{"id":"https://openalex.org/W3134444091","doi":"https://doi.org/10.1109/tcst.2021.3059284","title":"Performance Analysis of Series Elastic Actuator Based on Maximum Torque Transmissibility","display_name":"Performance Analysis of Series Elastic Actuator Based on Maximum Torque Transmissibility","publication_year":2021,"publication_date":"2021-03-01","ids":{"openalex":"https://openalex.org/W3134444091","doi":"https://doi.org/10.1109/tcst.2021.3059284","mag":"3134444091"},"language":"en","primary_location":{"id":"doi:10.1109/tcst.2021.3059284","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2021.3059284","pdf_url":null,"source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"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 Control Systems Technology","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/A5100663730","display_name":"Chan Lee","orcid":"https://orcid.org/0000-0003-0813-6335"},"institutions":[{"id":"https://openalex.org/I55240360","display_name":"Yeungnam University","ror":"https://ror.org/05yc6p159","country_code":"KR","type":"education","lineage":["https://openalex.org/I55240360"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Chan Lee","raw_affiliation_strings":["Department of Robot Engineering, Yeungnam University, Gyeongsan, Korea"],"raw_orcid":"https://orcid.org/0000-0003-0813-6335","affiliations":[{"raw_affiliation_string":"Department of Robot Engineering, Yeungnam University, Gyeongsan, Korea","institution_ids":["https://openalex.org/I55240360"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5007243736","display_name":"Sehoon Oh","orcid":"https://orcid.org/0000-0003-0838-163X"},"institutions":[{"id":"https://openalex.org/I193352282","display_name":"Daegu Gyeongbuk Institute of Science and Technology","ror":"https://ror.org/03frjya69","country_code":"KR","type":"education","lineage":["https://openalex.org/I193352282"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Sehoon Oh","raw_affiliation_strings":["Department of Robotics Engineering, DGIST, Daegu, Korea"],"raw_orcid":"https://orcid.org/0000-0003-0838-163X","affiliations":[{"raw_affiliation_string":"Department of Robotics Engineering, DGIST, Daegu, Korea","institution_ids":["https://openalex.org/I193352282"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":2045,"currency":"USD","value_usd":2045},"apc_paid":null,"fwci":0.587,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.58923145,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":88,"max":98},"biblio":{"volume":"30","issue":"1","first_page":"392","last_page":"399"},"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":0.9945999979972839,"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":0.9871000051498413,"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/torque","display_name":"Torque","score":0.7891632318496704},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7408882975578308},{"id":"https://openalex.org/keywords/transmissibility","display_name":"Transmissibility (structural dynamics)","score":0.6654993295669556},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6340975761413574},{"id":"https://openalex.org/keywords/bandwidth","display_name":"Bandwidth (computing)","score":0.6150069832801819},{"id":"https://openalex.org/keywords/damping-torque","display_name":"Damping torque","score":0.5677968859672546},{"id":"https://openalex.org/keywords/stall-torque","display_name":"Stall torque","score":0.5251388549804688},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4700150787830353},{"id":"https://openalex.org/keywords/direct-torque-control","display_name":"Direct torque control","score":0.4625754654407501},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3606809973716736},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3385186195373535},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.211452454328537},{"id":"https://openalex.org/keywords/induction-motor","display_name":"Induction motor","score":0.19877585768699646},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.14860716462135315},{"id":"https://openalex.org/keywords/vibration","display_name":"Vibration","score":0.11195772886276245},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10685083270072937},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.09080550074577332},{"id":"https://openalex.org/keywords/vibration-isolation","display_name":"Vibration isolation","score":0.0852249264717102}],"concepts":[{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.7891632318496704},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7408882975578308},{"id":"https://openalex.org/C16683452","wikidata":"https://www.wikidata.org/wiki/Q7834601","display_name":"Transmissibility (structural dynamics)","level":4,"score":0.6654993295669556},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6340975761413574},{"id":"https://openalex.org/C2776257435","wikidata":"https://www.wikidata.org/wiki/Q1576430","display_name":"Bandwidth (computing)","level":2,"score":0.6150069832801819},{"id":"https://openalex.org/C40226289","wikidata":"https://www.wikidata.org/wiki/Q5212950","display_name":"Damping torque","level":5,"score":0.5677968859672546},{"id":"https://openalex.org/C17348537","wikidata":"https://www.wikidata.org/wiki/Q7597300","display_name":"Stall torque","level":5,"score":0.5251388549804688},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4700150787830353},{"id":"https://openalex.org/C109871850","wikidata":"https://www.wikidata.org/wiki/Q1227571","display_name":"Direct torque