{"id":"https://openalex.org/W2992963769","doi":"https://doi.org/10.1109/tase.2019.2954769","title":"Impedance-Controlled Variable Stiffness Actuator for Lower Limb Robot Applications","display_name":"Impedance-Controlled Variable Stiffness Actuator for Lower Limb Robot Applications","publication_year":2019,"publication_date":"2019-12-04","ids":{"openalex":"https://openalex.org/W2992963769","doi":"https://doi.org/10.1109/tase.2019.2954769","mag":"2992963769"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2019.2954769","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2019.2954769","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-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/A5000174342","display_name":"Lin Liu","orcid":"https://orcid.org/0000-0002-9968-4056"},"institutions":[{"id":"https://openalex.org/I887968799","display_name":"RWTH Aachen University","ror":"https://ror.org/04xfq0f34","country_code":"DE","type":"education","lineage":["https://openalex.org/I887968799"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Lin Liu","raw_affiliation_strings":["Chair of Medical Information Technology, Helmholtz-Institute for Biomedical Engineering, RWTH Aachen University, Aachen, Germany"],"affiliations":[{"raw_affiliation_string":"Chair of Medical Information Technology, Helmholtz-Institute for Biomedical Engineering, RWTH Aachen University, Aachen, Germany","institution_ids":["https://openalex.org/I887968799"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060021065","display_name":"Steffen Leonhardt","orcid":"https://orcid.org/0000-0002-6898-6887"},"institutions":[{"id":"https://openalex.org/I887968799","display_name":"RWTH Aachen University","ror":"https://ror.org/04xfq0f34","country_code":"DE","type":"education","lineage":["https://openalex.org/I887968799"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Steffen Leonhardt","raw_affiliation_strings":["Chair of Medical Information Technology, Helmholtz-Institute for Biomedical Engineering, RWTH Aachen University, Aachen, Germany"],"affiliations":[{"raw_affiliation_string":"Chair of Medical Information Technology, Helmholtz-Institute for Biomedical Engineering, RWTH Aachen University, Aachen, Germany","institution_ids":["https://openalex.org/I887968799"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063709217","display_name":"Chuong Ngo","orcid":"https://orcid.org/0000-0002-3961-2173"},"institutions":[{"id":"https://openalex.org/I887968799","display_name":"RWTH Aachen University","ror":"https://ror.org/04xfq0f34","country_code":"DE","type":"education","lineage":["https://openalex.org/I887968799"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Chuong Ngo","raw_affiliation_strings":["Chair of Medical Information Technology, Helmholtz-Institute for Biomedical Engineering, RWTH Aachen University, Aachen, Germany"],"affiliations":[{"raw_affiliation_string":"Chair of Medical Information Technology, Helmholtz-Institute for Biomedical Engineering, RWTH Aachen University, Aachen, Germany","institution_ids":["https://openalex.org/I887968799"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5091171924","display_name":"Berno J.E. Misgeld","orcid":"https://orcid.org/0000-0001-5989-0894"},"institutions":[{"id":"https://openalex.org/I887968799","display_name":"RWTH Aachen University","ror":"https://ror.org/04xfq0f34","country_code":"DE","type":"education","lineage":["https://openalex.org/I887968799"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Berno J. E. Misgeld","raw_affiliation_strings":["Chair of Medical Information Technology, Helmholtz-Institute for Biomedical Engineering, RWTH Aachen University, Aachen, Germany"],"affiliations":[{"raw_affiliation_string":"Chair of Medical Information Technology, Helmholtz-Institute for Biomedical Engineering, RWTH Aachen University, Aachen, Germany","institution_ids":["https://openalex.org/I887968799"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5000174342"],"corresponding_institution_ids":["https://openalex.org/I887968799"],"apc_list":null,"apc_paid":null,"fwci":4.9822,"has_fulltext":false,"cited_by_count":107,"citation_normalized_percentile":{"value":0.9602784,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":"17","issue":"2","first_page":"991","last_page":"1004"},"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9936000108718872,"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":0.989300012588501,"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":0.7725784182548523},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.6275988817214966},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5822980403900146},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.5777100920677185},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5453192591667175},{"id":"https://openalex.org/keywords/mechanical-impedance","display_name":"Mechanical