{"id":"https://openalex.org/W4406728007","doi":"https://doi.org/10.1126/scirobotics.adp2356","title":"A neuromechanics solution for adjustable robot compliance and accuracy","display_name":"A neuromechanics solution for adjustable robot compliance and accuracy","publication_year":2025,"publication_date":"2025-01-22","ids":{"openalex":"https://openalex.org/W4406728007","doi":"https://doi.org/10.1126/scirobotics.adp2356","pmid":"https://pubmed.ncbi.nlm.nih.gov/39841815"},"language":"en","primary_location":{"id":"doi:10.1126/scirobotics.adp2356","is_oa":false,"landing_page_url":"https://doi.org/10.1126/scirobotics.adp2356","pdf_url":null,"source":{"id":"https://openalex.org/S4210213233","display_name":"Science Robotics","issn_l":"2470-9476","issn":["2470-9476"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310315823","host_organization_name":"American Association for the Advancement of Science","host_organization_lineage":["https://openalex.org/P4310315823"],"host_organization_lineage_names":["American Association for the Advancement of Science"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Science Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","pubmed"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://infoscience.epfl.ch/handle/20.500.14299/246325","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5017142972","display_name":"Ignacio Abad\u00eda","orcid":"https://orcid.org/0000-0003-1365-1526"},"institutions":[{"id":"https://openalex.org/I173304897","display_name":"Universidad de Granada","ror":"https://ror.org/04njjy449","country_code":"ES","type":"education","lineage":["https://openalex.org/I173304897"]}],"countries":["ES"],"is_corresponding":true,"raw_author_name":"Ignacio Abad\u00eda","raw_affiliation_strings":["Research Center for Information and Communication Technologies, Department of Computer Engineering, Automation and Robotics, University of Granada, Granada, Spain"],"raw_orcid":"https://orcid.org/0000-0003-1365-1526","affiliations":[{"raw_affiliation_string":"Research Center for Information and Communication Technologies, Department of Computer Engineering, Automation and Robotics, University of Granada, Granada, Spain","institution_ids":["https://openalex.org/I173304897"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047981912","display_name":"Alice Bruel","orcid":"https://orcid.org/0000-0002-5467-2852"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Alice Bruel","raw_affiliation_strings":["Biorobotics Laboratory, \u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne (EPFL), Lausanne, Switzerland"],"raw_orcid":"https://orcid.org/0000-0002-5467-2852","affiliations":[{"raw_affiliation_string":"Biorobotics Laboratory, \u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne (EPFL), Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018530098","display_name":"Gr\u00e9goire Courtine","orcid":"https://orcid.org/0000-0002-5744-4142"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Gr\u00e9goire Courtine","raw_affiliation_strings":["NeuroX Institute and .NeuroRestore, EPFL/CHUV/UNIL, Lausanne, Switzerland"],"raw_orcid":"https://orcid.org/0000-0002-5744-4142","affiliations":[{"raw_affiliation_string":"NeuroX Institute and .NeuroRestore, EPFL/CHUV/UNIL, Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069603317","display_name":"Auke Jan Ijspeert","orcid":"https://orcid.org/0000-0003-1417-9980"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Auke J. Ijspeert","raw_affiliation_strings":["Biorobotics Laboratory, \u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne (EPFL), Lausanne, Switzerland"],"raw_orcid":"https://orcid.org/0000-0003-1417-9980","affiliations":[{"raw_affiliation_string":"Biorobotics Laboratory, \u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne (EPFL), Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101663021","display_name":"Eduardo Ros","orcid":"https://orcid.org/0000-0001-6613-5256"},"institutions":[{"id":"https://openalex.org/I173304897","display_name":"Universidad de Granada","ror":"https://ror.org/04njjy449","country_code":"ES","type":"education","lineage":["https://openalex.org/I173304897"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Eduardo Ros","raw_affiliation_strings":["Research Center for Information and Communication Technologies, Department of Computer Engineering, Automation and Robotics, University of Granada, Granada, Spain"],"raw_orcid":"https://orcid.org/0000-0001-6613-5256","affiliations":[{"raw_affiliation_string":"Research Center for Information and Communication Technologies, Department of Computer Engineering, Automation and Robotics, University of Granada, Granada, Spain","institution_ids":["https://openalex.org/I173304897"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5023617574","display_name":"Niceto R. Luque","orcid":"https://orcid.org/0000-0002-0626-5048"},"institutions":[{"id":"https://openalex.org/I173304897","display_name":"Universidad de Granada","ror":"https://ror.org/04njjy449","country_code":"ES","type":"education","lineage":["https://openalex.org/I173304897"]}],"countries":["ES"],"is_corresponding":true,"raw_author_name":"Niceto R. Luque","raw_affiliation_strings":["Research Center for Information and Communication Technologies, Department of Computer Engineering, Automation and Robotics, University of Granada, Granada, Spain"],"raw_orcid":"https://orcid.org/0000-0002-0626-5048","affiliations":[{"raw_affiliation_string":"Research Center for Information and Communication Technologies, Department of Computer Engineering, Automation and