{"id":"https://openalex.org/W2531653844","doi":"https://doi.org/10.1109/tro.2016.2604496","title":"Reducing the Energy Consumption of Robots Using the Bidirectional Clutched Parallel Elastic Actuator","display_name":"Reducing the Energy Consumption of Robots Using the Bidirectional Clutched Parallel Elastic Actuator","publication_year":2016,"publication_date":"2016-10-10","ids":{"openalex":"https://openalex.org/W2531653844","doi":"https://doi.org/10.1109/tro.2016.2604496","mag":"2531653844"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2016.2604496","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2016.2604496","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"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 Robotics","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/A5023472355","display_name":"Michiel Plooij","orcid":"https://orcid.org/0000-0002-6519-6062"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Michiel Plooij","raw_affiliation_strings":["Faculty of Mechanical Engineering, Delft University of Technology, Delft, CD, The Netherlands"],"raw_orcid":"https://orcid.org/0000-0002-6519-6062","affiliations":[{"raw_affiliation_string":"Faculty of Mechanical Engineering, Delft University of Technology, Delft, CD, The Netherlands","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012384272","display_name":"Martijn Wisse","orcid":"https://orcid.org/0000-0001-8210-7562"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Martijn Wisse","raw_affiliation_strings":["Department of Mechanical Engineering, Delft University of Technology, Delft, CD, The Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Delft University of Technology, Delft, CD, The Netherlands","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5007760731","display_name":"Heike Vallery","orcid":"https://orcid.org/0000-0002-0305-398X"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Heike Vallery","raw_affiliation_strings":["Faculty of Mechanical, Delft University of Technology, Delft, CD, The Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Mechanical, Delft University of Technology, Delft, CD, The Netherlands","institution_ids":["https://openalex.org/I98358874"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I98358874"],"apc_list":null,"apc_paid":null,"fwci":3.0705,"has_fulltext":false,"cited_by_count":75,"citation_normalized_percentile":{"value":0.91351576,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"32","issue":"6","first_page":"1512","last_page":"1523"},"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":0.992900013923645,"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":0.9905999898910522,"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":0.7373151779174805},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7308571338653564},{"id":"https://openalex.org/keywords/energy-consumption","display_name":"Energy consumption","score":0.707123875617981},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6554654836654663},{"id":"https://openalex.org/keywords/kinetic-energy","display_name":"Kinetic energy","score":0.5706982016563416},{"id":"https://openalex.org/keywords/spring","display_name":"Spring (device)","score":0.5645730495452881},{"id":"https://openalex.org/keywords/energy","display_name":"Energy (signal processing)","score":0.49111053347587585},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.4890476167201996},{"id":"https://openalex.org/keywords/efficient-energy-use","display_name":"Efficient energy use","score":0.4737309217453003},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.45694905519485474},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.45019885897636414},{"id":"https://openalex.org/keywords/cylinder","display_name":"Cylinder","score":0.424665242433548},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3784279227256775},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.332542359828949},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.2762874364852905},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.26655635237693787},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.25220629572868347},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24985170364379883},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.19630631804466248},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.11423623561859131},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.09151899814605713}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7373151779174805},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7308571338653564},{"id":"https://openalex.org/C2780165032","wikidata":"https://www.wikidata.org/wiki/Q16869822","display_name":"Energy consumption","level":2,"score":0.707123875617981},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6554654836654663},{"id":"https://openalex.org/C135889238","wikidata":"https://www.wikidata.org/wiki/Q46276","display_name":"Kinetic energy","level":2,"score":0.5706982016563416},{"id":"https://openalex.org/C2778712887","wikidata":"https://www.wikidata.org/wiki/Q102836","display_name":"Spring (device)","level":2,"score":0.5645730495452881},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.49111053347587585},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.4890476167201996},{"id":"https://openalex.org/C2742236","wikidata":"https://www.wikidata.org/wiki/Q924713","display_name":"Efficient energy use","level":2,"score":0.4737309217453003},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.45694905519485474},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.45019885897636414},{"id":"https://openalex.org/C203311528","wikidata":"https://www.wikidata.org/wiki/Q34132","display_name":"Cylinder","level":2,"score":0.424665242433548},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3784279227256775},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.332542359828949},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.2762874364852905},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.26655635237693787},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.25220629572868347},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24985170364379883},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.19630631804466248},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.11423623561859131},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.09151899814605713},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tro.2016.2604496","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2016.2604496","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"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 