{"id":"https://openalex.org/W4362560156","doi":"https://doi.org/10.3390/s23073705","title":"Design and Characterization of a Low-Cost and Efficient Torsional Spring for ES-RSEA","display_name":"Design and Characterization of a Low-Cost and Efficient Torsional Spring for ES-RSEA","publication_year":2023,"publication_date":"2023-04-03","ids":{"openalex":"https://openalex.org/W4362560156","doi":"https://doi.org/10.3390/s23073705","pmid":"https://pubmed.ncbi.nlm.nih.gov/37050767"},"language":"en","primary_location":{"id":"doi:10.3390/s23073705","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s23073705","pdf_url":"https://www.mdpi.com/1424-8220/23/7/3705/pdf?version=1680571721","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/1424-8220/23/7/3705/pdf?version=1680571721","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5074229682","display_name":"Omar Sabah Al-Dahiree","orcid":"https://orcid.org/0000-0002-5757-6276"},"institutions":[{"id":"https://openalex.org/I33849332","display_name":"University of Malaya","ror":"https://ror.org/00rzspn62","country_code":"MY","type":"education","lineage":["https://openalex.org/I33849332"]}],"countries":["MY"],"is_corresponding":false,"raw_author_name":"Omar Sabah Al-Dahiree","raw_affiliation_strings":["Department of Mechanical Engineering, Faculty of Engineering, University of Malaya, Kuala Lumpur 50603, Malaysia"],"raw_orcid":"https://orcid.org/0000-0002-5757-6276","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Faculty of Engineering, University of Malaya, Kuala Lumpur 50603, Malaysia","institution_ids":["https://openalex.org/I33849332"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012858886","display_name":"Raja Ariffin Raja Ghazilla","orcid":"https://orcid.org/0000-0002-6464-1822"},"institutions":[{"id":"https://openalex.org/I33849332","display_name":"University of Malaya","ror":"https://ror.org/00rzspn62","country_code":"MY","type":"education","lineage":["https://openalex.org/I33849332"]}],"countries":["MY"],"is_corresponding":true,"raw_author_name":"Raja Ariffin Raja Ghazilla","raw_affiliation_strings":["Department of Mechanical Engineering, Faculty of Engineering, University of Malaya, Kuala Lumpur 50603, Malaysia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Faculty of Engineering, University of Malaya, Kuala Lumpur 50603, Malaysia","institution_ids":["https://openalex.org/I33849332"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026530058","display_name":"M. O. Tokhi","orcid":"https://orcid.org/0000-0003-1662-6334"},"institutions":[{"id":"https://openalex.org/I28257850","display_name":"London South Bank University","ror":"https://ror.org/02vwnat91","country_code":"GB","type":"education","lineage":["https://openalex.org/I28257850"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Mohammad Osman Tokhi","raw_affiliation_strings":["School of Engineering, London South Bank University, London SE1 0AA, UK"],"raw_orcid":"https://orcid.org/0000-0003-1662-6334","affiliations":[{"raw_affiliation_string":"School of Engineering, London South Bank University, London SE1 0AA, UK","institution_ids":["https://openalex.org/I28257850"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068725566","display_name":"Hwa Jen Yap","orcid":"https://orcid.org/0000-0001-7637-9297"},"institutions":[{"id":"https://openalex.org/I33849332","display_name":"University of Malaya","ror":"https://ror.org/00rzspn62","country_code":"MY","type":"education","lineage":["https://openalex.org/I33849332"]}],"countries":["MY"],"is_corresponding":false,"raw_author_name":"Hwa Jen Yap","raw_affiliation_strings":["Department of Mechanical Engineering, Faculty of Engineering, University of Malaya, Kuala Lumpur 50603, Malaysia"],"raw_orcid":"https://orcid.org/0000-0001-7637-9297","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Faculty of Engineering, University of Malaya, Kuala Lumpur 50603, Malaysia","institution_ids":["https://openalex.org/I33849332"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5089582645","display_name":"Mustabshirha Gul","orcid":"https://orcid.org/0000-0002-5280-8007"},"institutions":[{"id":"https://openalex.org/I127670440","display_name":"Bahauddin Zakariya University","ror":"https://ror.org/05x817c41","country_code":"PK","type":"education","lineage":["https://openalex.org/I127670440"]}],"countries":["PK"],"is_corresponding":false,"raw_author_name":"Mustabshirha Gul","raw_affiliation_strings":["Department of Mechanical Engineering, Faculty of Engineering and Technology, Bahauddin Zakariya University, Multan 60000, Pakistan"],"raw_orcid":"https://orcid.org/0000-0002-5280-8007","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Faculty of Engineering and Technology, Bahauddin Zakariya University, Multan 