{"id":"https://openalex.org/W2021310722","doi":"https://doi.org/10.1163/016918611x579493","title":"Adaptive Coupled Elastic Actuator Developed for Physical Human\u2013Robot Interaction","display_name":"Adaptive Coupled Elastic Actuator Developed for Physical Human\u2013Robot Interaction","publication_year":2011,"publication_date":"2011-01-01","ids":{"openalex":"https://openalex.org/W2021310722","doi":"https://doi.org/10.1163/016918611x579493","mag":"2021310722"},"language":"en","primary_location":{"id":"doi:10.1163/016918611x579493","is_oa":false,"landing_page_url":"https://doi.org/10.1163/016918611x579493","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced 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/A5034673989","display_name":"Jiun\u2010Yih Kuan","orcid":"https://orcid.org/0000-0002-0886-2583"},"institutions":[{"id":"https://openalex.org/I99613584","display_name":"National Taipei University","ror":"https://ror.org/03e29r284","country_code":"TW","type":"education","lineage":["https://openalex.org/I99613584"]},{"id":"https://openalex.org/I16733864","display_name":"National Taiwan University","ror":"https://ror.org/05bqach95","country_code":"TW","type":"education","lineage":["https://openalex.org/I16733864"]}],"countries":["TW"],"is_corresponding":true,"raw_author_name":"Jiun-Yih Kuan","raw_affiliation_strings":["a    Department of Mechanical Engineering, National Taiwan University, Taipei City 10617, Taiwan;, Email: hanpang@ntu.edu.tw","Department of Mechanical Engineering, National Taiwan University, Taipei City 10617, Taiwan;, Email: hanpang@ntu.edu.tw"],"affiliations":[{"raw_affiliation_string":"a    Department of Mechanical Engineering, National Taiwan University, Taipei City 10617, Taiwan;, Email: hanpang@ntu.edu.tw","institution_ids":["https://openalex.org/I99613584"]},{"raw_affiliation_string":"Department of Mechanical Engineering, National Taiwan University, Taipei City 10617, Taiwan;, Email: hanpang@ntu.edu.tw","institution_ids":["https://openalex.org/I16733864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110036857","display_name":"Tz-Hao Huang","orcid":null},"institutions":[{"id":"https://openalex.org/I16733864","display_name":"National Taiwan University","ror":"https://ror.org/05bqach95","country_code":"TW","type":"education","lineage":["https://openalex.org/I16733864"]},{"id":"https://openalex.org/I99613584","display_name":"National Taipei University","ror":"https://ror.org/03e29r284","country_code":"TW","type":"education","lineage":["https://openalex.org/I99613584"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Tz-Hao Huang","raw_affiliation_strings":["b    Department of Mechanical Engineering, National Taiwan University, Taipei City 10617, Taiwan","Department of Mechanical Engineering, National Taiwan University, Taipei City 10617, Taiwan"],"affiliations":[{"raw_affiliation_string":"b    Department of Mechanical Engineering, National Taiwan University, Taipei City 10617, Taiwan","institution_ids":["https://openalex.org/I99613584","https://openalex.org/I16733864"]},{"raw_affiliation_string":"Department of Mechanical Engineering, National Taiwan University, Taipei City 10617, Taiwan","institution_ids":["https://openalex.org/I16733864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055365456","display_name":"Han\u2010Pang Huang","orcid":"https://orcid.org/0000-0003-4910-8031"},"institutions":[{"id":"https://openalex.org/I16733864","display_name":"National Taiwan University","ror":"https://ror.org/05bqach95","country_code":"TW","type":"education","lineage":["https://openalex.org/I16733864"]},{"id":"https://openalex.org/I99613584","display_name":"National Taipei University","ror":"https://ror.org/03e29r284","country_code":"TW","type":"education","lineage":["https://openalex.org/I99613584"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Han-Pang Huang","raw_affiliation_strings":["c    Department of Mechanical Engineering, National Taiwan University, Taipei City 10617, Taiwan","Department of Mechanical Engineering, National Taiwan University, Taipei City 10617, Taiwan"],"affiliations":[{"raw_affiliation_string":"c    Department of Mechanical Engineering, National Taiwan University, Taipei City 10617, Taiwan","institution_ids":["https://openalex.org/I16733864","https://openalex.org/I99613584"]},{"raw_affiliation_string":"Department of Mechanical Engineering, National Taiwan University, Taipei City 10617, Taiwan","institution_ids":["https://openalex.org/I16733864"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5022425881","display_name":"Yen-Tsung Chen","orcid":null},"institutions":[{"id":"https://openalex.org/I99613584","display_name":"National Taipei University","ror":"https://ror.org/03e29r284","country_code":"TW","type":"education","lineage":["https://openalex.org/I99613584"]},{"id":"https://openalex.org/I16733864","display_name":"National Taiwan University","ror":"https://ror.org/05bqach95","country_code":"TW","type":"education","lineage":["https://openalex.org/I16733864"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Yen-Tsung Chen","raw_affiliation_strings":["d    Department of Mechanical Engineering, National Taiwan University, Taipei City 10617, Taiwan","Department of Mechanical Engineering, National Taiwan University, Taipei City 10617, Taiwan"],"affiliations":[{"raw_affiliation_string":"d    Department of Mechanical Engineering, National Taiwan University, Taipei City 10617, Taiwan","institution_ids":["https://openalex.org/I99613584","https://openalex.org/I16733864"]},{"raw_affiliation_string":"Department of Mechanical