{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,24]],"date-time":"2025-10-24T13:21:29Z","timestamp":1761312089454,"version":"3.40.3"},"publisher-location":"Singapore","reference-count":34,"publisher":"Springer Nature Singapore","isbn-type":[{"type":"print","value":"9789819607792"},{"type":"electronic","value":"9789819607808"}],"license":[{"start":{"date-parts":[[2025,1,1]],"date-time":"2025-01-01T00:00:00Z","timestamp":1735689600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"},{"start":{"date-parts":[[2025,1,1]],"date-time":"2025-01-01T00:00:00Z","timestamp":1735689600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2025]]},"DOI":"10.1007\/978-981-96-0780-8_10","type":"book-chapter","created":{"date-parts":[[2025,1,22]],"date-time":"2025-01-22T13:54:04Z","timestamp":1737554044000},"page":"133-146","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":2,"title":["Design of\u00a0a\u00a0Mode-Switchable Elastic Actuator Towards Interactive Robotic Applications"],"prefix":"10.1007","author":[{"given":"Wenduo","family":"Zhu","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zhenmeng","family":"Ju","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Guoxiang","family":"Fu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Lecheng","family":"Ruan","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Qining","family":"Wang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2025,1,21]]},"reference":[{"key":"10_CR1","doi-asserted-by":"crossref","unstructured":"Nguyen, Q., Powell, M.J., Katz, B., Di\u00a0Carlo, J., Kim, S.: Optimized jumping on the mit cheetah 3 robot. In: 2019 International Conference on Robotics and Automation (ICRA), pp. 7448\u20137454. IEEE (2019)","DOI":"10.1109\/ICRA.2019.8794449"},{"issue":"13","key":"10_CR2","doi-asserted-by":"publisher","first-page":"1627","DOI":"10.1177\/0278364916640102","volume":"35","author":"DJ Hyun","year":"2016","unstructured":"Hyun, D.J., Lee, J., Park, S.I., Kim, S.: Implementation of trot-to-gallop transition and subsequent gallop on the mit cheetah i. Inter. J. Robot. Res. 35(13), 1627\u20131650 (2016)","journal-title":"Inter. J. Robot. Res."},{"key":"10_CR3","doi-asserted-by":"crossref","unstructured":"Caron, S., Kheddar, A., Tempier, O.: Stair climbing stabilization of the hrp-4 humanoid robot using whole-body admittance control. In: 2019 International Conference on Robotics and Automation (ICRA), pp. 277\u2013283. IEEE (2019)","DOI":"10.1109\/ICRA.2019.8794348"},{"key":"10_CR4","doi-asserted-by":"crossref","unstructured":"Lee, Y.H., et\u00a0al.: Whole-body motion and landing force control for quadrupedal stair climbing. In: 2019 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 4746\u20134751. IEEE (2019)","DOI":"10.1109\/IROS40897.2019.8967527"},{"issue":"3","key":"10_CR5","doi-asserted-by":"publisher","first-page":"1430","DOI":"10.1109\/TRO.2022.3152134","volume":"38","author":"S Hood","year":"2022","unstructured":"Hood, S., Gabert, L., Lenzi, T.: Powered knee and ankle prosthesis with adaptive control enables climbing stairs with different stair heights, cadences, and gait patterns. IEEE Trans. Rob. 38(3), 1430\u20131441 (2022)","journal-title":"IEEE Trans. Rob."},{"issue":"1","key":"10_CR6","doi-asserted-by":"publisher","first-page":"37","DOI":"10.1177\/0278364919893762","volume":"40","author":"W Roozing","year":"2021","unstructured":"Roozing, W., Ren, Z., Tsagarakis, N.G.: An efficient leg with series-parallel and biarticular compliant actuation: design optimization, modeling, and control of the eleg. Inter. J. Robot. Res. 40(1), 37\u201354 (2021)","journal-title":"Inter. J. Robot. Res."},{"key":"10_CR7","doi-asserted-by":"publisher","first-page":"429","DOI":"10.1007\/s10514-015-9479-3","volume":"40","author":"S Kuindersma","year":"2016","unstructured":"Kuindersma, S., et al.: Optimization-based locomotion planning, estimation, and control design for the atlas humanoid robot. Auton. Robot. 40, 429\u2013455 (2016)","journal-title":"Auton. Robot."