{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,24]],"date-time":"2026-07-24T09:57:11Z","timestamp":1784887031055,"version":"3.55.0"},"publisher-location":"Cham","reference-count":136,"publisher":"Springer International Publishing","isbn-type":[{"value":"9783319325507","type":"print"},{"value":"9783319325521","type":"electronic"}],"license":[{"start":{"date-parts":[[2016,1,1]],"date-time":"2016-01-01T00:00:00Z","timestamp":1451606400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"},{"start":{"date-parts":[[2016,1,1]],"date-time":"2016-01-01T00:00:00Z","timestamp":1451606400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2016]]},"DOI":"10.1007\/978-3-319-32552-1_21","type":"book-chapter","created":{"date-parts":[[2016,7,27]],"date-time":"2016-07-27T19:03:33Z","timestamp":1469646213000},"page":"499-530","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":25,"title":["Actuators for Soft Robotics"],"prefix":"10.1007","author":[{"given":"Alin","family":"Albu-Sch\u00e4ffer","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Antonio","family":"Bicchi","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"297","published-online":{"date-parts":[[2016,7,27]]},"reference":[{"key":"21_CR1","volume-title":"Intrinsically Safer Robots, Tech. Rep.","author":"K.T. Ulrich","year":"1995","unstructured":"K.T. Ulrich, T.T. Tuttle, J.P. Donoghue, W.T. Townsend: Intrinsically Safer Robots, Tech. Rep. (Barrett Technology Inc., Cambridge 1995), Final Report for NASA Contract NAS10-12178"},{"key":"21_CR2","volume-title":"Proc. 18th World Congr. Int. Fed. Autom. Control (IFAC)","author":"B. Lacevic","year":"2011","unstructured":"B. Lacevic, P. Rocco: Safety-oriented control of robotic manipulators\u00a0\u2013 A\u00a0kinematic approach, Proc. 18th World Congr. Int. Fed. Autom. Control (IFAC) (2011)"},{"key":"21_CR3","doi-asserted-by":"publisher","first-page":"1578","DOI":"10.1177\/0278364912462256","volume":"31","author":"S. Haddadin","year":"2012","unstructured":"S. Haddadin, S. Haddadin, A. Khoury, T. Rokahr, S. Parusel, R. Burgkart, A. Bicchi, A. Albu-Schaeffer: On making robots understand safety: Embedding injury knowledge into control, Int. J. Robotics Res. 31, 1578\u20131602 (2012)","journal-title":"Int. J. Robotics Res."},{"key":"21_CR4","first-page":"254","volume-title":"Proc. IEEE Int. Conf. Robotics Autom. (ICRA), Philadelphia","author":"K. Salisbury","year":"1988","unstructured":"K. Salisbury, W. Townsend, B. Eberman, D. DiPietro: Preliminary design of a\u00a0whole-arm manipulation system (WAMS), Proc. IEEE Int. Conf. Robotics Autom. (ICRA), Philadelphia (1988) pp. 254\u2013260"},{"key":"21_CR5","first-page":"3356","volume-title":"Proc. IEEE Int. Conf. Robotics Autom. (ICRA)","author":"G. Hirzinger","year":"2001","unstructured":"G. Hirzinger, A. Albu-Sch\u00e4ffer, M. H\u00e4hnle, I. Schaefer, N. Sporer: On a\u00a0new generation of torque controlled light-weight robots, Proc. IEEE Int. Conf. Robotics Autom. (ICRA) (2001) pp. 3356\u20133363"},{"issue":"4\/5","key":"21_CR6","doi-asserted-by":"publisher","first-page":"351","DOI":"10.1177\/0278364904042194","volume":"23","author":"K. Yokoi","year":"2004","unstructured":"K. Yokoi, F. Kanehiro, K. Kaneko, S. Kajita, K. Fujiwara, H. Hirukawa: Experimental study of humanoid robot HRP-1S, Int. J. Robotics Res. 23(4\/5), 351\u2013362 (2004)","journal-title":"Int. J. Robotics Res."},{"key":"21_CR7","first-page":"7","volume-title":"Proc. IEEE\/RAS Int. Conf. Humanoid Robots","author":"K. Kaneko","year":"2009","unstructured":"K. Kaneko, F. Kanehiro, M. Morisawa, K. Miura, S. Nakaoka, S. Kajita: Cybernetic human HRP-4C, Proc. IEEE\/RAS Int. Conf. Humanoid Robots (2009) pp. 7\u201314"},{"key":"21_CR8","first-page":"2478","volume-title":"Proc. IEEE\/RSJ Int. Conf. Intell. Robots Syst. (IROS)","author":"Y. Sakagami","year":"2002","unstructured":"Y. Sakagami, R. Watanabe, C. Aoyama, S. Matsunaga, N. Higaki, K. Fujimura: The intelligent asimo: System overview and integration, Proc. IEEE\/RSJ Int. Conf. Intell. Robots Syst. (IROS), Vol. 3 (2002) pp. 2478\u20132483"},{"issue":"1850","key":"21_CR9","doi-asserted-by":"publisher","first-page":"11","DOI":"10.1098\/rsta.2006.1917","volume":"365","author":"M. Hirose","year":"2007","unstructured":"M. Hirose, K. Ogawa: Honda humanoid robots development, Phil. Trans. Roy. Soc. A 365(1850), 11\u201319 (2007)","journal-title":"Phil. Trans. Roy. Soc. A"},{"key":"21_CR10","volume-title":"Proc. Int. Conf. Humanoid Robots, Tsukuba","author":"B. Vanderborght","year":"2006","unstructured":"B. Vanderborght, B. Verrelst, R. Van Ham, M. Van Damme, D. Lefeber: A\u00a0pneumatic biped: Experimental walking results and compliance adaptation experiments, Proc. Int. Conf. Humanoid Robots, Tsukuba (2006)"},{"key":"21_CR11","first-page":"627","volume-title":"Proc. IEEE\/RAS Int. Conf. Humanoid Robots","author":"T. Takuma","year":"2004","unstructured":"T. Takuma, K. Hosoda, M. Ogino, M. Asada: Stabilization of quasi-passive pneumatic muscle walker, Proc. IEEE\/RAS Int. Conf. Humanoid Robots, Vol. 2 (2004) pp. 627\u2013639"},{"key":"21_CR12","first-page":"1983","volume-title":"Proc. IEEE Int. Conf. Robotics Autom. (ICRA)","author":"S.H. Collins","year":"2005","unstructured":"S.H. Collins, A. Ruina: A\u00a0bipedal walking robot with efficient and human-like gait, Proc. IEEE Int. Conf. Robotics Autom. (ICRA) (2005) pp. 1983\u20131988"},{"key":"21_CR13","first-page":"665","volume-title":"Proc. IEEE Int. Conf. Robotics Autom.","author":"N.G. Tsagarakis","year":"2013","unstructured":"N.G. Tsagarakis, S. Morfey, G. Medrano-Cerda, Z. Li, D.G. Caldwell: Compliant humanoid coman: Optimal joint stiffness tuning for modal frequency control, Proc. IEEE Int. Conf. Robotics Autom. (2013) pp. 665\u2013670"},{"key":"21_CR14","series-title":"CMU-RI-TR-04-24","volume-title":"An Actuator with Mechanically Adjustable Series Compliance","author":"J.W. Hurst","year":"2004","unstructured":"J.W. Hurst, J.E. Chestnutt, A.A. Rizzi: An Actuator with Mechanically Adjustable Series Compliance, CMU-RI-TR-04-24 (Robotics Inst.