{"id":"https://openalex.org/W1979369654","doi":"https://doi.org/10.1109/robot.2010.5509167","title":"A novel compact and lightweight actuator for wearable robots","display_name":"A novel compact and lightweight actuator for wearable robots","publication_year":2010,"publication_date":"2010-05-01","ids":{"openalex":"https://openalex.org/W1979369654","doi":"https://doi.org/10.1109/robot.2010.5509167","mag":"1979369654"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2010.5509167","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2010.5509167","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE International Conference on Robotics and Automation","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/A5057697306","display_name":"Massimo Bergamasco","orcid":"https://orcid.org/0000-0002-7418-2332"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Massimo Bergamasco","raw_affiliation_strings":["Lab - Scuola Superiore Sant'Anna, PERCRO Laboratory, Pisa, Italy","PERCRO Lab of Scuola Superiore S. Anna, Pisa, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Lab - Scuola Superiore Sant'Anna, PERCRO Laboratory, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"PERCRO Lab of Scuola Superiore S. Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075197884","display_name":"F. Salsedo","orcid":null},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Fabio Salsedo","raw_affiliation_strings":["Lab - Scuola Superiore Sant'Anna, PERCRO Laboratory, Pisa, Italy","PERCRO Lab of Scuola Superiore S. Anna, Pisa, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Lab - Scuola Superiore Sant'Anna, PERCRO Laboratory, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"PERCRO Lab of Scuola Superiore S. Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062838851","display_name":"Simone Marcheschi","orcid":"https://orcid.org/0000-0003-0331-7006"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Simone Marcheschi","raw_affiliation_strings":["Lab - Scuola Superiore Sant'Anna, PERCRO Laboratory, Pisa, Italy","PERCRO Lab of Scuola Superiore S. Anna, Pisa, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Lab - Scuola Superiore Sant'Anna, PERCRO Laboratory, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"PERCRO Lab of Scuola Superiore S. Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089627209","display_name":"Nicola Lucchesi","orcid":null},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Nicola Lucchesi","raw_affiliation_strings":["Lab - Scuola Superiore Sant'Anna, PERCRO Laboratory, Pisa, Italy","PERCRO Lab of Scuola Superiore S. Anna, Pisa, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Lab - Scuola Superiore Sant'Anna, PERCRO Laboratory, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"PERCRO Lab of Scuola Superiore S. Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5073094683","display_name":"Marco Fontana","orcid":"https://orcid.org/0000-0002-5691-8115"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Marco Fontana","raw_affiliation_strings":["Lab - Scuola Superiore Sant'Anna, PERCRO Laboratory, Pisa, Italy","PERCRO Lab of Scuola Superiore S. Anna, Pisa, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Lab - Scuola Superiore Sant'Anna, PERCRO Laboratory, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"PERCRO Lab of Scuola Superiore S. Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.0871,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.77218968,"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":"4197","last_page":"4203"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9900000095367432,"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/T10675","display_name":"Mechanical Circulatory Support Devices","score":0.9735000133514404,"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":0.8105466961860657},{"id":"https://openalex.org/keywords/backlash","display_name":"Backlash","score":0.7761204242706299},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.7243926525115967},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5672690868377686},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5425409078598022},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5275028944015503},{"id":"https://openalex.org/keywords/wearable-computer","display_name":"Wearable computer","score":0.4158136248588562},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4036710858345032},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.3635498285293579},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3462081551551819},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.34078314900398254},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21603721380233765},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.17430266737937927},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1213398277759552},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.10548365116119385}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.8105466961860657},{"id":"https://openalex.org/C2776652708","wikidata":"https://www.wikidata.org/wiki/Q584028","display_name":"Backlash","level":2,"score":0.7761204242706299},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.7243926525115967},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5672690868377686},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5425409078598022},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5275028944015503},{"id":"https://openalex.org/C150594956","wikidata":"https://www.wikidata.org/wiki/Q1334829","display_name":"Wearable