/C2776257435","wikidata":"https://www.wikidata.org/wiki/Q1576430","display_name":"Bandwidth (computing)","level":2,"score":0.4456183612346649},{"id":"https://openalex.org/C40226289","wikidata":"https://www.wikidata.org/wiki/Q5212950","display_name":"Damping torque","level":5,"score":0.43845057487487793},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.37996530532836914},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3674258589744568},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.26127201318740845},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2156842052936554},{"id":"https://openalex.org/C109871850","wikidata":"https://www.wikidata.org/wiki/Q1227571","display_name":"Direct torque control","level":4,"score":0.20458516478538513},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.11450836062431335},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.08494770526885986},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.07334741950035095},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C80962145","wikidata":"https://www.wikidata.org/wiki/Q207450","display_name":"Induction motor","level":3,"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/C165801399","wikidata":"https://www.wikidata.org/wiki/Q25428","display_name":"Voltage","level":2,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio49542.2019.8961703","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio49542.2019.8961703","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life below water","score":0.8799999952316284,"id":"https://metadata.un.org/sdg/14"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1581560749","https://openalex.org/W1992375966","https://openalex.org/W1994380917","https://openalex.org/W2022657042","https://openalex.org/W2024242733","https://openalex.org/W2050835671","https://openalex.org/W2070843634","https://openalex.org/W2116767351","https://openalex.org/W2140680786","https://openalex.org/W2172137180","https://openalex.org/W2294251513","https://openalex.org/W2330463024","https://openalex.org/W2560743642","https://openalex.org/W2563321482","https://openalex.org/W2588408339","https://openalex.org/W2735481964","https://openalex.org/W2767704770","https://openalex.org/W2777504572","https://openalex.org/W2789282724","https://openalex.org/W2791453970","https://openalex.org/W2795105096","https://openalex.org/W2888893999","https://openalex.org/W2902305169","https://openalex.org/W2945935987","https://openalex.org/W2970085819","https://openalex.org/W2976523354","https://openalex.org/W3045917204","https://openalex.org/W3114834417","https://openalex.org/W6768333039","https://openalex.org/W6781417440","https://openalex.org/W6787540176"],"related_works":["https://openalex.org/W3205655234","https://openalex.org/W2909939948","https://openalex.org/W2906683640","https://openalex.org/W2373410575","https://openalex.org/W3101820272","https://openalex.org/W1567726301","https://openalex.org/W3014451371","https://openalex.org/W2616586521","https://openalex.org/W2359138667","https://openalex.org/W2329517623"],"abstract_inverted_index":{"Weight,":[0],"size":[1],"and":[2,16,55,94,110,168],"torque":[3,19,125,131,146,157,171],"control":[4,114],"for":[5,31,45,126],"hand":[6,32],"exoskeleton":[7,33],"robots":[8,34],"are":[9,48],"challenging":[10],"due":[11],"to":[12,51,72,121],"lack":[13],"of":[14,65,106,147,159,172],"small":[15],"compact":[17],"bidirectional":[18],"actuators.":[20],"In":[21],"this":[22],"paper,":[23],"an":[24],"asymmetric":[25],"Bowden-cable-driven":[26],"series":[27,52,74,162],"elastic":[28,53,63,75,163],"actuator":[29,54,76,164],"(ABLE-SEA)":[30],"was":[35,108,119,137,149],"proposed":[36,161],"based":[37],"on":[38],"the":[39,42,62,123,127,140,144,156,160,169,179],"fact":[40],"that":[41,58,155],"required":[43],"torques":[44],"finger":[46],"movements":[47],"asymmetric.":[49],"Compared":[50],"transmission":[56,70,78],"system":[57,82],"were":[59,67],"designed":[60],"separately,":[61],"elements":[64],"ABLESEA":[66],"placed":[68,101],"in":[69,92],"parts":[71],"connect":[73],"with":[77],"system,":[79],"which":[80,99,177],"makes":[81],"compact.":[83],"ABLE-SEA":[84,107,148,173],"is":[85,100],"71":[86],"mm":[87],"\u00d7":[88,90],"19.5mm":[89],"20mm":[91],"dimension":[93],"weighs":[95],"30g":[96],"except":[97],"motor":[98],"remotely.":[102],"The":[103,129,151],"dynamic":[104],"model":[105],"established,":[109],"feedback":[111],"proportional-derivative":[112],"(PD)":[113],"plus":[115],"a":[116],"feed-forward":[117],"term":[118],"used":[120],"track":[122],"reference":[124,130],"ABLE-SEA.":[128],"tracking":[132],"test":[133],"at":[134,139],"different":[135],"frequencies":[136],"performed":[138],"developed":[141],"prototype.":[142],"Meanwhile,":[143],"peak":[145,170],"tested.":[150],"experimental":[152],"results":[153],"verified":[154],"bandwidth":[158],"could":[165,174],"reach":[166,175],"4Hz,":[167],"0.3Nm,":[176],"meet":[178],"design":[180],"requirement.":[181]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2023,"cited_by_count":1}],"updated_date":"2026-04-14T08:04:32.555800","created_date":"2025-10-10T00:00:00"}