},{"key":"10_CR8","doi-asserted-by":"crossref","unstructured":"Galloway, K.C., Clark, J.E., Yim, M., Koditschek, D.E.: Experimental investigations into the role of passive variable compliant legs for dynamic robotic locomotion. In: 2011 IEEE International Conference on Robotics and Automation, pp. 1243\u20131249. IEEE (2011)","DOI":"10.1109\/ICRA.2011.5979941"},{"issue":"4","key":"10_CR9","doi-asserted-by":"publisher","first-page":"788","DOI":"10.1109\/TNSRE.2018.2810165","volume":"26","author":"AH Shultz","year":"2018","unstructured":"Shultz, A.H., Goldfarb, M.: A unified controller for walking on even and uneven terrain with a powered ankle prosthesis. IEEE Trans. Neural Syst. Rehabilit. Eng. 26(4), 788\u2013797 (2018)","journal-title":"IEEE Trans. Neural Syst. Rehabilit. Eng."},{"key":"10_CR10","doi-asserted-by":"crossref","unstructured":"Lee, J., Hwangbo, J., Wellhausen, L., Koltun, V., Hutter, M.: Learning quadrupedal locomotion over challenging terrain. Sci. Robot. 5(47), eabc5986 (2020)","DOI":"10.1126\/scirobotics.abc5986"},{"key":"10_CR11","doi-asserted-by":"crossref","unstructured":"Chignoli, M., Kim, D., Stanger-Jones, E., Kim, S.: The mit humanoid robot: Design, motion planning, and control for acrobatic behaviors. In: 2020 IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids), pp. 1\u20138. IEEE (2021)","DOI":"10.1109\/HUMANOIDS47582.2021.9555782"},{"issue":"6","key":"10_CR12","doi-asserted-by":"publisher","first-page":"1649","DOI":"10.1109\/TRO.2020.3005533","volume":"36","author":"T Elery","year":"2020","unstructured":"Elery, T., Rezazadeh, S., Nesler, C., Gregg, R.D.: Design and validation of a powered knee-ankle prosthesis with high-torque, low-impedance actuators. IEEE Trans. Robot. 36(6), 1649\u20131668 (2020)","journal-title":"IEEE Trans. Robot."},{"issue":"6","key":"10_CR13","doi-asserted-by":"publisher","first-page":"2681","DOI":"10.1109\/TMECH.2018.2871670","volume":"23","author":"X Liu","year":"2018","unstructured":"Liu, X., Rossi, A., Poulakakis, I.: A switchable parallel elastic actuator and its application to leg design for running robots. IEEE\/ASME Trans. Mechatron. 23(6), 2681\u20132692 (2018)","journal-title":"IEEE\/ASME Trans. Mechatron."},{"issue":"3","key":"10_CR14","doi-asserted-by":"publisher","first-page":"509","DOI":"10.1109\/TRO.2016.2640183","volume":"33","author":"PM Wensing","year":"2017","unstructured":"Wensing, P.M., Wang, A., Seok, S., Otten, D., Lang, J., Kim, S.: Proprioceptive actuator design in the mit cheetah: impact mitigation and high-bandwidth physical interaction for dynamic legged robots. IEEE Trans. Rob. 33(3), 509\u2013522 (2017)","journal-title":"IEEE Trans. Rob."},{"issue":"5","key":"10_CR15","doi-asserted-by":"publisher","first-page":"2121","DOI":"10.1109\/TMECH.2018.2854742","volume":"23","author":"J Sun","year":"2018","unstructured":"Sun, J., Guo, Z., Zhang, Y., Xiao, X., Tan, J.: A novel design of serial variable stiffness actuator based on an archimedean spiral relocation mechanism. IEEE\/ASME Trans. Mechatron. 23(5), 2121\u20132131 (2018)","journal-title":"IEEE\/ASME Trans. Mechatron."},{"issue":"3","key":"10_CR16","doi-asserted-by":"publisher","first-page":"81","DOI":"10.1109\/MRA.2009.933629","volume":"16","author":"R Van Ham","year":"2009","unstructured":"Van Ham, R., Sugar, T.G., Vanderborght, B., Hollander, K.W., Lefeber, D.: Compliant actuator designs. IEEE Robot. Autom. Mag. 16(3), 81\u201394 (2009)","journal-title":"IEEE Robot. Autom. Mag."},{"key":"10_CR17","doi-asserted-by":"crossref","unstructured":"Lenzi, T., Cempini, M., Hargrove, L.J., Kuiken, T.A.: Actively variable transmission for robotic knee prostheses. In: 2017 IEEE International Conference on Robotics and Automation (ICRA), pp. 6665\u20136671. IEEE (2017)","DOI":"10.1109\/ICRA.2017.7989787"},{"issue":"2","key":"10_CR18","doi-asserted-by":"publisher","first-page":"76","DOI":"10.3390\/biomimetics9020076","volume":"9","author":"T-H Hsieh","year":"2024","unstructured":"Hsieh, T.