\/Carnegie Mellon University, Pittsburgh 2004)"},{"key":"21_CR15","first-page":"1626","volume-title":"Proc. 4th IEEE\/RAS\/EMBS Int. Conf. Biomed. Robotics Biomechatron. (BioRob)","author":"L.C. Visser","year":"2012","unstructured":"L.C. Visser, S. Stramigioli, R. Carloni: Robust bipedal walking with variable leg stiffness, Proc. 4th IEEE\/RAS\/EMBS Int. Conf. Biomed. Robotics Biomechatron. (BioRob) (2012) pp. 1626\u20131631"},{"key":"21_CR16","first-page":"1199","volume-title":"Proc. 51st IEEE Annu. Conf. Decis. Control (CDC)","author":"S. Haddadin","year":"2012","unstructured":"S. Haddadin, M.C. Ozparpucu, A. Albu-Sch\u00e4ffer: Optimal control for maximizing potential energy in a\u00a0variable stiffness joint, Proc. 51st IEEE Annu. Conf. Decis. Control (CDC) (2012) pp. 1199\u20131206"},{"key":"21_CR17","first-page":"1843","volume-title":"Proc. IEEE\/RSJ Int. Conf. Intell. Robots Syst. (IROS), San Francisco","author":"M. Garabini","year":"2011","unstructured":"M. Garabini, A. Passaglia, F.A.W. Belo, P. Salaris, A. Bicchi: Optimality\nprinciples in variable stiff- ness control: The VSA hammer, Proc. IEEE\/RSJ Int. Conf. Intell. Robots Syst. (IROS), San Francisco (2011) pp. 1843\u20131851"},{"key":"21_CR18","doi-asserted-by":"publisher","first-page":"17","DOI":"10.1080\/00222895.1986.10735369","volume":"18","author":"A.G. Feldman","year":"1986","unstructured":"A.G. Feldman: Once more on the equilibrium-point hypothesis (\u03bb model) for motor control, J. Mot. Behav. 18, 17\u201354 (1986)","journal-title":"J. Mot. Behav."},{"key":"21_CR19","doi-asserted-by":"publisher","first-page":"131","DOI":"10.1007\/BF00229662","volume":"95","author":"J.R. Flanagan","year":"1993","unstructured":"J.R. Flanagan, A.M. Wing: Modulation of grip force with load force during point-to-point arm movements, Exp. Brain Res. 95, 131\u2013143 (1993)","journal-title":"Exp. Brain Res."},{"issue":"1","key":"21_CR20","doi-asserted-by":"publisher","first-page":"125","DOI":"10.1007\/BF00228024","volume":"107","author":"J. Won","year":"1995","unstructured":"J. Won, N. Hogan: Stability properties of human reaching movements, Exp. Brain Res. 107(1), 125\u2013136 (1995)","journal-title":"Exp. Brain Res."},{"key":"21_CR21","doi-asserted-by":"publisher","first-page":"1409","DOI":"10.1152\/jn.1998.79.3.1409","volume":"79","author":"P.L. Gribble","year":"1998","unstructured":"P.L. Gribble, D.J. Ostry, V. Sanguineti, R. Laboissi\u00e8re: Are complex control signals required for human arm movement?, J. Neurophysiol. 79, 1409\u20131424 (1998)","journal-title":"J. Neurophysiol."},{"issue":"3","key":"21_CR22","doi-asserted-by":"publisher","first-page":"706","DOI":"10.1109\/JOE.2004.833135","volume":"29","author":"J.D.W. Madden","year":"2004","unstructured":"J.D.W. Madden, N.A. Vandesteeg, P.A. Anquetil, P.G.A. Madden, A. Takshi, R.Z. Pytel, S.R. Lafontaine, P.A. Wieringa, I.W. Hunter: Artificial muscle technology: Physical principles and naval prospects, IEEE J. Ocean. Eng. 29(3), 706\u2013728 (2004)","journal-title":"IEEE J. Ocean. Eng."},{"key":"21_CR23","volume-title":"Hydraulics and Pneumatics: A\u00a0Technician's and Engineer's Guide","author":"A. Parr","year":"1998","unstructured":"A. Parr: Hydraulics and Pneumatics: A\u00a0Technician's and Engineer's Guide (Butterworth-Heinemann, Oxford 1998)"},{"key":"21_CR24","volume-title":"Pneumatic Actuating Systems for Automatic Equipment: Structure and Design","author":"I.L. Krivts","year":"2006","unstructured":"I.L. Krivts, G.V. Krejnin: Pneumatic Actuating Systems for Automatic Equipment: Structure and Design (CRC, Boca Raton 2006)"},{"key":"21_CR25","first-page":"139","volume-title":"Proc. 1st Rock Biomech. Symp.","author":"H.A. Baldwin","year":"1969","unstructured":"H.A. Baldwin: Realizable models of muscle function, Proc. 1st Rock Biomech. Symp. (1969) pp. 139\u2013148"},{"key":"21_CR26","first-page":"57","volume-title":"Proc. 4th Int. Symp. Robotics Res.","author":"K. Inoue","year":"1987","unstructured":"K. Inoue: Rubbertuators and applications for robots, Proc. 4th Int. Symp. Robotics Res. (1987) pp. 57\u201363"},{"key":"21_CR27","doi-asserted-by":"publisher","first-page":"399","DOI":"10.1007\/BF02584440","volume":"23","author":"B. Hannaford","year":"1995","unstructured":"B. Hannaford, J.M. Winters, C.-P. Chou, P.H. Marbot: The anthroform biorobotic arm: A\u00a0system for the study of spinal circuits, Ann. Biomed. Eng. 23, 399\u2013408 (1995)","journal-title":"Ann. Biomed. Eng."},{"issue":"1","key":"21_CR28","doi-asserted-by":"publisher","first-page":"40","DOI":"10.1109\/37.341863","volume":"15","author":"D.G. Caldwell","year":"1995","unstructured":"D.G. Caldwell, G.A. Medrano-Cerda, M. Goodwin: Control of pneumatic muscle actuators, IEEE Control Syst. Mag. 15(1), 40\u201348 (1995)","journal-title":"IEEE Control Syst. Mag."},{"issue":"1","key":"21_CR29","doi-asserted-by":"publisher","first-page":"28","DOI":"10.1109\/21.259683","volume":"24","author":"T. Hesselroth","year":"1994","unstructured":"T. Hesselroth, K. Sarkar, P.P. van der Smagt, K. Schulten: Neural network control of a\u00a0pneumatic robot arm, IEEE Trans. Syst. Man Cybern. 24(1), 28\u201338 (1994)","journal-title":"IEEE Trans. Syst. Man Cybern."},{"key":"21_CR30","first-page":"1864","volume-title":"Proc. IEEE Int. Symp. Intell. Robots Syst. (IROS), Maui","author":"A. Bicchi","year":"2001","unstructured":"A. Bicchi, S.L. Rizzini, G. Tonietti: Compliant design for intrinsic safety: General issues and preliminary design, Proc. IEEE Int. Symp. Intell. Robots Syst. (IROS), Maui (2001) pp. 1864\u20131869"},{"issue":"3","key":"21_CR31","doi-asserted-by":"publisher","first-page":"41","DOI":"10.1080\/14399776.2001.10781119","volume":"2","author":"F. Daerden","year":"2001","unstructured":"F. Daerden, D. Lefeber: The concept and design of pleated pneumatic artificial muscles, Int. J. Fluid Power 2(3), 41\u201350 (2001)","journal-title":"Int. J. Fluid Power"},{"issue":"7","key":"21_CR32","doi-asserted-by":"publisher","first-page":"783","DOI":"10.1163\/156855306777681357","volume":"20","author":"B. Verrelst","year":"2006","unstructured":"B. Verrelst, R. Van