60000, Pakistan","institution_ids":["https://openalex.org/I127670440"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5012858886","https://openalex.org/A5026530058"],"corresponding_institution_ids":["https://openalex.org/I28257850","https://openalex.org/I33849332"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":0.5312,"has_fulltext":true,"cited_by_count":5,"citation_normalized_percentile":{"value":0.59668352,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"23","issue":"7","first_page":"3705","last_page":"3705"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9994999766349792,"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":0.9994999766349792,"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/T10512","display_name":"Orthopaedic implants and arthroplasty","score":0.9079999923706055,"subfield":{"id":"https://openalex.org/subfields/2746","display_name":"Surgery"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/torsion-spring","display_name":"Torsion spring","score":0.8921395540237427},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.6848229169845581},{"id":"https://openalex.org/keywords/torsion","display_name":"Torsion (gastropod)","score":0.6780715584754944},{"id":"https://openalex.org/keywords/finite-element-method","display_name":"Finite element method","score":0.6559216976165771},{"id":"https://openalex.org/keywords/exoskeleton","display_name":"Exoskeleton","score":0.6555266380310059},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.6455798149108887},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.5729057192802429},{"id":"https://openalex.org/keywords/design-for-manufacturability","display_name":"Design for manufacturability","score":0.5713294148445129},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5589637756347656},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4498247504234314},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.38645994663238525},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.16169580817222595},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09879639744758606},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.09621769189834595}],"concepts":[{"id":"https://openalex.org/C57614664","wikidata":"https://www.wikidata.org/wiki/Q27037480","display_name":"Torsion spring","level":2,"score":0.8921395540237427},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6848229169845581},{"id":"https://openalex.org/C77461463","wikidata":"https://www.wikidata.org/wiki/Q7827201","display_name":"Torsion (gastropod)","level":2,"score":0.6780715584754944},{"id":"https://openalex.org/C135628077","wikidata":"https://www.wikidata.org/wiki/Q220184","display_name":"Finite element method","level":2,"score":0.6559216976165771},{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.6555266380310059},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.6455798149108887},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.5729057192802429},{"id":"https://openalex.org/C62064638","wikidata":"https://www.wikidata.org/wiki/Q553878","display_name":"Design for manufacturability","level":2,"score":0.5713294148445129},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5589637756347656},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4498247504234314},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.38645994663238525},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.16169580817222595},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09879639744758606},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.09621769189834595},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.3390/s23073705","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s23073705","pdf_url":"https://www.mdpi.com/1424-8220/23/7/3705/pdf?version=1680571721","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},{"id":"pmid:37050767","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/37050767","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":"Sensors (Basel, Switzerland)","raw_type":null},{"id":"pmh:oai:pubmedcentral.nih.gov:10099043","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/10099043","pdf_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC10099043/pdf/sensors-23-03705.pdf","source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors (Basel)","raw_type":"Text"},{"id":"pmh:oai:doaj.org/article:75108f4c8d9340ca96ff61940df3c2fe","is_oa":true,"landing_page_url":"https://doaj.org/article/75108f4c8d9340ca96ff61940df3c2fe","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":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors, Vol 23, Iss 7, p 3705 (2023)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/1424-8220/23/7/3705/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/s23073705","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors; Volume 23; Issue 7; Pages: 