{"id":"https://openalex.org/W2540858565","doi":"https://doi.org/10.1155/2016/7326905","title":"Design of a New Nonlinear Stiffness Compliant Actuator and Its Error Compensation Method","display_name":"Design of a New Nonlinear Stiffness Compliant Actuator and Its Error Compensation Method","publication_year":2016,"publication_date":"2016-01-01","ids":{"openalex":"https://openalex.org/W2540858565","doi":"https://doi.org/10.1155/2016/7326905","mag":"2540858565"},"language":"en","primary_location":{"id":"doi:10.1155/2016/7326905","is_oa":true,"landing_page_url":"https://doi.org/10.1155/2016/7326905","pdf_url":"http://downloads.hindawi.com/journals/jr/2016/7326905.pdf","source":{"id":"https://openalex.org/S176211327","display_name":"Journal of Robotics","issn_l":"1687-9600","issn":["1687-9600","1687-9619"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319869","host_organization_name":"Hindawi Publishing Corporation","host_organization_lineage":["https://openalex.org/P4310319869"],"host_organization_lineage_names":["Hindawi Publishing Corporation"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"http://downloads.hindawi.com/journals/jr/2016/7326905.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5086775860","display_name":"Shaobin Lan","orcid":null},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shaobin Lan","raw_affiliation_strings":["Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin 300072, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin 300072, China","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5060387989","display_name":"Zhibin Song","orcid":"https://orcid.org/0000-0002-3715-2003"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zhibin Song","raw_affiliation_strings":["Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin 300072, China"],"raw_orcid":"https://orcid.org/0000-0002-3715-2003","affiliations":[{"raw_affiliation_string":"Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin 300072, China","institution_ids":["https://openalex.org/I162868743"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5060387989"],"corresponding_institution_ids":["https://openalex.org/I162868743"],"apc_list":{"value":925,"currency":"USD","value_usd":925},"apc_paid":{"value":925,"currency":"USD","value_usd":925},"fwci":1.5018,"has_fulltext":true,"cited_by_count":17,"citation_normalized_percentile":{"value":0.81554091,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"2016","issue":null,"first_page":"1","last_page":"8"},"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":0.9904000163078308,"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":0.9800000190734863,"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/stiffness","display_name":"Stiffness","score":0.8505069017410278},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.8124974370002747},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6052712202072144},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5947680473327637},{"id":"https://openalex.org/keywords/deflection","display_name":"Deflection (physics)","score":0.5846691131591797},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5831426382064819},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.47797200083732605},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.47706687450408936},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.23513391613960266},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.17650452256202698},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.10219448804855347},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.086886465549469},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.0825006365776062}],"concepts":[{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.8505069017410278},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.8124974370002747},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6052712202072144},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5947680473327637},{"id":"https://openalex.org/C2781355719","wikidata":"https://www.wikidata.org/wiki/Q2080698","display_name":"Deflection (physics)","level":2,"score":0.5846691131591797},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5831426382064819},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.47797200083732605},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.47706687450408936},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.23513391613960266},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.17650452256202698},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.10219448804855347},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.086886465549469},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0825006365776062},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1155/2016/7326905","is_oa":true,"landing_page_url":"https://doi.org/10.1155/2016/7326905","pdf_url":"http://downloads.hindawi.com/journals/jr/2016/7326905.pdf","source":{"id":"https://openalex.org/S176211327","display_name":"Journal of Robotics","issn_l":"1687-9600","issn":["1687-9600","1687-9619"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319869","host_organization_name":"Hindawi Publishing