Robotics, University of Granada, Granada, Spain","institution_ids":["https://openalex.org/I173304897"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5017142972","https://openalex.org/A5023617574"],"corresponding_institution_ids":["https://openalex.org/I173304897"],"apc_list":null,"apc_paid":null,"fwci":4.3144,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.93935894,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"10","issue":"98","first_page":"eadp2356","last_page":"eadp2356"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","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/T10784","display_name":"Muscle activation and electromyography studies","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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.998199999332428,"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/T10982","display_name":"Motor Control and Adaptation","score":0.996999979019165,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5559934973716736},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5293615460395813},{"id":"https://openalex.org/keywords/motor-control","display_name":"Motor control","score":0.46542757749557495},{"id":"https://openalex.org/keywords/joint-stiffness","display_name":"Joint stiffness","score":0.42240411043167114},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3366668224334717},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.32194989919662476},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2992195785045624},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22933006286621094},{"id":"https://openalex.org/keywords/neuroscience","display_name":"Neuroscience","score":0.22331452369689941},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.1972174346446991},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.13893663883209229},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.1290837526321411}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5559934973716736},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5293615460395813},{"id":"https://openalex.org/C137813230","wikidata":"https://www.wikidata.org/wiki/Q2996165","display_name":"Motor control","level":2,"score":0.46542757749557495},{"id":"https://openalex.org/C2781415944","wikidata":"https://www.wikidata.org/wiki/Q559210","display_name":"Joint stiffness","level":3,"score":0.42240411043167114},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3366668224334717},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.32194989919662476},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2992195785045624},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22933006286621094},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.22331452369689941},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.1972174346446991},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.13893663883209229},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.1290837526321411},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0}],"mesh":[{"descriptor_ui":"D001696","descriptor_name":"Biomechanical Phenomena","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D001696","descriptor_name":"Biomechanical Phenomena","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D001696","descriptor_name":"Biomechanical Phenomena","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D001696","descriptor_name":"Biomechanical Phenomena","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D002531","descriptor_name":"Cerebellum","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":true},{"descriptor_ui":"D002531","descriptor_name":"Cerebellum","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D002531","descriptor_name":"Cerebellum","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D002531","descriptor_name":"Cerebellum","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D003198","descriptor_name":"Computer Simulation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D003198","descriptor_name":"Computer Simulation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D003198","descriptor_name":"Computer Simulation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D003198","descriptor_name":"Computer Simulation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D004548","descriptor_name":"Elasticity","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D004867","descriptor_name":"Equipment Design","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D004867","descriptor_name":"Equipment Design","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D004867","descriptor_name":"Equipment Design","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D004867","descriptor_name":"Equipment Design","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D005246","descriptor_name":"Feedback","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D009038","descriptor_name":"Motion","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D009068","descriptor_name":"Movement","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D009119","descriptor_name":"Muscle Contraction","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D009119","descriptor_name":"Muscle Contraction","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D009119","descriptor_name":"Muscle Contraction","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D009119","descriptor_name":"Muscle