impedance","score":0.5317080616950989},{"id":"https://openalex.org/keywords/variable","display_name":"Variable (mathematics)","score":0.5144650936126709},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.49097302556037903},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4004262685775757},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.382576584815979},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3806564211845398},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18753615021705627},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.18716838955879211},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.1860482394695282},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.158246248960495},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.13514184951782227}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7725784182548523},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.6275988817214966},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5822980403900146},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.5777100920677185},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5453192591667175},{"id":"https://openalex.org/C159447365","wikidata":"https://www.wikidata.org/wiki/Q6421317","display_name":"Mechanical impedance","level":3,"score":0.5317080616950989},{"id":"https://openalex.org/C182365436","wikidata":"https://www.wikidata.org/wiki/Q50701","display_name":"Variable (mathematics)","level":2,"score":0.5144650936126709},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.49097302556037903},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4004262685775757},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.382576584815979},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3806564211845398},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18753615021705627},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.18716838955879211},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.1860482394695282},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.158246248960495},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.13514184951782227},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tase.2019.2954769","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2019.2954769","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-article"},{"id":"pmh:oai:publications.rwth-aachen.de:774871","is_oa":false,"landing_page_url":"https://publications.rwth-aachen.de/record/774871","pdf_url":null,"source":{"id":"https://openalex.org/S4306401033","display_name":"RWTH Publications (RWTH Aachen)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I887968799","host_organization_name":"RWTH Aachen University","host_organization_lineage":["https://openalex.org/I887968799"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE transactions on automation science and engineering 17(2), 1-14 (2019). doi:10.1109/TASE.2019.2954769","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2136130839","display_name":null,"funder_award_id":"LE 817/30-1","funder_id":"https://openalex.org/F4320320879","funder_display_name":"Deutsche Forschungsgemeinschaft"}],"funders":[{"id":"https://openalex.org/F4320320879","display_name":"Deutsche Forschungsgemeinschaft","ror":"https://ror.org/018mejw64"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W1956526995","https://openalex.org/W1986090102","https://openalex.org/W1996385583","https://openalex.org/W2011833550","https://openalex.org/W2017239762","https://openalex.org/W2030033366","https://openalex.org/W2031954356","https://openalex.org/W2034441309","https://openalex.org/W2035515444","https://openalex.org/W2045235457","https://openalex.org/W2050835671","https://openalex.org/W2051681843","https://openalex.org/W2066722526","https://openalex.org/W2070278369","https://openalex.org/W2073136132","https://openalex.org/W2081590984","https://openalex.org/W2092646159","https://openalex.org/W2096003909","https://openalex.org/W2105807067","https://openalex.org/W2116767351","https://openalex.org/W2126728198","https://openalex.org/W2131588967","https://openalex.org/W2132773469","https://openalex.org/W2133322641","https://openalex.org/W2144170450","https://openalex.org/W2193981449","https://openalex.org/W2295584263","https://openalex.org/W2394901438","https://openalex.org/W2464813316","https://openalex.org/W2551071671","https://openalex.org/W2588965061","https://openalex.org/W2614333009","https://openalex.org/W2617281737","https://openalex.org/W2737768136","https://openalex.org/W2746469306","https://openalex.org/W2747938821","https://openalex.org/W2772007885","https://openalex.org/W2783104348","https://openalex.org/W2807138235","https://openalex.org/W2829123841","https://openalex.org/W6712110785"],"related_works":["https://openalex.org/W1659356714","https://openalex.org/W2968893651","https://openalex.org/W1991133586","https://openalex.org/W1548357495","https://openalex.org/W2314048082","https://openalex.org/W1968487248","https://openalex.org/W2052513766","https://openalex.org/W2097006611","https://openalex.org/W1831760065","https://openalex.org/W2219113400"],"abstract_inverted_index":{"We":[0,367],"present":[1],"a":[2,16,103,227,231,238,308,329,354,363],"novel":[3,355],"application":[4,356],"of":[5,59,185,218,245,256,339,357,399],"the":[6,25,52,56,60,69,76,90,118,134,138,144,155,172,186,189,205,210,216,219,253,257,263,271,291,299,324,335,345,348,358,372,379,388,391,397,410],"variable":[7,258],"stiffness":[8,57,105,131,150,259,267,277,280,374],"actuator":[9,106,260,373,437],"(VSA)-based":[10],"assistance/rehabilitation":[11,292],"robot-featured":[12],"impedance":[13,27,53,98,111,124,160,300,310,313,346,381],"control":[14,20,28,71,99,125,184,213,221,301,317,344,382,416],"using":[15,188,226],"cascaded":[17],"position":[18],"torque":[19,45,135,145,183],"loop.":[21],"The":[22,41,414],"robot":[23,293,389],"follows":[24],"adaptive":[26,33,380],"paradigm,":[29],"thereby":[30],"achieving":[31],"an":[32,407,423],"assistance":[34],"level":[35],"according":[36],"to":[37,49,67,93,107,132,154,170,208,243,273,306,331,343,370,375,435,442],"human":[38,43,239],"joint":[39,44,326,337,394],"torque.":[40],"feedforward":[42],"command":[46],"is":[47,65,100,126,169,177,196,223,406,432],"used":[48,127,361],"cooperatively":[50,376],"adjust":[51,371],"controller":[54,146],"and":[55,112,230,278,312,401,431],"trajectory":[58],"VSA":[61,187,228,336,360,393],"(this":[62],"functional":[63],"architecture":[64],"referred":[66],"as":[68],"cooperative":[70,212,415],"framework).":[72],"In":[73],"this":[74,168,444],"way,":[75],"task":[77],"performance":[78],"during":[79],"movement":[80],"training":[81],"can":[82,151,249,303,395],"be":[83,152,250,304,332],"improved":[84],"regarding:":[85],"1)":[86],"safety-for":[87],"example,":[88,116],"when":[89],"subject":[91,119],"intends":[92],"contribute":[94],"considerable":[95],"effort,":[96,122],"low-gain":[97],"activated":[101],"with":[102,120,201,347,378,390,426],"low":[104,149,158,275,402],"further":[108],"decrease":[109],"output":[110,159,276,403],"2)":[113],"tracking":[114,163],"performance-for":[115],"for":[117,157,167,266,446],"less":[121],"high-gain":[123],"while":[128,161],"pursuing":[129],"high":[130],"enhance":[133],"bandwidth.":[136],"Regarding":[137],"safety":[139],"aspect,":[140],"we":[141],"demonstrate":[142],"that":[143],"designed":[147],"at":[148],"sensitive":[153],"disturbance":[156,174],"maintaining":[162],"performance.":[164],"A":[165],"precondition":[166],"treat":[171],"input":[173],"separately.":[175],"This":[176,194,316,351,405],"guaranteed":[178],"by":[179,237,252],"our":[180,386],"previously":[181],"proposed":[182,211,220],"linear":[190],"quadratic":[191],"Gaussian":[192],"technique.":[193],"approach":[195],"also":[197,433],"employed":[198,305],"here,":[199],"but":[200,327],"additional":[202],"discussion":[203],"on":[204,323,334,362,385,409,422],"observer":[206],"design":[207],"serve":[209],"approach.":[214],"Here,":[215],"effectiveness":[217],"system":[222,425,445],"experimentally":[224],"verified":[225],"prototype":[229],"one-degree-of-freedom":[232],"lower":[233,364],"limb":[234,365],"exoskeleton":[235,424],"worn":[236],"test":[240,429],"person.":[241],"Note":[242],"Practitioners-Control":[244],"\u201cphysical":[246],"human-robot":[247],"interaction\u201d":[248],"achieved":[251],"mechanical":[254,264,349],"parts":[255],"(VSA).":[261],"However,":[262],"construction":[265],"variation":[268,281,314],"may":[269,286],"limit":[270],"capacity":[272,342,398],"achieve":[274,307],"fast":[279],"in":[282,290],"speed.":[283,315],"These":[284],"limitations":[285],"become":[287],"more":[288],"evident":[289],"applications.":[294],"To":[295],"overcome":[296],"these":[297],"limitations,":[298],"scheme":[302,318],"programmable":[309],"range":[311],"has":[319],"been":[320],"widely":[321],"applied":[322],"fixed-compliance":[325,412],"lacks":[328],"way":[330],"implemented":[333],"because":[338],"its":[340],"existing":[341],"construction.":[350],"article":[352],"presents":[353],"impedance-controlled":[359,392,411],"robot.":[366],"describe":[368],"how":[369],"work":[377],"scheme.":[383],"Based":[384],"approach,":[387],"extend":[396],"bandwidth":[400],"impedance.":[404],"improvement":[408],"joint.":[413],"framework":[417],"presented":[418],"here":[419],"was":[420],"tested":[421],"two":[427],"healthy":[428],"persons":[430],"applicable":[434],"other":[436],"prototypes.":[438],"Future":[439],"research":[440],"aims":[441],"employ":[443],"actual":[447],"patient":[448],"training.":[449]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":22},{"year":2024,"cited_by_count":16},{"year":2023,"cited_by_count":14},{"year":2022,"cited_by_count":25},{"year":2021,"cited_by_count":20},{"year":2020,"cited_by_count":5}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