Corporation","host_organization_lineage":["https://openalex.org/P4310319869"],"host_organization_lineage_names":["Hindawi Publishing Corporation"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Robotics","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:96266f277ee14ff9a880464b5afa56c9","is_oa":false,"landing_page_url":"https://doaj.org/article/96266f277ee14ff9a880464b5afa56c9","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","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":"Journal of Robotics, Vol 2016 (2016)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1155/2016/7326905","is_oa":true,"landing_page_url":"https://doi.org/10.1155/2016/7326905","pdf_url":"http://downloads.hindawi.com/journals/jr/2016/7326905.pdf","source":{"id":"https://openalex.org/S176211327","display_name":"Journal of Robotics","issn_l":"1687-9600","issn":["1687-9600","1687-9619"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319869","host_organization_name":"Hindawi Publishing Corporation","host_organization_lineage":["https://openalex.org/P4310319869"],"host_organization_lineage_names":["Hindawi Publishing Corporation"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Robotics","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1219419976","display_name":null,"funder_award_id":"B16034","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5998643896","display_name":null,"funder_award_id":"51475322","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321106","display_name":"Ministry of Education of the People's Republic of China","ror":"https://ror.org/01mv9t934"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2540858565.pdf","grobid_xml":"https://content.openalex.org/works/W2540858565.grobid-xml"},"referenced_works_count":24,"referenced_works":["https://openalex.org/W1492704411","https://openalex.org/W1896893772","https://openalex.org/W1964064577","https://openalex.org/W1987361672","https://openalex.org/W2022664343","https://openalex.org/W2041737075","https://openalex.org/W2058174034","https://openalex.org/W2068120241","https://openalex.org/W2073136132","https://openalex.org/W2085795786","https://openalex.org/W2087258540","https://openalex.org/W2110218912","https://openalex.org/W2111253117","https://openalex.org/W2113593135","https://openalex.org/W2113899190","https://openalex.org/W2116767351","https://openalex.org/W2127725169","https://openalex.org/W2131106602","https://openalex.org/W2159220301","https://openalex.org/W2165506721","https://openalex.org/W2169100281","https://openalex.org/W2172037026","https://openalex.org/W2208872297","https://openalex.org/W2274232393"],"related_works":["https://openalex.org/W2379084545","https://openalex.org/W2099333796","https://openalex.org/W1999058329","https://openalex.org/W2011222276","https://openalex.org/W2080330449","https://openalex.org/W585100505","https://openalex.org/W2007221537","https://openalex.org/W2490690736","https://openalex.org/W785766289","https://openalex.org/W2185997459"],"abstract_inverted_index":{"Compliant":[0,19],"actuators":[1,7,20,29,39,86],"are":[2,21,76,97,116],"more":[3,22],"advantageous":[4],"than":[5],"stiff":[6],"in":[8,33,81,194],"some":[9,31,60,77,103],"circumstances,":[10],"for":[11,132],"example,":[12],"unstructured":[13],"environment":[14],"robots":[15,114],"and":[16,24,35,67,87,94,121,151],"rehabilitation":[17],"robots.":[18],"adaptive":[23],"safe.":[25],"Constant":[26],"stiffness":[27,38,52,85,95,120,134,167,180,199],"compliant":[28,135,168,200],"have":[30,59],"limitations":[32,61],"impedance":[34],"bandwidth.":[36],"Variable":[37],"improve":[40],"their":[41],"performance":[42],"owing":[43],"to":[44,49,177],"introducing":[45],"an":[46],"extra":[47],"motor":[48],"tune":[50,96],"the":[51,54,64,82,89,113,141,146,160,165,179,189],"of":[53,109,145,164,181],"actuators.":[55,169],"However,":[56],"they":[57],"also":[58,72,175],"such":[62],"as":[63],"bulky":[65],"structure":[66,163],"heavy":[68],"weight.":[69],"It":[70],"was":[71,137,174,192],"found":[73],"that":[74,88,188],"there":[75,101],"waste":[78],"functions":[79],"existing":[80],"current":[83],"variable":[84],"fully":[90],"decoupled":[91],"position":[92],"control":[93],"not":[98],"necessary,":[99],"because":[100],"exist":[102],"regular":[104,147],"phenomena":[105],"during":[106],"most":[107],"circumstances":[108],"human":[110],"interaction":[111],"with":[112],"which":[115,139,154],"\u201clow":[117],"load,":[118,123],"low":[119],"high":[122,124],"stiffness\u201d.":[125],"In":[126],"this":[127],"paper,":[128],"a":[129,152,196],"design":[130],"method":[131,173,191],"nonlinear":[133,166,198],"actuator":[136],"proposed":[138,176,190],"performed":[140],"predefined":[142,197],"deflection-torque":[143],"trajectory":[144],"phenomenon.":[148],"A":[149],"roller":[150],"cantilever":[153],"has":[155],"special":[156],"curve":[157],"profile":[158],"constitute":[159],"basic":[161],"mechanical":[162],"An":[170],"error":[171],"compensation":[172],"analyze":[178],"elastic":[182],"structure.":[183],"The":[184],"simulation":[185],"results":[186],"proved":[187],"effective":[193],"designing":[195],"actuator.":[201]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":2}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}