{"id":"https://openalex.org/W3033530653","doi":"https://doi.org/10.1515/auto-2020-0008","title":"Conceptual design, modeling and control of a rigid parallel serial-elastic actuator","display_name":"Conceptual design, modeling and control of a rigid parallel serial-elastic actuator","publication_year":2020,"publication_date":"2020-06-01","ids":{"openalex":"https://openalex.org/W3033530653","doi":"https://doi.org/10.1515/auto-2020-0008","mag":"3033530653"},"language":"en","primary_location":{"id":"doi:10.1515/auto-2020-0008","is_oa":false,"landing_page_url":"https://doi.org/10.1515/auto-2020-0008","pdf_url":null,"source":{"id":"https://openalex.org/S4210170077","display_name":"at - Automatisierungstechnik","issn_l":"0178-2312","issn":["0178-2312","2196-677X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319967","host_organization_name":"R. Oldenbourg Verlag","host_organization_lineage":["https://openalex.org/P4310319967"],"host_organization_lineage_names":["R. Oldenbourg Verlag"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"at - Automatisierungstechnik","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/A5077403874","display_name":"Bernhard Penzlin","orcid":"https://orcid.org/0000-0001-8465-2302"},"institutions":[{"id":"https://openalex.org/I887968799","display_name":"RWTH Aachen University","ror":"https://ror.org/04xfq0f34","country_code":"DE","type":"education","lineage":["https://openalex.org/I887968799"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Bernhard Penzlin","raw_affiliation_strings":["Lehrstuhl f\u00fcr Medizinische Informationstechnik , RWTH Aachen , Pauwelsstr. 20 , Aachen , Germany"],"affiliations":[{"raw_affiliation_string":"Lehrstuhl f\u00fcr Medizinische Informationstechnik , RWTH Aachen , Pauwelsstr. 20 , Aachen , Germany","institution_ids":["https://openalex.org/I887968799"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078345415","display_name":"Anja Leipnitz","orcid":null},"institutions":[{"id":"https://openalex.org/I887968799","display_name":"RWTH Aachen University","ror":"https://ror.org/04xfq0f34","country_code":"DE","type":"education","lineage":["https://openalex.org/I887968799"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Anja Leipnitz","raw_affiliation_strings":["Lehrstuhl f\u00fcr Medizinische Informationstechnik , RWTH Aachen , Pauwelsstr. 20 , Aachen , Germany"],"affiliations":[{"raw_affiliation_string":"Lehrstuhl f\u00fcr Medizinische Informationstechnik , RWTH Aachen , Pauwelsstr. 20 , Aachen , Germany","institution_ids":["https://openalex.org/I887968799"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019728667","display_name":"Lukas Bergmann","orcid":"https://orcid.org/0000-0002-3665-0289"},"institutions":[{"id":"https://openalex.org/I887968799","display_name":"RWTH Aachen University","ror":"https://ror.org/04xfq0f34","country_code":"DE","type":"education","lineage":["https://openalex.org/I887968799"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Lukas Bergmann","raw_affiliation_strings":["Lehrstuhl f\u00fcr Medizinische Informationstechnik , RWTH Aachen , Pauwelsstr. 20 , Aachen , Germany"],"affiliations":[{"raw_affiliation_string":"Lehrstuhl f\u00fcr Medizinische Informationstechnik , RWTH Aachen , Pauwelsstr. 20 , Aachen , Germany","institution_ids":["https://openalex.org/I887968799"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064087002","display_name":"Yinbo Li","orcid":"https://orcid.org/0000-0002-4414-1871"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yinbo Li","raw_affiliation_strings":["Institute of Mechanical Design, Department of Mechanical Engineering , Tsinghua University , Shuangqing Road 30 , Beijing , China","Institute of Mechanical Design, Department of Mechanical Engineering, Tsinghua University, Shuangqing Road 30, Beijing100084, China"],"affiliations":[{"raw_affiliation_string":"Institute of Mechanical Design, Department of Mechanical Engineering , Tsinghua University , Shuangqing Road 30 , Beijing , China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"Institute of Mechanical Design, Department of Mechanical Engineering, Tsinghua University, Shuangqing Road 30, Beijing100084, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017003750","display_name":"Linhong Ji","orcid":"https://orcid.org/0000-0003-4533-4285"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Linhong Ji","raw_affiliation_strings":["Institute of Mechanical Design, Department of Mechanical Engineering , Tsinghua University , Shuangqing Road 30 , Beijing , China","Institute of Mechanical Design, Department of Mechanical Engineering, Tsinghua