Ham, B. Vanderborght, D. Lefeber, F. Daerden, M. Van Damme: Second generation pleated pneumatic artificial muscle and its robotic applications, Adv. Robotics 20(7), 783\u2013805 (2006)","journal-title":"Adv. Robotics"},{"key":"21_CR33","volume-title":"Practical Electric Motor Handbook","author":"I.M. Gottlieb","year":"1997","unstructured":"I.M. Gottlieb: Practical Electric Motor Handbook (Butterworth-Heinemann, Oxford 1997)"},{"key":"21_CR34","volume-title":"Permanent Magnet Motor Technology: Design and Applications","author":"J.F. Gieras","year":"2002","unstructured":"J.F. Gieras, M. Wing: Permanent Magnet Motor Technology: Design and Applications (CRC, Boca Raton 2002)"},{"key":"21_CR35","volume-title":"The MEMS Handbook: MEMS, Design and Fabrication","author":"M. Gad-el Hak","year":"2006","unstructured":"M. Gad-el Hak: The MEMS Handbook: MEMS, Design and Fabrication (CRC, Boca Raton 2006)"},{"key":"21_CR36","volume-title":"Piezoelectric Actuators and Ultrasonic Motors","author":"K. Uchino","year":"1997","unstructured":"K. Uchino: Piezoelectric Actuators and Ultrasonic Motors (Kluwer, Boston 1997)"},{"key":"21_CR37","volume-title":"IEEE Int. Conf. Syst. Man Cybern.","author":"S.-C. Huang","year":"2008","unstructured":"S.-C. Huang, W.-L. Chen: Design of topologically optimal microgripper, IEEE Int. Conf. Syst. Man Cybern. (2008)"},{"key":"21_CR38","doi-asserted-by":"publisher","first-page":"770","DOI":"10.1109\/TMECH.2009.2034973","volume":"15","author":"J. Ueda","year":"2010","unstructured":"J. Ueda, T. Secord, H. Asada: Large effective-strain piezoelectric actuators using nested cellular architecture with exponential strain amplification mechanisms, IEEE\/ASME Trans. Mechatron. 15, 770\u2013782 (2010)","journal-title":"IEEE\/ASME Trans. Mechatron."},{"issue":"1","key":"21_CR39","doi-asserted-by":"publisher","first-page":"42","DOI":"10.1109\/TRO.2012.2216392","volume":"29","author":"J. Schultz","year":"2013","unstructured":"J. Schultz, J. Ueda: Two-port network models for compliant rhomboidal strain amplifiers, IEEE Trans. Robotics 29(1), 42\u201354 (2013)","journal-title":"IEEE Trans. Robotics"},{"issue":"5","key":"21_CR40","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1109\/TRO.2013.2264863","volume":"29","author":"J. Schultz","year":"2013","unstructured":"J. Schultz, J. Ueda: Nested piezoelectric cellular actuators for a\u00a0biologically inspired camera positioning mechanism, IEEE Trans. Robotics 29(5), 1\u201314 (2013)","journal-title":"IEEE Trans. Robotics"},{"issue":"2","key":"21_CR41","doi-asserted-by":"publisher","first-page":"298","DOI":"10.1109\/TMECH.2010.2099235","volume":"17","author":"J. Schultz","year":"2012","unstructured":"J. Schultz, J. Ueda: Experimental verification of discrete switching vibration suppression, IEEE\/ASME Trans. Mechatron. 17(2), 298\u2013308 (2012)","journal-title":"IEEE\/ASME Trans. Mechatron."},{"key":"21_CR42","volume-title":"Handbook of Giant Magnetostrictive Materials","author":"G. Engdahl","year":"2000","unstructured":"G. Engdahl: Handbook of Giant Magnetostrictive Materials (Academic, San Diego 2000)"},{"key":"21_CR43","volume-title":"Shape Memory Alloys: Modeling and Engineering Applications","author":"D.C. Lagoudas","year":"2008","unstructured":"D.C. Lagoudas: Shape Memory Alloys: Modeling and Engineering Applications (Springer, New York 2008)"},{"issue":"4","key":"21_CR44","doi-asserted-by":"publisher","first-page":"78","DOI":"10.1109\/MRA.2010.938845","volume":"17","author":"E. Torres-Jara","year":"2010","unstructured":"E. Torres-Jara, K. Gilpin, J. Karges, R.J. Wood, D. Rus: Composable flexible small actuators built from thin shape memory alloy sheets, IEEE Robotics Autom. Mag. 17(4), 78\u201387 (2010)","journal-title":"IEEE Robotics Autom. Mag."},{"key":"21_CR45","volume-title":"Shape-Memory Polymers and Multifunctional Composites","author":"L. Jinsong","year":"2009","unstructured":"L. Jinsong: Shape-Memory Polymers and Multifunctional Composites (CRC, Boca Raton 2009)"},{"key":"21_CR46","doi-asserted-by":"publisher","DOI":"10.1002\/9780470744697","volume-title":"Biomedical Applications of Electroactive Polymer Actuators","author":"F. Carpi","year":"2009","unstructured":"F. Carpi, E. Smela: Biomedical Applications of Electroactive Polymer Actuators (Wiley, Chichester 2009)"},{"issue":"1","key":"21_CR47","doi-asserted-by":"publisher","first-page":"10","DOI":"10.1002\/marc.200900425","volume":"31","author":"P. Brochu","year":"2010","unstructured":"P. Brochu, Q. Pei: Advances in dielectric elastomers for actuators and artificial muscles, Macromol. Rapid Commun. 31(1), 10\u201336 (2010)","journal-title":"Macromol. Rapid Commun."},{"key":"21_CR48","doi-asserted-by":"publisher","DOI":"10.1201\/9781482295450","volume-title":"Ferroelectric Polymers: Chemistry, Physics, and Applications","author":"H.S. Nalwa","year":"1995","unstructured":"H.S. Nalwa: Ferroelectric Polymers: Chemistry, Physics, and Applications (CRC, Boca Raton 1995)"},{"key":"21_CR49","volume-title":"Dielectric Elastomers as Electromechanical Transducers: Fundamentals, Materials, Devices, Models and Applications of an Emerging Electroactive Polymer Technology","author":"F. Carpi","year":"2008","unstructured":"F. Carpi, D. De Rossi, R. Kornbluh, R. Pelrine, P. Sommer-Larsen: Dielectric Elastomers as Electromechanical Transducers: Fundamentals, Materials, Devices, Models and Applications of an Emerging Electroactive Polymer Technology (Elsevier, Amsterdan 2008)"},{"issue":"1","key":"21_CR50","doi-asserted-by":"publisher","first-page":"12","DOI":"10.1038\/nmat3526","volume":"12","author":"G. Fernandez","year":"2013","unstructured":"G. Fernandez: Liquid-crystal polymers: Exotic actuators, Nat. Mater. 12(1), 12\u201314 (2013)","journal-title":"Nat. Mater."