{"id":"https://openalex.org/W4390099952","doi":"https://doi.org/10.1109/robio58561.2023.10354607","title":"Frequency Domain Analysis of Nonlinear Series Elastic Actuator via Describing Function","display_name":"Frequency Domain Analysis of Nonlinear Series Elastic Actuator via Describing Function","publication_year":2023,"publication_date":"2023-12-04","ids":{"openalex":"https://openalex.org/W4390099952","doi":"https://doi.org/10.1109/robio58561.2023.10354607"},"language":"en","primary_location":{"id":"doi:10.1109/robio58561.2023.10354607","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio58561.2023.10354607","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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/A5082376679","display_name":"Motohiro Hirao","orcid":"https://orcid.org/0000-0002-6509-6416"},"institutions":[{"id":"https://openalex.org/I4210157453","display_name":"NSK (Japan)","ror":"https://ror.org/05nm3qe34","country_code":"JP","type":"company","lineage":["https://openalex.org/I4210157453"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Motohiro Hirao","raw_affiliation_strings":["NSK Ltd.,Japan","NSK Ltd., Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"NSK Ltd.,Japan","institution_ids":["https://openalex.org/I4210157453"]},{"raw_affiliation_string":"NSK Ltd., Japan","institution_ids":["https://openalex.org/I4210157453"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082928789","display_name":"Burak K\u00fcrk\u00e7\u00fc","orcid":"https://orcid.org/0000-0002-0828-4234"},"institutions":[{"id":"https://openalex.org/I66514158","display_name":"Hacettepe University","ror":"https://ror.org/04kwvgz42","country_code":"TR","type":"education","lineage":["https://openalex.org/I66514158"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"Burak Kurkcu","raw_affiliation_strings":["Hacettepe University,Department of Computer Engineering,Turkey","Department of Computer Engineering, Hacettepe University, Turkey"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hacettepe University,Department of Computer Engineering,Turkey","institution_ids":["https://openalex.org/I66514158"]},{"raw_affiliation_string":"Department of Computer Engineering, Hacettepe University, Turkey","institution_ids":["https://openalex.org/I66514158"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040423207","display_name":"Alireza Ghanbarpour","orcid":"https://orcid.org/0000-0002-7485-029X"},"institutions":[{"id":"https://openalex.org/I23946033","display_name":"University of Tehran","ror":"https://ror.org/05vf56z40","country_code":"IR","type":"education","lineage":["https://openalex.org/I23946033"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"Alireza Ghanbarpour","raw_affiliation_strings":["Unversity of Tehran,Iran","Unversity of Tehran, Iran"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Unversity of Tehran,Iran","institution_ids":["https://openalex.org/I23946033"]},{"raw_affiliation_string":"Unversity of Tehran, Iran","institution_ids":["https://openalex.org/I23946033"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5064077634","display_name":"Masayoshi Tomizuka","orcid":"https://orcid.org/0000-0003-0206-6639"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Masayoshi Tomizuka","raw_affiliation_strings":["University of California,Department of Mechanical Engineering,Berkeley","Department of Mechanical Engineering, University of California, Berkeley"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California,Department of Mechanical Engineering,Berkeley","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"Department of Mechanical Engineering, University of California, Berkeley","institution_ids":["https://openalex.org/I95457486"]}]}],"institutions":[],"countries_distinct_count":4,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.9618,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.8734402,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9972000122070312,"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/T10690","display_name":"Vibration Control and Rheological Fluids","score":0.9890000224113464,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/nonlinear-system","display_name":"Nonlinear system","score":0.7588679790496826},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.7435144186019897},{"id":"https://openalex.org/keywords/frequency-domain","display_name":"Frequency domain","score":0.7369694113731384},{"id":"https://openalex.org/keywords/describing-function","display_name":"Describing function","score":0.6566681861877441},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6091647744178772},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5749583840370178},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5507451891899109},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5179116129875183},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.5080444812774658},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5055868625640869},{"id":"https://openalex.org/keywords/domain","display_name":"Domain (mathematical analysis)","score":0.48749566078186035},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.4320540428161621},{"id":"https://openalex.org/keywords/series","display_name":"Series (stratigraphy)","score":0.42453616857528687},{"id":"https://openalex.org/keywords/bandwidth","display_name":"Bandwidth (computing)","score":0.41599082946777344},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3320887088775635},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2607564330101013},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.23922383785247803},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.13174745440483093},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.09796920418739319},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07071572542190552},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.06592661142349243}],"concepts":[{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.7588679790496826},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7435144186019897},{"id":"https://openalex.org/C19118579","wikidata":"https://www.wikidata.org/wiki/Q786423","display_name":"Frequency domain","level":2,"score":0.7369694113731384},{"id":"https://openalex.org/C147317941","wikidata":"https://www.wikidata.org/wiki/Q1925419","display_name":"Describing function","level":3,"score":0.6566681861877441},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6091647744178772},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5749583840370178},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5507451891899109},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5179116129875183},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.5080444812774658},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5055868625640869},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.48749566078186035},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.4320540428161621},{"id":"https://openalex.org/C143724316","wikidata":"https://www.wikidata.org/wiki/Q312468","display_name":"Series (stratigraphy)","level":2,"score":0.42453616857528687},{"id":"https://openalex.org/C2776257435","wikidata":"https://www.wikidata.org/wiki/Q1576430","display_name":"Bandwidth (computing)","level":2,"score":0.41599082946777344},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3320887088775635},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2607564330101013},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.23922383785247803},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.13174745440483093},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.09796920418739319},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07071572542190552},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.06592661142349243},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","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/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio58561.2023.10354607","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio58561.2023.10354607","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life below water","id":"https://metadata.un.org/sdg/14","score":0.7599999904632568}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1487127700","https://openalex.org/W1825041585","https://openalex.org/W2031711324","https://openalex.org/W2126728198","https://openalex.org/W2155109795","https://openalex.org/W2204074139","https://openalex.org/W2293200354","https://openalex.org/W2564128513","https://openalex.org/W2793492115","https://openalex.org/W2906162963","https://openalex.org/W2921422304","https://openalex.org/W2946938118","https://openalex.org/W2969320466","https://openalex.org/W2993250595","https://openalex.org/W3134323936","https://openalex.org/W3183497980","https://openalex.org/W3195576701","https://openalex.org/W4205411871","https://openalex.org/W4211003818","https://openalex.org/W4286750047","https://openalex.org/W4292072267","https://openalex.org/W4367040982","https://openalex.org/W6631331923","https://openalex.org/W6756134526"],"related_works":["https://openalex.org/W3101820272","https://openalex.org/W2006936312","https://openalex.org/W2120101598","https://openalex.org/W7466803","https://openalex.org/W2986287776","https://openalex.org/W2568707821","https://openalex.org/W1522242297","https://openalex.org/W2479918544","https://openalex.org/W3150854810","https://openalex.org/W2107058545"],"abstract_inverted_index":{"Nonlinear":[0],"stiffness":[1,13],"SEAs":[2],"(NSEAs)":[3],"inspired":[4],"by":[5],"biological":[6],"muscles":[7],"offer":[8],"promise":[9],"in":[10,38,62,98],"achieving":[11],"adaptable":[12],"for":[14,52,93],"assistive":[15,18,99],"robots.":[16],"While":[17],"robots":[19],"are":[20],"often":[21],"designed":[22,37],"and":[23,29,89,96],"compared":[24],"based":[25],"on":[26],"torque":[27],"capability":[28],"control":[30,97],"bandwidth,":[31],"NSEAs":[32],"have":[33],"not":[34],"been":[35],"systematically":[36],"the":[39,63,79],"frequency":[40,64,70],"domain":[41,71],"due":[42],"to":[43,58,86],"their":[44,60],"nonlinearity.":[45],"The":[46],"describing":[47,80],"function,":[48],"an":[49],"analytical":[50],"concept":[51],"nonlinear":[53,74],"systems,":[54],"offers":[55],"a":[56,69],"means":[57],"understand":[59],"behavior":[61],"domain.":[65],"This":[66,83],"paper":[67],"introduces":[68],"analysis":[72],"of":[73],"series":[75],"elastic":[76],"actuators":[77],"using":[78],"function":[81],"method.":[82],"framework":[84],"aims":[85],"equip":[87],"researchers":[88],"engineers":[90],"with":[91],"tools":[92],"improved":[94],"design":[95],"robotics.":[100]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2023-12-23T00:00:00"}