University, Shuangqing Road 30, Beijing100084, China"],"affiliations":[{"raw_affiliation_string":"Institute of Mechanical Design, Department of Mechanical Engineering , Tsinghua University , Shuangqing Road 30 , Beijing , China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"Institute of Mechanical Design, Department of Mechanical Engineering, Tsinghua University, Shuangqing Road 30, Beijing100084, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060021065","display_name":"Steffen Leonhardt","orcid":"https://orcid.org/0000-0002-6898-6887"},"institutions":[{"id":"https://openalex.org/I887968799","display_name":"RWTH Aachen University","ror":"https://ror.org/04xfq0f34","country_code":"DE","type":"education","lineage":["https://openalex.org/I887968799"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Steffen Leonhardt","raw_affiliation_strings":["Lehrstuhl f\u00fcr Medizinische Informationstechnik , RWTH Aachen , Pauwelsstr. 20 , Aachen , Germany"],"affiliations":[{"raw_affiliation_string":"Lehrstuhl f\u00fcr Medizinische Informationstechnik , RWTH Aachen , Pauwelsstr. 20 , Aachen , Germany","institution_ids":["https://openalex.org/I887968799"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5063709217","display_name":"Chuong Ngo","orcid":"https://orcid.org/0000-0002-3961-2173"},"institutions":[{"id":"https://openalex.org/I887968799","display_name":"RWTH Aachen University","ror":"https://ror.org/04xfq0f34","country_code":"DE","type":"education","lineage":["https://openalex.org/I887968799"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Chuong Ngo","raw_affiliation_strings":["Lehrstuhl f\u00fcr Medizinische Informationstechnik , RWTH Aachen , Pauwelsstr. 20 , Aachen , Germany"],"affiliations":[{"raw_affiliation_string":"Lehrstuhl f\u00fcr Medizinische Informationstechnik , RWTH Aachen , Pauwelsstr. 20 , Aachen , Germany","institution_ids":["https://openalex.org/I887968799"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5077403874"],"corresponding_institution_ids":["https://openalex.org/I887968799"],"apc_list":null,"apc_paid":null,"fwci":0.6008,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.63174936,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"68","issue":"6","first_page":"410","last_page":"422"},"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":0.9979000091552734,"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":0.9779000282287598,"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":0.8828716278076172},{"id":"https://openalex.org/keywords/clutch","display_name":"Clutch","score":0.8042311668395996},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6582726836204529},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.6394540071487427},{"id":"https://openalex.org/keywords/elasticity","display_name":"Elasticity (physics)","score":0.534968912601471},{"id":"https://openalex.org/keywords/test-bench","display_name":"Test bench","score":0.5123878121376038},{"id":"https://openalex.org/keywords/rotary-actuator","display_name":"Rotary actuator","score":0.5116103291511536},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.464322030544281},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4525274336338043},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.40841618180274963},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.381087988615036},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.32892802357673645},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2690601348876953},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.23979708552360535},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.11812874674797058},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.0942697525024414},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08013197779655457}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.8828716278076172},{"id":"https://openalex.org/C30358287","wikidata":"https://www.wikidata.org/wiki/Q194302","display_name":"Clutch","level":2,"score":0.8042311668395996},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6582726836204529},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6394540071487427},{"id":"https://openalex.org/C121854251","wikidata":"https://www.wikidata.org/wiki/Q62932","display_name":"Elasticity (physics)","level":2,"score":0.534968912601471},{"id":"https://openalex.org/C2776266606","wikidata":"https://www.wikidata.org/wiki/Q476482","display_name":"Test bench","level":2,"score":0.5123878121376038},{"id":"https://openalex.org/C110682481","wikidata":"https://www.wikidata.org/wiki/Q7370260","display_name":"Rotary