-H., et al.: Design, characterization, and preliminary assessment of a two-degree-of-freedom powered ankle-foot prosthesis. Biomimetics 9(2), 76 (2024)","journal-title":"Biomimetics"},{"key":"10_CR19","doi-asserted-by":"crossref","unstructured":"Katz, B., Di\u00a0Carlo, J., Kim, S.: Mini cheetah: a platform for pushing the limits of dynamic quadruped control. In: 2019 International Conference on Robotics and Automation (ICRA), pp. 6295\u20136301. IEEE (2019)","DOI":"10.1109\/ICRA.2019.8793865"},{"key":"10_CR20","doi-asserted-by":"crossref","unstructured":"Chaichaowarat, R., Kinugawa, J., Seino, A., Kosuge, K.: A spring-embedded planetary-geared parallel elastic actuator. In: 2020 IEEE\/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 952\u2013959. IEEE (2020)","DOI":"10.1109\/AIM43001.2020.9158998"},{"key":"10_CR21","doi-asserted-by":"publisher","first-page":"501","DOI":"10.1007\/s00161-019-00859-y","volume":"32","author":"K Loos","year":"2020","unstructured":"Loos, K., Aydogdu, A.B., Lion, A., Johlitz, M., Calipel, J.: Strain-induced crystallisation in natural rubber: a thermodynamically consistent model of the material behaviour using a multiphase approach. Continuum Mech. Thermodyn. 32, 501\u2013526 (2020)","journal-title":"Continuum Mech. Thermodyn."},{"issue":"1","key":"10_CR22","doi-asserted-by":"publisher","first-page":"768","DOI":"10.1109\/TRO.2022.3197088","volume":"39","author":"CW Mathews","year":"2022","unstructured":"Mathews, C.W., Braun, D.J.: Design of parallel variable stiffness actuators. IEEE Trans. Rob. 39(1), 768\u2013782 (2022)","journal-title":"IEEE Trans. Rob."},{"issue":"1","key":"10_CR23","doi-asserted-by":"publisher","first-page":"51","DOI":"10.1109\/TRO.2008.2008747","volume":"25","author":"SK Au","year":"2009","unstructured":"Au, S.K., Weber, J., Herr, H.: Powered ankle-foot prosthesis improves walking metabolic economy. IEEE Trans. Robot. 25(1), 51\u201366 (2009)","journal-title":"IEEE Trans. Robot."},{"issue":"3","key":"10_CR24","doi-asserted-by":"publisher","first-page":"1384","DOI":"10.1109\/TMECH.2014.2337514","volume":"20","author":"S Pfeifer","year":"2014","unstructured":"Pfeifer, S., Pagel, A., Riener, R., Vallery, H.: Actuator with angle-dependent elasticity for biomimetic transfemoral prostheses. IEEE\/ASME Trans. Mechatron. 20(3), 1384\u20131394 (2014)","journal-title":"IEEE\/ASME Trans. Mechatron."},{"key":"10_CR25","doi-asserted-by":"crossref","unstructured":"Fu, G., et al.: A robotic transtibial prosthesis with equilibrium-adjustable parallel springs to improve energy efficiency in slope walking. IEEE\/ASME Transactions on Mechatronics (2024)","DOI":"10.1109\/TMECH.2024.3431277"},{"key":"10_CR26","doi-asserted-by":"crossref","unstructured":"Li, Y., et al.: Design of the clutched variable parallel elastic actuator (cvpea) for lower limb exoskeletons. In: 2019 41st Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), pp. 4436\u20134439. IEEE (2019)","DOI":"10.1109\/EMBC.2019.8857502"},{"key":"10_CR27","unstructured":"Ming, X., Zhou, Z., Wang, Z., Ruan, L., Mai, J.,Q.: Wang. Design, control and characterization. IEEE Trans. Robot. Bio-inspired Cable-driven Actuation Syst. Wearable Robotic Devices (2023)"},{"issue":"3","key":"10_CR28","doi-asserted-by":"publisher","first-page":"42","DOI":"10.1109\/MRA.2008.927693","volume":"15","author":"JW Hurst","year":"2008","unstructured":"Hurst, J.W., Rizzi, A.A.: Series compliance for an efficient running gait. IEEE Robotics Autom. Mag. 15(3), 42\u201351 (2008)","journal-title":"IEEE Robotics Autom. Mag."},{"key":"10_CR29","doi-asserted-by":"crossref","unstructured":"Prattm G.A., Williamson. M.M.: Series elastic actuators. In: Proceedings 1995 IEEE\/RSJ International Conference on Intelligent Robots and Systems. Human robot Interaction and Cooperative Robots, vol. 1, pp. 399\u2013406. IEEE (1995)","DOI":"10.1109\/IROS.1995.525827"},{"issue":"10","key":"10_CR30","doi-asserted-by":"publisher","first-page":"941","DOI":"10.1038\/s41551-020-00619-3","volume":"4","author":"AF Azocar","year":"2020","unstructured":"Azocar, A.F., Mooney, L.M., Duval, J.