},{"issue":"5418","key":"21_CR51","doi-asserted-by":"publisher","first-page":"1340","DOI":"10.1126\/science.284.5418.1340","volume":"284","author":"R.H. Baughman","year":"1999","unstructured":"R.H. Baughman, C. Cui, A.A. Zakhidov, Z. Iqbal, J.N. Barisci, G.M. Spinks, G.G. Wallace, A. Mazzoldi, D.D. Rossi, A.G. Rinzler, O. Jaschinski, S. Roth, M. Kertesz: Carbon nanotube actuators, Science 284(5418), 1340\u20131344 (1999)","journal-title":"Science"},{"issue":"5921","key":"21_CR52","doi-asserted-by":"publisher","first-page":"1575","DOI":"10.1126\/science.1168312","volume":"323","author":"A.E. Aliev","year":"2009","unstructured":"A.E. Aliev, J. Oh, M.E. Kozlov, A.A. Kuznetsov, S. Fang, A.F. Fonseca, R. Ovalle, M.D. Lima, M.H. Haque, Y.N. Gartstein, M. Zhang, A.A. Zakhidov, R.H. Baughman: Giant-stroke, superelastic carbon nanotube aerogel muscles, Science 323(5921), 1575\u20131578 (2009)","journal-title":"Science"},{"issue":"5921","key":"21_CR53","doi-asserted-by":"publisher","first-page":"1571","DOI":"10.1126\/science.1171169","volume":"323","author":"J.D.W. Madden","year":"2009","unstructured":"J.D.W. Madden: Stiffer than steel, Science 323(5921), 1571\u20131572 (2009)","journal-title":"Science"},{"key":"21_CR54","first-page":"340","volume-title":"Proc. 16th IFAC World Cong.","author":"E. Guglielmino","year":"2005","unstructured":"E. Guglielmino, C.W. Stammers, K.A. Edge, T. Sireteanu, D. Stancioiu: Damp-by-wire: Magnetorheological vs friction dampers, Proc. 16th IFAC World Cong. (2005) pp. 340\u2013345"},{"key":"21_CR55","first-page":"1668","volume-title":"Proc. IEEE Int. Conf. Robotics Autom. (ICRA)","author":"M. Laffranchi","year":"2010","unstructured":"M. Laffranchi, N.G. Tsagarakis, D.G. Caldwell: A\u00a0variable physical damping actuator (VPDA) for compliant robotic joints, Proc. IEEE Int. Conf. Robotics Autom. (ICRA) (2010) pp. 1668\u20131674"},{"key":"21_CR56","series-title":"Senior Lect. Eng. Mech.","doi-asserted-by":"publisher","DOI":"10.1002\/9780470516430","volume-title":"The Shock Absorber Handbook","author":"J.C. Dixon","year":"2007","unstructured":"J.C. Dixon: The Shock Absorber Handbook, Senior Lect. Eng. Mech. (Wiley, Chichester 2007)"},{"key":"21_CR57","first-page":"2631","volume-title":"Proc. IEEE Int. Conf. Robotics Autom. (ICRA)","author":"J. Li","year":"1995","unstructured":"J. Li, D. Jin, X. Zhang, J. Zhang, W.A. Gruver: An electrorheological fluid damper for robots, Proc. IEEE Int. Conf. Robotics Autom. (ICRA) (1995) pp. 2631\u20132636"},{"key":"21_CR58","first-page":"533","volume-title":"Proc. 4th IEEE\/RAS Int. Conf. Humanoid Robots","author":"C.-M. Chew","year":"2004","unstructured":"C.-M. Chew, G.-S. Hong, W. Zhou: Series damper actuator: A\u00a0novel force control actuator, Proc. 4th IEEE\/RAS Int. Conf. Humanoid Robots (2004) pp. 533\u2013546"},{"issue":"7","key":"21_CR59","doi-asserted-by":"publisher","first-page":"075001","DOI":"10.1088\/0022-3727\/42\/7\/075001","volume":"42","author":"B. Ebrahimi","year":"2009","unstructured":"B. Ebrahimi, M.B. Khamesee, F. Golnaraghi: A\u00a0novel eddy current damper: Theory and experiment, J. Phys. D Appl. Phys. 42(7), 075001 (2009)","journal-title":"J. Phys. D Appl. Phys."},{"issue":"3","key":"21_CR60","doi-asserted-by":"publisher","first-page":"294","DOI":"10.1115\/1.2172256","volume":"128","author":"H.A. Sodano","year":"2006","unstructured":"H.A. Sodano, J.-S. Bae, D. Inman, K. Belvin: Improved concept and model of eddy current damper, J. Vib. Acoust. 128(3), 294\u2013302 (2006)","journal-title":"J. Vib. Acoust."},{"key":"21_CR61","first-page":"399","volume-title":"Proc. IEEE\/RSJ Int. Conf. Intell. Robots Syst. Hum. Robot Interact. Coop. Robots","author":"G.A. Pratt","year":"1995","unstructured":"G.A. Pratt, M.M. Williamson: Series elastic actuators, Proc. IEEE\/RSJ Int. Conf. Intell. Robots Syst. Hum. Robot Interact. Coop. Robots, Vol. 1 (1995) pp. 399\u2013406"},{"issue":"3","key":"21_CR62","doi-asserted-by":"publisher","first-page":"294","DOI":"10.1123\/mcj.14.3.294","volume":"14","author":"M.L. Latash","year":"2010","unstructured":"M.L. Latash: Motor synergies and the equilibrium-point, Mot. Control 14(3), 294\u2013322 (2010)","journal-title":"Mot. Control"},{"key":"21_CR63","first-page":"462","volume-title":"Proc. IEEE Int. Conf. Robotics Autom. (ICRA)","author":"T. Morita","year":"1997","unstructured":"T. Morita, S. Sugano: Development and evaluation of seven-d.o.f. mia arm, Proc. IEEE Int. Conf. Robotics Autom. (ICRA) (1997) pp. 462\u2013467"},{"key":"21_CR64","first-page":"4662","volume-title":"Proc. IEEE Int. Conf. Robotics Autom. (ICRA)","author":"J.W. Hurst","year":"2004","unstructured":"J.W. Hurst, J. Chestnutt, A. Rizzi: An actuator with physically variable stiffness for highly dynamic legged locomotion, Proc. IEEE Int. Conf. Robotics Autom. (ICRA) (2004) pp. 4662\u20134667"},{"issue":"10","key":"21_CR65","doi-asserted-by":"publisher","first-page":"761","DOI":"10.1016\/j.robot.2007.03.001","volume":"55","author":"R. Van Ham","year":"2007","unstructured":"R. Van Ham, B. Vanderborght, M. Van Damme, B. Verrelst, D. Lefeber: MACCEPA, the mechanically adjustable compliance and controllable equilibrium position actuator: Design and implementation in a\u00a0biped robot, Robotics Auton. Syst. 55(10), 761\u2013768 (2007)","journal-title":"Robotics Auton. Syst."},{"key":"21_CR66","first-page":"1741","volume-title":"Proc. IEEE Int. Conf. Robotics Autom. (ICRA)","author":"S. Wolf","year":"2008","unstructured":"S. Wolf, G. Hirzinger: A\u00a0new variable stiffness design: Matching requirements of the next robot generation, Proc. IEEE Int. Conf. Robotics Autom. (ICRA) (2008) pp. 1741\u20131746"},{"issue":"8","key":"21_CR67","doi-asserted-by":"publisher","first-page":"681","DOI":"10.1109\/TAC.1984.1103644","volume":"AC-29","author":"N. Hogan","year":"1984","unstructured":"N. Hogan: Adaptive control of mechanical impedance by coactivation of antagonist muscles, IEEE Trans. Autom. Control AC-29(8), 681\u2013690 (1984)","journal-title":"IEEE Trans. Autom. Control"},{"key":"21_CR68","first-page":"4519","volume-title":"Proc. IEEE Int. Conf. Robotics Autom. (ICRA)","author":"S.A. Migliore","year":"2005","unstructured":"S.A. Migliore, E.A. Brown, S.P. DeWeerth: Biologically inspired joint stiffness control, Proc. IEEE Int. Conf. Robotics Autom. (ICRA) (2005) pp. 4519\u20134524"},{"key":"21_CR69","first-page":"528","volume-title":"Proc. IEEE Int. Conf. Robotics