{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,12]],"date-time":"2026-03-12T05:38:17Z","timestamp":1773293897970,"version":"3.50.1"},"reference-count":4,"publisher":"Springer Science and Business Media LLC","issue":"1","license":[{"start":{"date-parts":[[2010,8,1]],"date-time":"2010-08-01T00:00:00Z","timestamp":1280620800000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Artif Life Robotics"],"published-print":{"date-parts":[[2010,8]]},"DOI":"10.1007\/s10015-010-0769-8","type":"journal-article","created":{"date-parts":[[2010,8,26]],"date-time":"2010-08-26T12:06:29Z","timestamp":1282824389000},"page":"72-76","source":"Crossref","is-referenced-by-count":5,"title":["Development of a variable stiffness joint drive module and experimental results of joint angle control"],"prefix":"10.1007","volume":"15","author":[{"given":"Jun","family":"Kobayashi","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Katsuhiro","family":"Okumura","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yasuhiro","family":"Watanabe","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Noriyoshi","family":"Suzuki","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2010,8,27]]},"reference":[{"key":"769_CR1","unstructured":"Pratt GA, Williamson MM (1995) Series elastic actuators. Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems, pp 399\u2013406"},{"issue":"9","key":"769_CR2","doi-asserted-by":"crossref","first-page":"728","DOI":"10.1016\/j.robot.2007.05.013","volume":"55","author":"B. Bigge","year":"2007","unstructured":"Bigge B, Harvey IR (2007) Programmable spring: developing actuators with programmable compliance for autonomous robots. Robotics Auton Syst 55(9):728\u2013734","journal-title":"Robotics Auton Syst"},{"key":"769_CR3","unstructured":"Shirai T, Tanaka N, Tomioka T (2003) Mechanism and characteristic of non-linear spring SAT (in Japanese). Proceedings of the 21st Annual Conference of the Robotics Society of Japan, 1C25"},{"key":"769_CR4","doi-asserted-by":"crossref","first-page":"341","DOI":"10.1007\/s00422-006-0120-6","volume":"96","author":"D.A. Kistemaker","year":"2007","unstructured":"Kistemaker DA, Soest AJV, Bobbert MF (2007) A model of openloop control of equilibrium position and stiffness of the human elbow joint. Biol Cybern 96:341\u2013350","journal-title":"Biol Cybern"}],"container-title":["Artificial Life and Robotics"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10015-010-0769-8.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s10015-010-0769-8\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10015-010-0769-8","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,5,29]],"date-time":"2019-05-29T12:36:05Z","timestamp":1559133365000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s10015-010-0769-8"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2010,8]]},"references-count":4,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2010,8]]}},"alternative-id":["769"],"URL":"https:\/\/doi.org\/10.1007\/s10015-010-0769-8","relation":{},"ISSN":["1433-5298","1614-7456"],"issn-type":[{"value":"1433-5298","type":"print"},{"value":"1614-7456","type":"electronic"}],"subject":[],"published":{"date-parts":[[2010,8]]}}}