computer","level":2,"score":0.4158136248588562},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4036710858345032},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.3635498285293579},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3462081551551819},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.34078314900398254},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21603721380233765},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.17430266737937927},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1213398277759552},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.10548365116119385},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robot.2010.5509167","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2010.5509167","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:www.iris.sssup.it:11382/306016","is_oa":false,"landing_page_url":"http://hdl.handle.net/11382/306016","pdf_url":null,"source":{"id":"https://openalex.org/S4377196376","display_name":"CINECA IRIS Institutional Research Information System (Sant'Anna School of Advanced Studies)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I162290304","host_organization_name":"Scuola Superiore Sant'Anna","host_organization_lineage":["https://openalex.org/I162290304"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7799999713897705,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320331750","display_name":"Ministero della Difesa","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W1594060995","https://openalex.org/W2098685757","https://openalex.org/W2124641719","https://openalex.org/W2136140974","https://openalex.org/W2144699409","https://openalex.org/W2156378823","https://openalex.org/W2169100281","https://openalex.org/W2294898062","https://openalex.org/W2838671784","https://openalex.org/W4233227660"],"related_works":["https://openalex.org/W2318553114","https://openalex.org/W2369073421","https://openalex.org/W45990023","https://openalex.org/W2066639517","https://openalex.org/W2967708117","https://openalex.org/W2242762566","https://openalex.org/W4400901371","https://openalex.org/W1551453979","https://openalex.org/W2370149162","https://openalex.org/W3101820272"],"abstract_inverted_index":{"Advanced":[0],"robotics":[1],"needs":[2],"a":[3,11,91,137,165],"new":[4,50,78,92],"breed":[5],"of":[6,14,90,140],"actuators,":[7],"capable":[8],"to":[9,29,45,55,112,115,131,161],"exhibit":[10],"large":[12],"number":[13],"desirable":[15],"features,":[16],"ranging":[17],"from":[18],"high":[19,22,34],"power/torque":[20],"density,":[21],"efficiency,":[23],"zero":[24,128],"backlash":[25],"and":[26,36,58,86,100,119,127,177],"low":[27,30],"noise,":[28],"reflected":[31],"mechanical":[32,102,125],"impedance,":[33],"bandwidth":[35],"accuracy.":[37],"Even":[38],"if":[39],"it":[40],"is":[41,65],"quite":[42],"evident":[43],"that":[44],"fully":[46,166],"match":[47],"these":[48],"requirements":[49],"basic":[51],"actuation":[52,79,159],"principles":[53],"have":[54],"be":[56,162],"investigated":[57],"developed":[59],"in":[60,164,175],"the":[61,71,84,87,97,101,144,148],"long":[62],"term,":[63],"there":[64],"still":[66],"scope":[67],"now":[68],"for":[69,136,172],"innovating":[70],"field":[72],"by":[73],"combining":[74],"mature":[75],"components":[76],"into":[77],"schemes.":[80],"This":[81],"paper":[82],"reports":[83],"development":[85],"experimental":[88],"evaluation":[89],"actuator,":[93],"aiming":[94],"at":[95],"improving":[96],"torque":[98,118,122],"density":[99],"efficiency.":[103],"The":[104,151],"device":[105],"has":[106,153],"shown":[107],"impressive":[108],"performances":[109],"being":[110],"able":[111],"exert":[113],"up":[114,130],"500Nm":[116],"continuous":[117],"800Nm":[120],"peak":[121],"with":[123],"85%":[124],"efficiency":[126],"backlash,":[129],"60\u00b0/s":[132],"maximum":[133],"output":[134],"speed":[135],"total":[138],"weight":[139],"just":[141],"6Kg,":[142],"comprising":[143],"structural":[145],"case":[146],"covering":[147],"internal":[149],"mechanics.":[150],"actuator":[152],"been":[154],"expressly":[155],"conceived":[156],"as":[157],"an":[158],"module":[160],"integrated":[163],"powered":[167],"whole":[168],"body":[169],"exoskeleton":[170],"intended":[171],"material":[173],"handling":[174],"tight":[176],"unstructured":[178],"environments":[179],"(see":[180],"Fig.1).":[181]},"counts_by_year":[{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2014,"cited_by_count":4},{"year":2013,"cited_by_count":4}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}