Autom. (ICRA)","author":"G. Tonietti","year":"2005","unstructured":"G. Tonietti, R. Schiavi, A. Bicchi: Design and control of a\u00a0variable stiffness actuator for safe and fast physical human\/robot interaction, Proc. IEEE Int. Conf. Robotics Autom. (ICRA) (2005) pp. 528\u2013533"},{"key":"21_CR70","first-page":"5090","volume-title":"Proc. IEEE Int. Conf. Robotics Autom. (ICRA)","author":"M.G. Catalano","year":"2011","unstructured":"M.G. Catalano, G. Grioli, M. Garabini, F. Bonomo, M. Mancinit, N. Tsagarakis, A. Bicchi: Vsa-cubebot: A\u00a0modular variable stiffness platform for multiple degrees of freedom robots, Proc. IEEE Int. Conf. Robotics Autom. (ICRA) (2011) pp. 5090\u20135095"},{"issue":"2","key":"21_CR71","doi-asserted-by":"publisher","first-page":"22","DOI":"10.1109\/MRA.2004.1310939","volume":"11","author":"A. Bicchi","year":"2004","unstructured":"A. Bicchi, G. Tonietti: Fast and soft-arm tactics, IEEE Robotics Autom. Mag. 11(2), 22\u201333 (2004)","journal-title":"IEEE Robotics Autom. Mag."},{"key":"21_CR72","first-page":"2155","volume-title":"Proc. IEEE Int. Conf. Robotics Autom. (ICRA)","author":"A. Albu-Sch\u00e4ffer","year":"2010","unstructured":"A. Albu-Sch\u00e4ffer, S. Wolf, O. Eiberger, S. Haddadin, F. Petit, M. Chalon: Dynamic modelling and control of variable stiffness actuators, Proc. IEEE Int. Conf. Robotics Autom. (ICRA) (2010) pp. 2155\u20132162"},{"issue":"6","key":"21_CR73","first-page":"669","volume":"13","author":"A.H.C. Gosline","year":"2008","unstructured":"A.H.C. Gosline, V. Hayward: Eddy current brakes for haptic interfaces: Design, identification, and control, IEEE\/ASME Trans, Mechatron. 13(6), 669\u2013677 (2008)","journal-title":"Mechatron."},{"key":"21_CR74","first-page":"2666","volume-title":"Proc. IEEE Int. Conf. Robotics Autom. (ICRA)","author":"M. Catalano","year":"2012","unstructured":"M. Catalano, G. Grioli, M. Garabini, F.W. Belo, A. di Basco, N. Tsagarakis, A. Bicchi: A\u00a0variable damping module for variable impedance actuation, Proc. IEEE Int. Conf. Robotics Autom. (ICRA) (2012) pp. 2666\u20132672"},{"key":"21_CR75","unstructured":"VIACTORS (Deutsches Zentrum f\u00fcr Luft- und Raumfahrt, Universit\u00e0 di Pisa, Universiteit Twente, Imperial College London, Instituto Italiano di Tecnologia, Vrije Universiteit Brussel): Variable Impedance Actuators data sheets, http:\/\/www.viactors.org\/VSA%20data%20sheets.htm (2011)"},{"issue":"6","key":"21_CR76","doi-asserted-by":"publisher","first-page":"727","DOI":"10.1177\/0278364914566515","volume":"34","author":"G. Grioli","year":"2015","unstructured":"G. Grioli, S. Wolf, O. Eiberger, W. Friedl, M. Grebenstein, H. H\u00f6ppner, E. Burdet, D. Caldwell, R. Carloni, M. Catalano, D. Lefeber, S. Stramigioli, N. Tsagaratkis, M. Van Damme, R. Van Ham, B. Vanderborght, L.C. Visser, A. Bicchi, A. Albu-Schaeffer: Variable stiffness actuators: The user\u2019s point of view, Int. J. Robotics Res. 34(6), 727\u2013743 (2015)","journal-title":"Int. J. Robotics Res."},{"issue":"99","key":"21_CR77","first-page":"1","volume":"PP","author":"S. Wolf","year":"2015","unstructured":"S. Wolf, G. Grioli, W. Friedl, M. Grebenstein, H. Hoeppner, E. Burdet, D. Caldwell, A. Bicchi, S. Stramigioli, B. Vanderborght: Variable stiffness actuators: Review on design and components, IEEE\/ASME Trans. Mechatron. PP(99), 1 (2015)","journal-title":"IEEE\/ASME Trans. Mechatron."},{"key":"21_CR78","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-61302-9","volume-title":"Systems with Hysteresis","author":"M. Krasnosel'skii","year":"1989","unstructured":"M. Krasnosel'skii, A. Pokrovskii: Systems with Hysteresis (Springer, Berlin, Heidelberg 1989)"},{"key":"21_CR79","first-page":"565","volume":"11","author":"A.G. Feldman","year":"1966","unstructured":"A.G. Feldman: Functional tuning of the nervous system with control of movement or maintenance of a\u00a0steady posture. II: Controllable parameters of the musc1e, Biophysics 11, 565\u2013578 (1966)","journal-title":"Biophysics"},{"key":"21_CR80","doi-asserted-by":"publisher","DOI":"10.1137\/1.9780898718713","volume-title":"Approximation of Large-Scale Dynamical Systems","author":"A.C. Antoulas","year":"2005","unstructured":"A.C. Antoulas: Approximation of Large-Scale Dynamical Systems (SIAM, Philadelphia 2005)"},{"issue":"4","key":"21_CR81","doi-asserted-by":"publisher","first-page":"725","DOI":"10.1109\/9.847110","volume":"45","author":"I. Fantoni","year":"2000","unstructured":"I. Fantoni, R. Lozano, M.W. Spong: Energy based control of the pendubot, IEEE Trans. Autom. Control 45(4), 725\u2013729 (2000)","journal-title":"IEEE Trans. Autom. Control"},{"issue":"1","key":"21_CR82","doi-asserted-by":"publisher","first-page":"355","DOI":"10.1109\/TMECH.2011.2177098","volume":"18","author":"A. Jafari","year":"2013","unstructured":"A. Jafari, N. Tsagarakis, D. Caldwell: A\u00a0novel intrinsically energy efficient development of a\u00a0novel actuator with adjustable stiffness (awas), IEEE Trans. Mechatron. 18(1), 355\u2013365 (2013)","journal-title":"IEEE Trans. Mechatron."},{"key":"21_CR83","doi-asserted-by":"publisher","first-page":"816","DOI":"10.1109\/ROBOT.1996.503874","volume-title":"Proc. IEEE Int. Conf. Robotics Autom. (ICRA)","author":"A. De Luca","year":"1996","unstructured":"A. De Luca: Decoupling and feedback linearization of robots with mixed rigid\/elastic joints, Proc. IEEE Int. Conf. Robotics Autom. (ICRA) (1996) pp. 816\u2013821"},{"key":"21_CR84","first-page":"504","volume-title":"Proc. IEEE Int. Conf. Robotics Autom. (ICRA)","author":"A. De Luca","year":"1998","unstructured":"A. De Luca, P. Lucibello: A\u00a0general algorithm for dynamic feedback linearization of robots with elastic joints, Proc. IEEE Int. Conf. Robotics Autom. (ICRA) (1998) pp. 504\u2013510"},{"key":"21_CR85","doi-asserted-by":"publisher","first-page":"310","DOI":"10.1115\/1.3143860","volume":"109","author":"M. Spong","year":"1987","unstructured":"M. Spong: Modeling and control of elastic joint robots, ASME J. Dyn. Syst. Meas. Control 109, 310\u2013319 (1987)","journal-title":"ASME