3705","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/s23073705","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s23073705","pdf_url":"https://www.mdpi.com/1424-8220/23/7/3705/pdf?version=1680571721","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.46000000834465027,"display_name":"Life below water","id":"https://metadata.un.org/sdg/14"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320322604","display_name":"Universiti Malaya","ror":"https://ror.org/00rzspn62"}],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4362560156.pdf"},"referenced_works_count":43,"referenced_works":["https://openalex.org/W1521257674","https://openalex.org/W1531739212","https://openalex.org/W1535570778","https://openalex.org/W1825041585","https://openalex.org/W1964064577","https://openalex.org/W1970107898","https://openalex.org/W1995293185","https://openalex.org/W2004207977","https://openalex.org/W2016807506","https://openalex.org/W2022664343","https://openalex.org/W2033433965","https://openalex.org/W2053979489","https://openalex.org/W2069132186","https://openalex.org/W2076906237","https://openalex.org/W2079098442","https://openalex.org/W2089826029","https://openalex.org/W2099745515","https://openalex.org/W2133564875","https://openalex.org/W2156905932","https://openalex.org/W2166230296","https://openalex.org/W2196056879","https://openalex.org/W2293200354","https://openalex.org/W2298175437","https://openalex.org/W2599869952","https://openalex.org/W2737599571","https://openalex.org/W2750552658","https://openalex.org/W2768174095","https://openalex.org/W2768663609","https://openalex.org/W2785919740","https://openalex.org/W2790523184","https://openalex.org/W2803873619","https://openalex.org/W2946619813","https://openalex.org/W2964543462","https://openalex.org/W2999641164","https://openalex.org/W3003696105","https://openalex.org/W3026274265","https://openalex.org/W3043394274","https://openalex.org/W3048201388","https://openalex.org/W3172291143","https://openalex.org/W4282842650","https://openalex.org/W4291313151","https://openalex.org/W4313525047","https://openalex.org/W6676434310"],"related_works":["https://openalex.org/W2906683640","https://openalex.org/W3166869880","https://openalex.org/W2084585894","https://openalex.org/W1520492402","https://openalex.org/W3101820272","https://openalex.org/W2965621877","https://openalex.org/W2361854609","https://openalex.org/W2070039303","https://openalex.org/W2381670429","https://openalex.org/W4205249298"],"abstract_inverted_index":{"The":[0,51,64,81,105,126,154,170],"design":[1,27,70,82],"of":[2,28,46,162],"torsional":[3,34],"springs":[4],"for":[5,36,71,178],"series":[6,42],"elastic":[7,43],"actuators":[8],"(SEAs)":[9],"is":[10,53,174],"challenging,":[11],"especially":[12],"when":[13],"balancing":[14],"good":[15],"stiffness":[16],"characteristics":[17],"and":[18,32,79,89,119,141,147,165,182,191],"efficient":[19],"torque":[20,160],"robustness.":[21],"This":[22],"study":[23],"focuses":[24],"on":[25,76],"the":[26,39,86,91,96,130,142],"a":[29,47,110,115,122,134,158,166,175],"lightweight,":[30],"low-cost,":[31],"compact":[33],"spring":[35,66,132,156,173],"use":[37],"in":[38],"energy":[40],"storage-rotary":[41],"actuator":[44],"(ES-RSEA)":[45],"lumbar":[48,179],"support":[49,180],"exoskeleton.":[50],"exoskeleton":[52],"used":[54],"as":[55],"an":[56],"assistive":[57],"device":[58],"to":[59,101],"prevent":[60],"lower":[61],"back":[62],"injuries.":[63],"torsion":[65,131,155,172],"was":[67,107,150],"designed":[68],"following":[69],"manufacturability":[72],"(DFM)":[73],"principles,":[74],"focusing":[75],"minimal":[77],"space":[78],"weight.":[80],"process":[83,113],"involved":[84],"determining":[85],"potential":[87],"topology":[88,93],"optimizing":[90],"selected":[92],"parameters":[94],"through":[95],"finite":[97],"element":[98],"method":[99],"(FEM)":[100],"reduce":[102],"equivalent":[103],"stress.":[104],"prototype":[106],"made":[108],"using":[109,121],"waterjet":[111],"cutting":[112],"with":[114,138],"low-cost":[116],"material":[117],"(AISI-4140-alloy)":[118],"tested":[120],"custom-made":[123],"test":[124],"rig.":[125],"results":[127],"showed":[128],"that":[129],"had":[133],"linear":[135],"torque-displacement":[136],"relationship":[137],"99%":[139],"linearity,":[140],"deviation":[143],"between":[144],"FEM":[145],"simulation":[146],"experimental":[148],"measurements":[149],"less":[151],"than":[152],"2%.":[153],"has":[157],"maximum":[159],"capacity":[161],"45.7":[163],"Nm":[164],"440":[167],"Nm/rad":[168],"stiffness.":[169],"proposed":[171],"promising":[176],"option":[177],"exoskeletons":[181],"similar":[183],"applications":[184],"requiring":[185],"low":[186,188],"stiffness,":[187],"weight-to-torque":[189],"ratio,":[190],"cost-effectiveness.":[192]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1}],"updated_date":"2026-05-06T08:25:59.206177","created_date":"2025-10-10T00:00:00"}