Contraction","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true},{"descriptor_ui":"D014783","descriptor_name":"Viscosity","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D014783","descriptor_name":"Viscosity","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D014783","descriptor_name":"Viscosity","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D014783","descriptor_name":"Viscosity","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D018482","descriptor_name":"Muscle, Skeletal","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":true},{"descriptor_ui":"D018482","descriptor_name":"Muscle, Skeletal","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D018482","descriptor_name":"Muscle, Skeletal","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D018482","descriptor_name":"Muscle, Skeletal","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D019415","descriptor_name":"Torque","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D019415","descriptor_name":"Torque","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D019415","descriptor_name":"Torque","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D019415","descriptor_name":"Torque","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false}],"locations_count":6,"locations":[{"id":"doi:10.1126/scirobotics.adp2356","is_oa":false,"landing_page_url":"https://doi.org/10.1126/scirobotics.adp2356","pdf_url":null,"source":{"id":"https://openalex.org/S4210213233","display_name":"Science Robotics","issn_l":"2470-9476","issn":["2470-9476"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310315823","host_organization_name":"American Association for the Advancement of Science","host_organization_lineage":["https://openalex.org/P4310315823"],"host_organization_lineage_names":["American Association for the Advancement of Science"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Science Robotics","raw_type":"journal-article"},{"id":"pmid:39841815","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/39841815","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Science robotics","raw_type":null},{"id":"pmh:oai:digibug.ugr.es:10481/110046","is_oa":false,"landing_page_url":"https://hdl.handle.net/10481/110046","pdf_url":null,"source":{"id":"https://openalex.org/S4306400567","display_name":"Institutional Repository of the University of Granada (University of Granada)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I173304897","host_organization_name":"Universidad de Granada","host_organization_lineage":["https://openalex.org/I173304897"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":null,"raw_type":"AM"},{"id":"pmh:oai:infoscience.epfl.ch:20.500.14299/246325","is_oa":true,"landing_page_url":"https://infoscience.epfl.ch/handle/20.500.14299/246325","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"research article"},{"id":"pmh:oai:iris.unil.ch:iris/43423","is_oa":false,"landing_page_url":"https://iris.unil.ch/handle/iris/43423","pdf_url":null,"source":{"id":"https://openalex.org/S7407055444","display_name":"IRIS","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"journal article"},{"id":"pmh:oai:serval.unil.ch:BIB_527C4B5C99E6","is_oa":false,"landing_page_url":"https://serval.unil.ch/notice/serval:BIB_527C4B5C99E6","pdf_url":null,"source":{"id":"https://openalex.org/S4306401797","display_name":"SERVAL (Universit\u00e9 de Lausanne)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210093590","host_organization_name":"Swiss School of Archaeology in Greece","host_organization_lineage":["https://openalex.org/I4210093590"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Science robotics, vol. 10, no. 98, pp. eadp2356","raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:infoscience.epfl.ch:20.500.14299/246325","is_oa":true,"landing_page_url":"https://infoscience.epfl.ch/handle/20.500.14299/246325","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"research article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":110,"referenced_works":["https://openalex.org/W72591521","https://openalex.org/W102545820","https://openalex.org/W182531000","https://openalex.org/W203724693","https://openalex.org/W1278042599","https://openalex.org/W1483706896","https://openalex.org/W1852473500","https://openalex.org/W1965418834","https://openalex.org/W1969976050","https://openalex.org/W1978023077","https://openalex.org/W1981815942","https://openalex.org/W1986599986","https://openalex.org/W1990552907","https://openalex.org/W2008224926","https://openalex.org/W2012252709","https://openalex.org/W2013876510","https://openalex.org/W2015159529","https://openalex.org/W2017239762","https://openalex.org/W2029058516","https://openalex.org/W2029228164","https://openalex.org/W2033167899","https://openalex.org/W2038386942","https://openalex.org/W2050835671","https://openalex.org/W2052591077","https://openalex.org/W2052906886","https://openalex.org/W2056505888","https://openalex.org/W2058070720","https://openalex.org/W2058256863","https://openalex.org/W2059966456","https://openalex.org/W2062989416","https://openalex.org/W2074310014","https://openalex.org/W2090252028","https://openalex.org/W2094208797","https://openalex.org/W2102017824","https://openalex.org/W2102542760","https://openalex.org/W2103019454","https://openalex.org/W2110059807","https://openalex.org/W2111253117","https://openalex.org/W2111705205","https://openalex.org/W2115730616","https://openalex.org/W2120085742","https://openalex.org/W2123641516","https://openalex.org/W2126727232","https://openalex.org/W2127515439","https://openalex.org/W2129719982","https://openalex.org/W2133932631","https://openalex.org/W2151471214","https://openalex.org/W2152840390","https://openalex.org/W2154358910","https://openalex.org/W2156510948