J. Dyn. Syst. Meas. Control"},{"key":"21_CR86","first-page":"2155","volume-title":"Proc. IEEE Conf. Robotics Autom. ICRA","author":"A. Albu-Schff\u00e4er","year":"2010","unstructured":"A. Albu-Schff\u00e4er, S. Wolf, O. Eiberger, S. Haddadin, F. Petit, M. Chalon: Dynamic modeling and control of variable stiffness actuators, Proc. IEEE Conf. Robotics Autom. ICRA (2010) pp. 2155\u20132162"},{"key":"21_CR87","first-page":"3175","volume-title":"Proc. IEEE Int. Conf. Robotics Autom. (ICRA), Shanghai","author":"M. Grebenstein","year":"2011","unstructured":"M. Grebenstein, A. Albu-Sch\u00e4ffer, T. Bahls, M. Chalon, O. Eiberger, W. Friedl, R. Gruber, S. Haddadin, U. Hagn, R. Haslinger, H. Hoppner, S. J\u00f6rg, M. Nickl, A. Nothhelfer, F. Petit, J. Reill, N. Seitz, T. Wimb\u00f6ck, S. Wolf, T. Wusthoff, G. Hirzinger: The DLR hand arm system, Proc. IEEE Int. Conf. Robotics Autom. (ICRA), Shanghai (2011) pp. 3175\u20133182"},{"key":"21_CR88","series-title":"Tech. Rep.","volume-title":"A\u00a0Guide to Mechanical Impedance and Structural Response Techniques","author":"H.P. Olesen","year":"1977","unstructured":"H.P. Olesen, R.B. Randall: A\u00a0Guide to Mechanical Impedance and Structural Response Techniques, Tech. Rep. (Bruel and Kjaer, Noerum 1977)"},{"issue":"3","key":"21_CR89","doi-asserted-by":"publisher","first-page":"163","DOI":"10.1007\/s004220050329","volume":"76","author":"H. Gomi","year":"1997","unstructured":"H. Gomi, M. Kawato: Human arm stiffness and equilibrium-point trajectory during multi-joint movement, Biol. Cybern. 76(3), 163\u2013171 (1997)","journal-title":"Biol. Cybern."},{"key":"21_CR90","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1115\/1.3140702","volume":"107","author":"N. Hogan","year":"1985","unstructured":"N. Hogan: Impedance Control: An approach to Manipulation\u00a0\u2013 Parts\u00a0I\u2013III, J. Dyn. Syst. Meas. Control 107, 1\u201324 (1985)","journal-title":"J. Dyn. Syst. Meas. Control"},{"issue":"10","key":"21_CR91","doi-asserted-by":"publisher","first-page":"2732","DOI":"10.1523\/JNEUROSCI.05-10-02732.1985","volume":"5","author":"F.A. Mussa-Ivaldi","year":"1985","unstructured":"F.A. Mussa-Ivaldi, N. Hogan, E. Bizzi: Neural, mechanical, and geometric factors subserving arm posture in humans, J. Neurosci. 5(10), 2732 (1985)","journal-title":"J. Neurosci."},{"issue":"21","key":"21_CR92","doi-asserted-by":"publisher","first-page":"8965","DOI":"10.1523\/JNEUROSCI.18-21-08965.1998","volume":"18","author":"H. Gomi","year":"1998","unstructured":"H. Gomi, R. Osu: Task-dependent viscoelasticity of human multijoint arm and its spatial characteristics for interaction with environments, J. Neurosci. 18(21), 8965 (1998)","journal-title":"J. Neurosci."},{"key":"21_CR93","first-page":"421","volume-title":"Proc. 1999 ASME Annu. Symp. Haptic Interfac. Virtual Environ. Teleoper. Syst.","author":"E. Burdet","year":"1999","unstructured":"E. Burdet, R. Osu, D.W. Franklin, T.E. Milner, M. Kawato: Measuring stiffness during arm movements in various dynamic environments, Proc. 1999 ASME Annu. Symp. Haptic Interfac. Virtual Environ. Teleoper. Syst. (1999) pp. 421\u2013428"},{"issue":"12","key":"21_CR94","doi-asserted-by":"publisher","first-page":"1705","DOI":"10.1016\/S0021-9290(00)00142-1","volume":"33","author":"E. Burdet","year":"2000","unstructured":"E. Burdet, R. Osu, D.W. Franklin, T. Yoshioka, T.E. Milner, M. Kawato: A\u00a0method for measuring endpoint stiffness during multi-joint arm movements, J. Biomech. 33(12), 1705\u20131709 (2000)","journal-title":"J. Biomech."},{"issue":"2","key":"21_CR95","doi-asserted-by":"publisher","first-page":"145","DOI":"10.1007\/s00221-003-1443-3","volume":"151","author":"D.W. Franklin","year":"2003","unstructured":"D.W. Franklin, E. Burdet, R. Osu, M. Kawato, T.E. Milner: Functional significance of stiffness in adaptation of multijoint arm movements to stable and unstable dynamics, Exp. Brain Res. 151(2), 145\u2013157 (2003)","journal-title":"Exp. Brain Res."},{"issue":"5","key":"21_CR96","doi-asserted-by":"publisher","first-page":"368","DOI":"10.1007\/s00422-004-0484-4","volume":"90","author":"K.P. Tee","year":"2004","unstructured":"K.P. Tee, E. Burdet, C.M. Chew, T.E. Milner: A\u00a0model of force and impedance in human arm movements, Biol. Cybern. 90(5), 368\u2013375 (2004)","journal-title":"Biol. Cybern."},{"issue":"4","key":"21_CR97","doi-asserted-by":"publisher","first-page":"507","DOI":"10.1007\/s00221-004-1864-7","volume":"157","author":"E.J. Perreault","year":"2004","unstructured":"E.J. Perreault, R.F. Kirsch, P.E. Crago: Multijoint dynamics and postural stability of the human arm, Exp. Brain Res. 157(4), 507\u2013517 (2004)","journal-title":"Exp. Brain Res."},{"issue":"5","key":"21_CR98","doi-asserted-by":"publisher","first-page":"e5411","DOI":"10.1371\/journal.pone.0005411","volume":"4","author":"R.D. Trumbower","year":"2009","unstructured":"R.D. Trumbower, M.A. Krutky, B.S. Yang, E.J. Perreault: Use of self-selected postures to regulate multi-joint stiffness during unconstrained tasks, PLoS ONE 4(5), e5411 (2009)","journal-title":"PLoS ONE"},{"key":"21_CR99","first-page":"722","volume-title":"SICE Annu. Conf.","author":"K. Hashimoto","year":"2004","unstructured":"K. Hashimoto, T. Kureha, Y. Nishimura, K. Okumura, S. Muraoka: Measurement of mechanical impedance using quartz resonator force sensor during the process of grasping, SICE Annu. Conf., Vol. 1 (2004) pp. 722\u2013726"},{"key":"21_CR100","first-page":"5548","volume-title":"Proc. IEEE Int. Conf. Robotics Autom. (ICRA)","author":"A. Serio","year":"2011","unstructured":"A. Serio, G. Grioli, I. Sardellitti, N.G. Tsagarakis, A. Bicchi: A\u00a0decoupled impedance observer for a\u00a0variable stiffness robot, Proc. IEEE Int. Conf. Robotics Autom. (ICRA) (2011) pp. 5548\u20135553"},{"issue":"13","key":"21_CR101","doi-asserted-by":"publisher","first-page":"1556","DOI":"10.1177\/0278364912461813","volume":"31","author":"F. Flacco","year":"2012","unstructured":"F. Flacco, A. De Luca, I. Sardellitti, N. Tsagarakis: On-line estimation of variable stiffness in flexible robot joints, Int. J. Robotics Res. 31(13), 1556\u20131577 (2012)","journal-title":"Int. J. Robotics Res."