Robotics","raw_type":"journal-article"},{"id":"pmh:oai:tudelft.nl:uuid:66d23e4f-7ae3-47df-939f-2062f015ee75","is_oa":false,"landing_page_url":"http://resolver.tudelft.nl/uuid:66d23e4f-7ae3-47df-939f-2062f015ee75","pdf_url":null,"source":{"id":"https://openalex.org/S4306400906","display_name":"Research Repository (Delft University of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I98358874","host_organization_name":"Delft University of Technology","host_organization_lineage":["https://openalex.org/I98358874"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"journal article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.9100000262260437,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321800","display_name":"Nederlandse Organisatie voor Wetenschappelijk Onderzoek","ror":"https://ror.org/04jsz6e67"},{"id":"https://openalex.org/F4320334893","display_name":"Stichting voor de Technische Wetenschappen","ror":"https://ror.org/057tq3593"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":40,"referenced_works":["https://openalex.org/W619776839","https://openalex.org/W1482167264","https://openalex.org/W1562635698","https://openalex.org/W1565591705","https://openalex.org/W1582723805","https://openalex.org/W1974751498","https://openalex.org/W1979445726","https://openalex.org/W2000624348","https://openalex.org/W2002555447","https://openalex.org/W2014773124","https://openalex.org/W2029058516","https://openalex.org/W2046253206","https://openalex.org/W2048183735","https://openalex.org/W2048383675","https://openalex.org/W2052921756","https://openalex.org/W2053186023","https://openalex.org/W2070268063","https://openalex.org/W2072859516","https://openalex.org/W2073136132","https://openalex.org/W2073737169","https://openalex.org/W2080592145","https://openalex.org/W2108434160","https://openalex.org/W2109135013","https://openalex.org/W2110194500","https://openalex.org/W2111253117","https://openalex.org/W2119266043","https://openalex.org/W2122781667","https://openalex.org/W2126702412","https://openalex.org/W2129936198","https://openalex.org/W2130527887","https://openalex.org/W2144781570","https://openalex.org/W2148557558","https://openalex.org/W2155035192","https://openalex.org/W2160447207","https://openalex.org/W2166978470","https://openalex.org/W2169100281","https://openalex.org/W2291824066","https://openalex.org/W2418295831","https://openalex.org/W6676005675","https://openalex.org/W6676798253"],"related_works":["https://openalex.org/W1974744264","https://openalex.org/W2359412950","https://openalex.org/W2041310076","https://openalex.org/W2007221537","https://openalex.org/W2153909955","https://openalex.org/W4245647349","https://openalex.org/W2490690736","https://openalex.org/W2030669860","https://openalex.org/W2080330449","https://openalex.org/W2099333796"],"abstract_inverted_index":{"Parallel":[0],"elastic":[1,46],"actuators":[2],"(PEAs)":[3],"have":[4],"shown":[5],"the":[6,9,37,42,51,71,80,95,104,108,115,119,184,194,200,205,209,227,263],"abilto":[7],"reduce":[8],"energy":[10,52,110,127,206,228],"consumption":[11,53,207,229],"of":[12,41,54,70,74,84,111,159,173,179,208,221,230,249],"robots.":[13],"However,":[14],"regular":[15],"PEAs":[16],"do":[17],"not":[18],"allow":[19],"us":[20],"to":[21,29,94],"freely":[22],"choose":[23],"at":[24],"which":[25,49,190,255],"instant":[26],"or":[27,31,152],"configuration":[28],"store":[30,107,214],"release":[32],"energy.":[33],"This":[34,182],"paper":[35],"introduces":[36],"concept":[38,69],"and":[39,58,66,165,176,186,197,217,246],"design":[40],"bidirectional":[43],"clutched":[44],"parallel":[45,61],"actuator":[47],"(BIC-PEA),":[48],"reduces":[50],"robots":[55,143,151],"by":[56,97],"loading":[57],"unloading":[59],"a":[60,75,85,112,168,171,177,218,247,252],"spring":[62,76,116,126],"with":[63,170,262],"controlled":[64],"timing":[65],"direction.":[67,137],"The":[68,125,156,211],"BIC-PEA":[72,105,212],"consists":[73],"that":[77,118,144,226],"mounted":[78],"between":[79],"two":[81,98],"outgoing":[82],"axes":[83,89],"differential":[86],"mechanism.":[87],"Those":[88],"can":[90,106,128,213,234],"also":[91,203],"be":[92,130,235],"locked":[93],"ground":[96],"locking":[99],"mechanisms.":[100],"At":[101],"any":[102,135],"position,":[103],"kinetic":[109],"joint":[113,120,133],"in":[114,134,167,251],"such":[117,148],"is":[121,140,256],"decelerated":[122],"zero":[123],"velocity.":[124],"then":[129],"released,":[131],"accelerating":[132],"desired":[136],"Such":[138],"functionality":[139],"suitable":[141],"for":[142],"perform":[145],"rest-to-rest":[146],"motions,":[147],"as":[149],"pick-and-place":[150],"intermittently":[153],"moving":[154],"belts.":[155],"main":[157],"body":[158],"our":[160,231],"prototype":[161],"weighs":[162],"202":[163],"g":[164],"fits":[166],"cylinder":[169],"length":[172],"51":[174],"mm":[175],"diameter":[178],"45":[180],"mm.":[181],"excludes":[183],"size":[185],"weight":[187],"nonoptimized":[188],"clutches,":[189],"would":[191],"approximately":[192],"triple":[193],"total":[195],"volume":[196],"weight.":[198],"In":[199,238],"results,":[201],"we":[202,241],"omit":[204],"clutches.":[210],"0.77":[215],"J":[216],"peak":[219,243],"torque":[220],"1.5":[222],"N\u00b7m.":[223],"Simulations":[224],"show":[225],"one-degree-of-freedom":[232],"setup":[233],"reduced":[236],"73%.":[237],"hardware":[239],"experiments,":[240],"reached":[242],"reductions":[244],"65%":[245],"reduction":[248],"53%":[250],"realistic":[253],"task,":[254],"larger":[257],"than":[258],"all":[259],"other":[260],"concepts":[261],"same":[264],"functionality.":[265]},"counts_by_year":[{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":10},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":16},{"year":2020,"cited_by_count":10},{"year":2019,"cited_by_count":8},{"year":2018,"cited_by_count":8},{"year":2017,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