","https://openalex.org/W2157580187","https://openalex.org/W2159682015","https://openalex.org/W2163461287","https://openalex.org/W2163801252","https://openalex.org/W2164450398","https://openalex.org/W2169357327","https://openalex.org/W2169440744","https://openalex.org/W2280090643","https://openalex.org/W2296653574","https://openalex.org/W2300368563","https://openalex.org/W2320992347","https://openalex.org/W2327672728","https://openalex.org/W2333868129","https://openalex.org/W2402245725","https://openalex.org/W2550585395","https://openalex.org/W2560730116","https://openalex.org/W2752415226","https://openalex.org/W2755569859","https://openalex.org/W2767304633","https://openalex.org/W2769044080","https://openalex.org/W2787690100","https://openalex.org/W2790010208","https://openalex.org/W2795118240","https://openalex.org/W2806189642","https://openalex.org/W2809650915","https://openalex.org/W2869264951","https://openalex.org/W2899135596","https://openalex.org/W2904752712","https://openalex.org/W2912698479","https://openalex.org/W2914693969","https://openalex.org/W2931675577","https://openalex.org/W2945702744","https://openalex.org/W2951118306","https://openalex.org/W2967179124","https://openalex.org/W2981657570","https://openalex.org/W2996185064","https://openalex.org/W3003257820","https://openalex.org/W3034793840","https://openalex.org/W3036777463","https://openalex.org/W3115068882","https://openalex.org/W3115157241","https://openalex.org/W3151137867","https://openalex.org/W3172917672","https://openalex.org/W3187133229","https://openalex.org/W3197667407","https://openalex.org/W3202458424","https://openalex.org/W3209025803","https://openalex.org/W4231327205","https://openalex.org/W4235661950","https://openalex.org/W4238614602","https://openalex.org/W4241818836","https://openalex.org/W4248901411","https://openalex.org/W4282927077","https://openalex.org/W4312630131","https://openalex.org/W4366371396","https://openalex.org/W4378802705","https://openalex.org/W4387666804","https://openalex.org/W4387950392","https://openalex.org/W4390495659","https://openalex.org/W6684611906"],"related_works":["https://openalex.org/W1982160337","https://openalex.org/W1971380437","https://openalex.org/W1983548084","https://openalex.org/W2141691317","https://openalex.org/W2110846987","https://openalex.org/W2160609742","https://openalex.org/W2979526210","https://openalex.org/W1997414638","https://openalex.org/W2031091109","https://openalex.org/W2049254832"],"abstract_inverted_index":{"Robots":[0],"have":[1],"to":[2,7,14,29,39,44,117,143],"adjust":[3],"their":[4],"motor":[5,36,51,87,132,147,167,195,208,246],"behavior":[6,52],"changing":[8],"environments":[9],"and":[10,21,63,83,121,129,159,191,213,228],"variable":[11],"task":[12],"requirements":[13],"successfully":[15],"operate":[16],"in":[17,46,95,179,185,206],"the":[18,41,55,59,78,104,131,174,188,192,204],"real":[19],"world":[20],"physically":[22],"interact":[23],"with":[24,162],"humans.":[25],"Thus,":[26],"robotics":[27],"strives":[28],"enable":[30,144],"a":[31,71,137,152,163,180,241],"broad":[32,242],"spectrum":[33,243],"of":[34,58,85,107,244],"adjustable":[35,145],"behavior,":[37],"aiming":[38],"mimic":[40],"human":[42],"ability":[43],"function":[45],"unstructured":[47],"scenarios.":[48],"In":[49,102],"humans,":[50],"arises":[53],"from":[54,70],"integrative":[56],"action":[57],"central":[60],"nervous":[61],"system":[62],"body":[64],"biomechanics;":[65],"motion":[66,98,119],"must":[67],"be":[68,115],"understood":[69],"neuromechanics":[72,142],"perspective.":[73],"Nervous":[74],"regions":[75],"such":[76],"as":[77],"cerebellum":[79,193],"facilitate":[80],"learning,":[81],"adaptation,":[82],"coordination":[84],"our":[86,236],"responses,":[88],"ultimately":[89],"driven":[90],"by":[91],"muscle":[92,153,189],"activation.":[93],"Muscles,":[94],"turn,":[96],"self-stabilize":[97],"through":[99,176],"mechanical":[100,157],"viscoelasticity.":[101],"addition,":[103],"agonist-antagonist":[105],"arrangement":[106],"muscles":[108],"surrounding":[109],"joints":[110],"enables":[111,240],"cocontraction,":[112],"which":[113],"can":[114],"regulated":[116],"enhance":[118],"accuracy":[120],"adapt":[122],"joint":[123],"stiffness,":[124,225],"thereby":[125],"providing":[126,166],"impedance":[127],"modulation":[128],"broadening":[130],"repertoire.":[133],"Here,":[134],"we":[135],"propose":[136],"control":[138,182],"solution":[139,150],"that":[140,155,221],"harnesses":[141],"robot":[146,175,205,224,245],"behavior.":[148,247],"Our":[149],"integrates":[151],"model":[154],"replicates":[156],"viscoelasticity":[158],"cocontraction":[160,186,222,234],"together":[161],"cerebellar":[164],"network":[165],"adaptation.":[168],"The":[169],"resulting":[170],"cerebello-muscular":[171,237],"controller":[172,239],"drives":[173],"torque":[177,238],"commands":[178],"feedback":[181],"loop.":[183],"Changes":[184],"modify":[187],"dynamics,":[190],"provides":[194],"adaptation":[196],"without":[197],"relying":[198],"on":[199],"prior":[200],"analytical":[201],"solutions,":[202],"driving":[203],"different":[207],"tasks,":[209],"including":[210],"payload":[211],"perturbations":[212],"operation":[214],"across":[215],"unknown":[216],"terrains.":[217],"Experimental":[218],"results":[219],"show":[220],"modulates":[223],"performance":[226],"accuracy,":[227],"robustness":[229],"against":[230],"external":[231],"perturbations.":[232],"Through":[233],"modulation,":[235]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":6}],"updated_date":"2026-06-17T08:01:34.144755","created_date":"2025-10-10T00:00:00"}