},{"key":"21_CR102","volume-title":"Proc. IEEE Int. Conf. Robotics Autom. (ICRA)","author":"T. M\u00e9nard","year":"2013","unstructured":"T. M\u00e9nard, G. Grioli, A. Bicchi: A\u00a0real time observer for an agonist-antagonist variable stiffness actuator, Proc. IEEE Int. Conf. Robotics Autom. (ICRA) (2013)"},{"issue":"5","key":"21_CR103","doi-asserted-by":"publisher","first-page":"1269","DOI":"10.1109\/TRO.2014.2329998","volume":"30","author":"T. M\u00e9nard","year":"2014","unstructured":"T. M\u00e9nard, G. Grioli, A. Bicchi: A\u00a0stiffness estimator for agonistic-antagonistic variable-stiffness-actuator devices, IEEE Trans. Robotics 30(5), 1269\u20131278 (2014)","journal-title":"IEEE Trans. Robotics"},{"key":"21_CR104","volume-title":"Proc. 10th Int. Conf. Robotics Sci. Syst., Zaragoza","author":"G. Grioli","year":"2010","unstructured":"G. Grioli, A. Bicchi: A\u00a0non-invasive real-time method for measuring variable stiffness, Proc. 10th Int. Conf. Robotics Sci. Syst., Zaragoza (2010)"},{"key":"21_CR105","first-page":"83","volume-title":"Proc. 19th IEEE Conf. Decis. Control","author":"J.K. Salisbury","year":"1980","unstructured":"J.K. Salisbury: Active stiffness control of a\u00a0manipulator in cartesian coordinates, Proc. 19th IEEE Conf. Decis. Control (1980) pp. 83\u201388"},{"key":"21_CR106","series-title":"Springer Tracts. Adv. Robotics","volume-title":"Cartesian Impedance Control of Redundant and Flexible-Joint Robots","author":"C. Ott","year":"2008","unstructured":"C. Ott: Cartesian Impedance Control of Redundant and Flexible-Joint Robots, Springer Tracts. Adv. Robotics (Springer, Berlin, Heidelburg 2008)"},{"key":"21_CR107","doi-asserted-by":"publisher","first-page":"149","DOI":"10.1007\/978-1-4613-9030-5_9","volume-title":"Multiple Muscle Systems","author":"N. Hogan","year":"1990","unstructured":"N. Hogan: Mechanical impedance of single- and multi-articular systems. In: Multiple Muscle Systems, ed. by J.M. Winters, S.L.-Y. Woo (Springer, New York 1990) pp. 149\u2013164"},{"key":"21_CR108","volume-title":"Proc. IEEE\/RSJ Int. Conf. Intell. Robots Syst. (IROS)","author":"A. Albu-Sch\u00e4ffer","year":"2004","unstructured":"A. Albu-Sch\u00e4ffer, M. Fischer, G. Schreiber, F. Schoeppe, G. Hirzinger: Soft robotics: What cartesian stiffness can we obtain with passively compliant, uncoupled joints?, Proc. IEEE\/RSJ Int. Conf. Intell. Robots Syst. (IROS) (2004)"},{"key":"21_CR109","volume-title":"Proc. IEEE\/RSJ Int. Conf. Intell. Robots Syst.","author":"F. Petit","year":"2011","unstructured":"F. Petit, A. Albu-Sch\u00e4ffer: Cartesian impedance control for a\u00a0variable stiffness robot arm, Proc. IEEE\/RSJ Int. Conf. Intell. Robots Syst. (2011)"},{"key":"21_CR110","volume-title":"Proc. IEEE Int. Conf. Robotics Autom. (ICRA)","author":"G. Palli","year":"2008","unstructured":"G. Palli, C. Melchiorri, A. De Luca: On the feedback linearization of robots with variable joint stiffness, Proc. IEEE Int. Conf. Robotics Autom. (ICRA) (2008)"},{"key":"21_CR111","volume-title":"Proc. IEEE\/RSJ Int. Conf. Intell. Robots Syst. (IROS)","author":"A. De Luca","year":"2009","unstructured":"A. De Luca, F. Flacco, A. Bicchi, R. Schiavi: Nonlinear decoupled motion-stiffness control and collision detection\/reaction for the VSA-II variable stiffness device, Proc. IEEE\/RSJ Int. Conf. Intell. Robots Syst. (IROS) (2009)"},{"key":"21_CR112","doi-asserted-by":"crossref","unstructured":"G.\u00a0Palli, C.\u00a0Melchiorri: Output-based control of robots with variable stiffness actuation, J. Robotics (2011) doi:dx.doi.org\/10.1155\/2011\/73540","DOI":"10.1155\/2011\/735407"},{"key":"21_CR113","volume-title":"Proc. IFAC Symp. Robot Control","author":"A. Albu-Sch\u00e4ffer","year":"2012","unstructured":"A. Albu-Sch\u00e4ffer, C. Ott, F. Petit: Energy shaping control for a\u00a0class of underactuated Euler-Lagrange systems, Proc. IFAC Symp. Robot Control (2012)"},{"key":"21_CR114","volume-title":"Proc. IEEE Int. Conf. Robotics Autom. (ICRA)","author":"I. Sardellitti","year":"2012","unstructured":"I. Sardellitti, G. Medrano-Cerda, N.G. Tsagarakis, A. Jafari, D.G. Caldwell: A\u00a0position and stiffness control strategy for variable stiffness actuators, Proc. IEEE Int. Conf. Robotics Autom. (ICRA) (2012)"},{"key":"21_CR115","volume-title":"Proc. IEEE Int. Conf. Robotics Autom. (ICRA)","author":"F. Petit","year":"2011","unstructured":"F. Petit, A. Albu-Sch\u00e4ffer: State feedback damping control for a\u00a0multi dof variable stiffness robot arm, Proc. IEEE Int. Conf. Robotics Autom. (ICRA) (2011)"},{"key":"21_CR116","series-title":"Ph.D. Thesis","volume-title":"Dynamic Stabilisation of the Biped Lucy Powered by Actuators with Controllable Stiffness","author":"B. Vanderborght","year":"2007","unstructured":"B. Vanderborght: Dynamic Stabilisation of the Biped Lucy Powered by Actuators with Controllable Stiffness, Ph.D. Thesis (Vrije Universiteit Brussel, Brussel 2007)"},{"key":"21_CR117","volume-title":"Proc. IEEE Int. Conf. Robotics Autom. (ICRA)","author":"M. Uemura","year":"2009","unstructured":"M. Uemura, S. Kawamura: Resonance-based motion control method for mulit-joint robot through combining stiffness adaptation and iterative learning control, Proc. IEEE Int. Conf. Robotics Autom. (ICRA) (2009)"},{"key":"21_CR118","volume-title":"Proc. IFAC Congr. Int. Fed. Autom. Control","author":"L.C. Visser","year":"2011","unstructured":"L.C. Visser, S. Stramigioli, A. Bicchi: Embodying desired behavior in variable stiffness actuators, Proc. IFAC Congr. Int. Fed. Autom. Control (2011)"},{"key":"21_CR119","first-page":"503","volume-title":"Proc. IEEE Int. Conf. Robotics Autom. (ICRA)","author":"D. Lakatos","year":"2013","unstructured":"D. Lakatos, F. Petit, A. Albu-Sch\u00e4ffer: Nonlinear oscillations for cyclic movements in variable impedance actuated robotic arms, Proc. IEEE Int. Conf. Robotics Autom. (ICRA) (2013) pp. 503\u2013513"},{"key":"21_CR120","volume-title":"Proc. IEEE Int. Conf. Robotics Autom. (ICRA)","author":"D. Lakatos","year":"2013","unstructured":"D. Lakatos, G. Garofalo, F. Petit, C. Ott, A. Albu-Sch\u00e4ffer: Modal limit cycle control for variable stiffness actuated robots, Proc. IEEE Int. Conf. Robotics Autom. (ICRA) (2013)"},{"key":"21_CR121","volume-title":"Proc. IEEE\/RAS Int. Conf. Humanoid Robots, Atlanta","author":"A. Velasco","year":"2013","unstructured":"A. Velasco, G.M. Gasparri, M. Garabini, L. Malagia, P. Salaris, A. Bicchi: Soft-actuators in cyclic motion: Analytical optimization of stiffness and pre-load, Proc. IEEE\/RAS Int. Conf. Humanoid Robots, Atlanta (2013)"},{"key":"21_CR122","volume-title":"Proc. Am. Control Conf. (ACC)","author":"G. Garofalo","year":"2013","unstructured":"G. Garofalo, C. Ott, A. Albu-Sch\u00e4ffer: Orbital stabilization of mechanical systems through semidefinite Lyapunov functions, Proc. Am. Control Conf. (ACC) (2013)"},{"key":"21_CR123","first-page":"508","volume-title":"Proc. IEEE Int. Conf. Robotics Autom. (ICRA)","author":"D. Lakatos","year":"2013","unstructured":"D. Lakatos, F. Petit, A. Albu-Sch\u00e4ffer: Nonlinear oscillations for cyclic movements in human and robotic arms, Proc. IEEE Int. Conf. Robotics Autom. (ICRA) (2013) pp. 508\u2013511"},{"key":"21_CR124","volume-title":"Optimierung: Statische, Dynamische, Stochastische Verfahren","author":"M. Papageorgiou","year":"1996","unstructured":"M. Papageorgiou: Optimierung: Statische, Dynamische, Stochastische Verfahren (Oldenbourg, Munich 1996)"},{"issue":"2","key":"21_CR125","doi-asserted-by":"publisher","first-page":"22","DOI":"10.1109\/MRA.2004.1310939","volume":"11","author":"A. Bicchi","year":"2004","unstructured":"A. Bicchi, G. Tonietti: Fast and soft arm tactics: Dealing with the safety-performance trade-off in robot arms design and control, IEEE Robotics Autom. Mag. 11(2), 22\u201333 (2004)","journal-title":"IEEE Robotics Autom. Mag."},{"key":"21_CR126","volume-title":"Proc. 51st IEEE Conf. Decis. Control (CDC), Maui","author":"S. Haddadin","year":"2012","unstructured":"S. Haddadin, M.C. \u00d6zparpucu, A.A. Sch\u00e4ffer: Optimal control for maximizing potential energy in variable stiffness joints, Proc. 51st IEEE Conf. Decis. Control (CDC), Maui (2012)"},{"key":"21_CR127","unstructured":"S.\u00a0Haddadin, M.\u00a0C.\u00a0\u00d6zparpucu, F.\u00a0Huber, N.\u00a0Mansfeld, A.\u00a0Albu-Sch\u00e4ffer: Exploiting the natural dynamics of elastic joints for peak velocity, Int. J. Robotics Res. (2012)"},{"key":"21_CR128","first-page":"3341","volume-title":"Proc. IEEE Int. Conf. Robotics Autom. (ICRA)","author":"M. Garabini","year":"2012","unstructured":"M. Garabini, A. Passaglia, F. Belo, P. Salaris, A. Bicchi: Optimality principles in stiffness control: The vsa kick, Proc. IEEE Int. Conf. Robotics Autom. (ICRA) (2012) pp. 3341\u20133346"},{"key":"21_CR129","first-page":"2477","volume-title":"Proc. IEEE Int. Conf. Robotics Autom. (ICRA)","author":"R. Incaini","year":"2013","unstructured":"R. Incaini, L. Sestini, M. Garabini, M.G. Catalano, G. Grioli, A. Bicchi: Optimal control and design guidelines for soft jumping robots: Series elastic actuation and parallel elastic actuation in comparison, Proc. IEEE Int. Conf. Robotics Autom. (ICRA) (2013) pp. 2477\u20132484"},{"issue":"11","key":"21_CR130","doi-asserted-by":"publisher","first-page":"1843","DOI":"10.1016\/j.automatica.2010.06.048","volume":"46","author":"D. Garg","year":"2010","unstructured":"D. Garg, M.A. Patterson, W.W. Hager, A.V. Rao, D.A. Benson, G.T. Huntington: A\u00a0unified framework for the numerical solution of optimal control problems using pseudospectral methods, Automatica 46(11), 1843\u20131851 (2010)","journal-title":"Automatica"},{"issue":"9","key":"21_CR131","doi-asserted-by":"publisher","first-page":"1439","DOI":"10.1080\/00207170701364913","volume":"80","author":"W. Li","year":"2007","unstructured":"W. Li, E. Todorov: Iterative linearization methods for approximately optimal control and estimation of non-linear stochastic system, Int. J. Control 80(9), 1439\u20131453 (2007)","journal-title":"Int. J. Control"},{"key":"21_CR132","first-page":"222","volume-title":"Proc. Int. Conf. Inform. Control, Autom. Robotics","author":"W. Li","year":"2004","unstructured":"W. Li, E. Todorov: Iterative linear quadratic regulator design for nonlinear biological movement systems, Proc. Int. Conf. Inform. Control, Autom. Robotics (2004) pp. 222\u2013229"},{"key":"21_CR133","first-page":"3347","volume-title":"Proc. IEEE Int. Conf. Robotics Autom. (ICRA)","author":"S. Haddadin","year":"2012","unstructured":"S. Haddadin, F. Huber, A. Albu-Schaffer: Optimal control for exploiting the natural dynamics of variable stiffness robots, Proc. IEEE Int. Conf. Robotics Autom. (ICRA) (2012) pp. 3347\u20133354"},{"key":"21_CR134","series-title":"Ph.D. Thesis","volume-title":"A\u00a0Gauss Pseudospectral Transcription for Optimal Control","author":"D. Benson","year":"2005","unstructured":"D. Benson: A\u00a0Gauss Pseudospectral Transcription for Optimal Control, Ph.D. Thesis (MIT, Cambridge 2005)"},{"key":"21_CR135","unstructured":"IEEE Robotics and Automation Society Technical\u00a0Committee on\u00a0Soft\u00a0Robotics: http:\/\/www.ieee-ras.org\/soft-robotics"},{"key":"21_CR136","unstructured":"Natural Machine\u00a0Motion Initiative: http:\/\/naturalmachinemotion.com"}],"container-title":["Springer Handbooks","Springer Handbook of Robotics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/978-3-319-32552-1_21","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,8,18]],"date-time":"2022-08-18T06:59:40Z","timestamp":1660805980000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/978-3-319-32552-1_21"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2016]]},"ISBN":["9783319325507","9783319325521"],"references-count":136,"URL":"https:\/\/doi.org\/10.1007\/978-3-319-32552-1_21","relation":{},"ISSN":["2522-8692","2522-8706"],"issn-type":[{"value":"2522-8692","type":"print"},{"value":"2522-8706","type":"electronic"}],"subject":[],"published":{"date-parts":[[2016]]},"assertion":[{"value":"27 July 2016","order":1,"name":"first_online","label":"First Online","group":{"name":"ChapterHistory","label":"Chapter History"}}]}}