Engineering, National Taiwan University, Taipei City 10617, Taiwan","institution_ids":["https://openalex.org/I16733864"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5034673989"],"corresponding_institution_ids":["https://openalex.org/I99613584","https://openalex.org/I16733864"],"apc_list":null,"apc_paid":null,"fwci":0.63571899,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.6920362,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"25","issue":"11-12","first_page":"1473","last_page":"1491"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9993000030517578,"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":0.9993000030517578,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.991100013256073,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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":0.9886000156402588,"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":0.711182177066803},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5926728248596191},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5287700891494751},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.49763229489326477},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4017091393470764},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3932691812515259},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3473246097564697},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.32163748145103455},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2995932698249817},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.10540369153022766}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.711182177066803},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5926728248596191},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5287700891494751},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.49763229489326477},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4017091393470764},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3932691812515259},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3473246097564697},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.32163748145103455},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2995932698249817},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.10540369153022766}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1163/016918611x579493","is_oa":false,"landing_page_url":"https://doi.org/10.1163/016918611x579493","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W200367536","https://openalex.org/W1521257674","https://openalex.org/W1554811167","https://openalex.org/W1962965017","https://openalex.org/W1974985128","https://openalex.org/W2041737075","https://openalex.org/W2050835671","https://openalex.org/W2060281402","https://openalex.org/W2087713681","https://openalex.org/W2096178249","https://openalex.org/W2128137193","https://openalex.org/W2129936198","https://openalex.org/W2131063775","https://openalex.org/W2131404784","https://openalex.org/W2149085596","https://openalex.org/W2151718485","https://openalex.org/W2154045375","https://openalex.org/W2166230296","https://openalex.org/W2395410672","https://openalex.org/W2546286443","https://openalex.org/W4254743406","https://openalex.org/W4255142057"],"related_works":["https://openalex.org/W2007221537","https://openalex.org/W2490690736","https://openalex.org/W2099333796","https://openalex.org/W4229591372","https://openalex.org/W4234906596","https://openalex.org/W3205513966","https://openalex.org/W2071544734","https://openalex.org/W3120459843","https://openalex.org/W4366547574","https://openalex.org/W3200191727"],"abstract_inverted_index":{"Abstract":[0],"Considering":[1],"the":[2,34,87,98,104,111,119,129,133],"interaction":[3],"between":[4,51],"people":[5],"and":[6,14,38,53,63,76,84,100],"machines":[7],"under":[8],"safety":[9,54],"constraints":[10],"without":[11],"utilizing":[12],"difficult":[13],"complex":[15],"control":[16,83],"strategies,":[17],"this":[18,78],"paper":[19,79],"proposes":[20],"a":[21,114],"new":[22],"actuator":[23,27],"design\u2014adaptive":[24],"coupled":[25],"elastic":[26],"(ACEA)":[28],"with":[29,47],"adjustable":[30],"characteristics":[31,102],"adaptive":[32],"to":[33,92,96,109,127],"applied":[35],"output":[36,65],"force":[37],"input":[39],"force.":[40],"This":[41],"would":[42],"provide":[43,93],"oncoming":[44],"robotic":[45],"systems":[46],"an":[48],"intrinsic":[49,61],"compromise":[50],"performance":[52,99],"in":[55,118],"unstructured":[56],"environments":[57],"(i.e.,":[58],"exhibiting":[59],"desired":[60,130],"lower":[62],"higher":[64],"impedance":[66],"depending":[67],"on":[68],"different":[69],"operation":[70],"situations).":[71],"Having":[72],"introduced":[73],"its":[74],"concept":[75],"design,":[77],"also":[80,108],"presents":[81],"modeling,":[82],"analysis":[85],"for":[86],"ACEA":[88,135],"system,":[89,106],"not":[90],"only":[91],"useful":[94],"information":[95],"investigate":[97],"basic":[101],"of":[103,113,132],"designed":[105],"but":[107],"benefit":[110],"design":[112],"more":[115],"advanced":[116],"controller":[117],"near":[120],"future.":[121],"Finally,":[122],"experimental":[123],"results":[124],"are":[125],"presented":[126],"show":[128],"properties":[131],"proposed":[134],"system.":[136],"Keywords:":[137],"PHYSICAL":[138],"HUMAN\u2013ROBOT":[139],"INTERACTIONCOUPLED":[140],"ELASTIC":[141,144],"ACTUATIONADAPTIVE":[142],"COUPLED":[143],"ACTUATORCOMPLIANT":[145],"ACTUATORSHUMAN\u2013MACHINE":[146],"SYSTEMS":[147]},"counts_by_year":[{"year":2014,"cited_by_count":2},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