control","level":4,"score":0.4625754654407501},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3606809973716736},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3385186195373535},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.211452454328537},{"id":"https://openalex.org/C80962145","wikidata":"https://www.wikidata.org/wiki/Q207450","display_name":"Induction motor","level":3,"score":0.19877585768699646},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.14860716462135315},{"id":"https://openalex.org/C198394728","wikidata":"https://www.wikidata.org/wiki/Q3695508","display_name":"Vibration","level":2,"score":0.11195772886276245},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10685083270072937},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.09080550074577332},{"id":"https://openalex.org/C45799244","wikidata":"https://www.wikidata.org/wiki/Q109968206","display_name":"Vibration isolation","level":3,"score":0.0852249264717102},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","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/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"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/tcst.2021.3059284","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2021.3059284","pdf_url":null,"source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"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 Control Systems Technology","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life below water","score":0.8500000238418579,"id":"https://metadata.un.org/sdg/14"}],"awards":[{"id":"https://openalex.org/G2827494208","display_name":null,"funder_award_id":"2019R1A2C2011444","funder_id":"https://openalex.org/F4320322120","funder_display_name":"National Research Foundation of Korea"},{"id":"https://openalex.org/G4265844366","display_name":null,"funder_award_id":"10080355","funder_id":"https://openalex.org/F4320334879","funder_display_name":"Korea Evaluation Institute of Industrial Technology"}],"funders":[{"id":"https://openalex.org/F4320322120","display_name":"National Research Foundation of Korea","ror":"https://ror.org/013aysd81"},{"id":"https://openalex.org/F4320334879","display_name":"Korea Evaluation Institute of Industrial Technology","ror":"https://ror.org/03z9cwa38"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1521257674","https://openalex.org/W1535570778","https://openalex.org/W1964064577","https://openalex.org/W1990443524","https://openalex.org/W2065858147","https://openalex.org/W2073737169","https://openalex.org/W2095820912","https://openalex.org/W2111253117","https://openalex.org/W2116767351","https://openalex.org/W2158641070","https://openalex.org/W2295584263","https://openalex.org/W2296118503","https://openalex.org/W2443792810","https://openalex.org/W2523980053","https://openalex.org/W2566495809","https://openalex.org/W4245289959","https://openalex.org/W4250058668","https://openalex.org/W4250087872","https://openalex.org/W6631331923"],"related_works":["https://openalex.org/W2379692442","https://openalex.org/W1920870227","https://openalex.org/W2907769892","https://openalex.org/W2898200619","https://openalex.org/W2380803598","https://openalex.org/W2116043771","https://openalex.org/W1989867538","https://openalex.org/W4379538379","https://openalex.org/W2388902266","https://openalex.org/W3134679668"],"abstract_inverted_index":{"Series":[0],"elastic":[1,29],"actuators":[2],"(SEAs)":[3],"have":[4,15],"had":[5],"sound":[6],"contributions":[7],"in":[8,65,150],"the":[9,35,40,52,63,79,88,111,118,129,140,147,155,164,184,187],"robotics":[10],"field,":[11],"and":[12,45,67,73,125,167,169],"significant":[13],"breakthroughs":[14],"been":[16],"achieved.":[17],"Despite":[18],"this":[19,46,77,97],"fact,":[20],"there":[21],"are":[22,94,175],"still":[23],"drawbacks":[24],"to":[25,55,82,109],"their":[26],"performance.":[27],"The":[28],"spring,":[30],"which":[31,151],"provides":[32],"compliance,":[33],"limits":[34],"SEA\u2019s":[36],"performance":[37,91,188],"by":[38,115],"lowering":[39],"bandwidth":[41,47,143],"of":[42,92,113,128,173,186,189],"force/torque":[43],"generation,":[44],"decreases":[48],"even":[49],"further":[50],"when":[51],"SEA":[53,93,114,119,152,190],"has":[54],"render":[56],"large":[57],"torques.":[58],"This":[59],"problem":[60],"originates":[61],"from":[62],"constraints":[64],"motor":[66,68],"driver,":[69],"such":[70],"as":[71],"torque":[72,104,142,157],"velocity":[74,127],"limits.":[75],"In":[76],"brief,":[78],"mathematical":[80],"tools":[81],"analyze":[83],"how":[84],"these":[85],"limitations":[86],"influence":[87],"force":[89],"control":[90],"proposed.":[95,159],"To":[96],"end,":[98],"a":[99,121,136],"novel":[100],"criterion":[101],"called":[102,139],"maximum":[103,122,141,156],"transmissibility":[105],"(MTT)":[106],"is":[107,158],"defined":[108],"assess":[110],"ability":[112],"fully":[116],"utilizing":[117],"dynamics,":[120],"continuous":[123],"torque,":[124],"permissible":[126],"servo":[130],"motor.":[131],"Further,":[132],"based":[133],"on":[134],"MTT,":[135],"new":[137],"concept":[138],"that":[144,180],"can":[145,153,182],"indicate":[146,183],"frequency":[148],"limit":[149],"generate":[154],"Various":[160],"design":[161,171],"parameters,":[162],"including":[163],"load":[165],"condition":[166],"mechanical":[168],"controller":[170],"parameters":[172],"SEA,":[174],"evaluated.":[176],"Experimental":[177],"results":[178],"verify":[179],"MTT":[181],"limitation":[185],"precisely.":[191]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1}],"updated_date":"2026-08-28T12:50:07.497085","created_date":"2025-10-10T00:00:00"}