-F., Simon, A.M., Hargrove, L.J., Rouse, E.J.: Design and clinical implementation of an open-source bionic leg. Nat. Biomed. Eng. 4(10), 941\u2013953 (2020)","journal-title":"Nat. Biomed. Eng."},{"issue":"5","key":"10_CR31","doi-asserted-by":"publisher","first-page":"2215","DOI":"10.1109\/TMECH.2019.2932312","volume":"24","author":"T Zhang","year":"2019","unstructured":"Zhang, T., Huang, H.: Design and control of a series elastic actuator with clutch for hip exoskeleton for precise assistive magnitude and timing control and improved mechanical safety. IEEE\/ASME Trans. Mechatron. 24(5), 2215\u20132226 (2019)","journal-title":"IEEE\/ASME Trans. Mechatron."},{"issue":"5","key":"10_CR32","doi-asserted-by":"publisher","first-page":"1089","DOI":"10.1109\/TRO.2015.2457314","volume":"31","author":"Yu Haoyong","year":"2015","unstructured":"Haoyong, Yu., Huang, S., Chen, G., Pan, Y., Guo, Z.: Human-robot interaction control of rehabilitation robots with series elastic actuators. IEEE Trans. Rob. 31(5), 1089\u20131100 (2015)","journal-title":"IEEE Trans. Rob."},{"issue":"5853","key":"10_CR33","doi-asserted-by":"publisher","first-page":"1094","DOI":"10.1126\/science.1146351","volume":"318","author":"JD Madden","year":"2007","unstructured":"Madden, J.D.: Mobile robots: motor challenges and materials solutions. Science 318(5853), 1094\u20131097 (2007)","journal-title":"Science"},{"key":"10_CR34","doi-asserted-by":"crossref","unstructured":"Zhao, S., et al.: A learning-free method for locomotion mode prediction by terrain reconstruction and visual-inertial odometry. IEEE Trans. Neural Syst. Rehabilitation Eng. (2023)","DOI":"10.1109\/TNSRE.2023.3321077"}],"container-title":["Lecture Notes in Computer Science","Intelligent Robotics and Applications"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/978-981-96-0780-8_10","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,1,22]],"date-time":"2025-01-22T13:54:20Z","timestamp":1737554060000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/978-981-96-0780-8_10"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025]]},"ISBN":["9789819607792","9789819607808"],"references-count":34,"URL":"https:\/\/doi.org\/10.1007\/978-981-96-0780-8_10","relation":{},"ISSN":["0302-9743","1611-3349"],"issn-type":[{"type":"print","value":"0302-9743"},{"type":"electronic","value":"1611-3349"}],"subject":[],"published":{"date-parts":[[2025]]},"assertion":[{"value":"21 January 2025","order":1,"name":"first_online","label":"First Online","group":{"name":"ChapterHistory","label":"Chapter History"}},{"value":"ICIRA","order":1,"name":"conference_acronym","label":"Conference Acronym","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"International Conference on Intelligent Robotics and Applications","order":2,"name":"conference_name","label":"Conference Name","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"Xi'an","order":3,"name":"conference_city","label":"Conference City","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"China","order":4,"name":"conference_country","label":"Conference Country","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"2024","order":5,"name":"conference_year","label":"Conference Year","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"31 July 2024","order":7,"name":"conference_start_date","label":"Conference Start Date","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"2 August 2024","order":8,"name":"conference_end_date","label":"Conference End Date","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"17","order":9,"name":"conference_number","label":"Conference Number","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"icira2024","order":10,"name":"conference_id","label":"Conference ID","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"http:\/\/www.icira2024.org","order":11,"name":"conference_url","label":"Conference URL","group":{"name":"ConferenceInfo","label":"Conference Information"}}]}}