actuator","level":3,"score":0.5116103291511536},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.464322030544281},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4525274336338043},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.40841618180274963},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.381087988615036},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.32892802357673645},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2690601348876953},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.23979708552360535},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.11812874674797058},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0942697525024414},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08013197779655457},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","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},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1515/auto-2020-0008","is_oa":false,"landing_page_url":"https://doi.org/10.1515/auto-2020-0008","pdf_url":null,"source":{"id":"https://openalex.org/S4210170077","display_name":"at - Automatisierungstechnik","issn_l":"0178-2312","issn":["0178-2312","2196-677X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319967","host_organization_name":"R. Oldenbourg Verlag","host_organization_lineage":["https://openalex.org/P4310319967"],"host_organization_lineage_names":["R. Oldenbourg Verlag"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"at - Automatisierungstechnik","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8700000047683716,"display_name":"Life below water","id":"https://metadata.un.org/sdg/14"}],"awards":[{"id":"https://openalex.org/G6083965847","display_name":null,"funder_award_id":"51761135121","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8352320751","display_name":null,"funder_award_id":"LE 817/34-1","funder_id":"https://openalex.org/F4320320879","funder_display_name":"Deutsche Forschungsgemeinschaft"}],"funders":[{"id":"https://openalex.org/F4320320879","display_name":"Deutsche Forschungsgemeinschaft","ror":"https://ror.org/018mejw64"},{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1562635698","https://openalex.org/W1648824651","https://openalex.org/W1996385583","https://openalex.org/W2002401895","https://openalex.org/W2010310221","https://openalex.org/W2013330027","https://openalex.org/W2053169628","https://openalex.org/W2058706019","https://openalex.org/W2068793240","https://openalex.org/W2086801037","https://openalex.org/W2104571370","https://openalex.org/W2109337666","https://openalex.org/W2122409085","https://openalex.org/W2137264985","https://openalex.org/W2333868129","https://openalex.org/W2467303390","https://openalex.org/W2506430625","https://openalex.org/W2531653844","https://openalex.org/W2535277702","https://openalex.org/W2766402712","https://openalex.org/W2773276475","https://openalex.org/W2944991073","https://openalex.org/W2945022520","https://openalex.org/W2964543462","https://openalex.org/W2972296415","https://openalex.org/W2979552191","https://openalex.org/W6680298225"],"related_works":["https://openalex.org/W3214327370","https://openalex.org/W2038783858","https://openalex.org/W2550754647","https://openalex.org/W1995108588","https://openalex.org/W2070476548","https://openalex.org/W4233104623","https://openalex.org/W2380996288","https://openalex.org/W2107042504","https://openalex.org/W2024711962","https://openalex.org/W2316738059"],"abstract_inverted_index":{"Abstract":[0],"Parallel-elastic":[1],"actuators":[2,46],"(PEA)":[3],"can":[4,12,47,94],"provide":[5],"efficiency":[6,40],"advantages.":[7],"In":[8,36],"current":[9],"designs":[10],"clutches":[11],"fix":[13],"or":[14,51],"release":[15],"the":[16,20,39,54,58,61,64,76,92,99],"neutral":[17,55],"position":[18,56],"of":[19,42,57,86,98],"elasticity.":[21,59],"The":[22],"presented":[23],"actuator":[24,28,32],"combines":[25],"a":[26,30,43,69,72,81,102],"direct":[27],"with":[29,71],"serial-elastic":[31],"(SEA)":[33],"in":[34,83],"parallel.":[35],"addition":[37],"to":[38,75,105],"advantages":[41],"PEA,":[44],"both":[45],"also":[48],"actively":[49,52],"cooperate":[50],"control":[53],"On":[60],"test":[62],"bench,":[63],"prototype":[65],"is":[66,89],"operated":[67],"as":[68],"PEA":[70],"load":[73],"similar":[74,104],"hip":[77],"during":[78,101],"gait,":[79],"whereby":[80],"reduction":[82],"peak":[84],"power":[85],"19":[87],"%":[88,97],"found.":[90],"Furthermore":[91],"SEA":[93],"support":[95],"31":[96],"torque":[100],"task":[103],"sit-to-stand.":[106]},"counts_by_year":[{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
