{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,30]],"date-time":"2026-04-30T18:00:30Z","timestamp":1777572030141,"version":"3.51.4"},"reference-count":37,"publisher":"Springer Science and Business Media LLC","issue":"3-4","license":[{"start":{"date-parts":[[2013,9,22]],"date-time":"2013-09-22T00:00:00Z","timestamp":1379808000000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["J Intell Robot Syst"],"published-print":{"date-parts":[[2014,6]]},"DOI":"10.1007\/s10846-013-9937-0","type":"journal-article","created":{"date-parts":[[2013,9,21]],"date-time":"2013-09-21T00:53:35Z","timestamp":1379724815000},"page":"571-587","source":"Crossref","is-referenced-by-count":10,"title":["Mechanism and Control of Continuous-State Coupled Elastic Actuation"],"prefix":"10.1007","volume":"74","author":[{"given":"Tzu-Hao","family":"Huang","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Han-Pang","family":"Huang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jiun-Yih","family":"Kuan","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2013,9,22]]},"reference":[{"key":"9937_CR1","unstructured":"Edsinger, A.: Robot Manipulation in Human Environments. Doctoral dissertation, Massachusetts Institute of Technology (2007)"},{"issue":"3\u20134","key":"9937_CR2","doi-asserted-by":"crossref","first-page":"285","DOI":"10.1007\/s10846-012-9659-8","volume":"67","author":"M Taix","year":"2012","unstructured":"Taix, M., Flavigne, D., Ferre, E.: Human interaction with motion planning algorithm. J. Intell. Robot. Syst. 67(3\u20134), 285\u2013306 (2012)","journal-title":"J. Intell. Robot. Syst."},{"key":"9937_CR3","doi-asserted-by":"crossref","unstructured":"Luca, A.D., Albu-Schaffer, A., Haddadin, S., Hirzinger, G.: Collision detection and safe reaction with the DLR-III Lightweight manipulator arm. In: IEEE\/RSJ International Conference on Intelligent Robots and Systems, pp. 1623\u20131630. Beijing, China (2006)","DOI":"10.1109\/IROS.2006.282053"},{"issue":"1","key":"9937_CR4","doi-asserted-by":"crossref","first-page":"51","DOI":"10.1007\/s10846-010-9476-x","volume":"63","author":"I Bonilla","year":"2011","unstructured":"Bonilla, I., Reyes, F., Mendoza, M., Gonzalez-Galvan, E.J.: A dynamic-compensation approach to impedance control of robot manipulators. J. Intell. Robot. Syst. 63(1), 51\u201373 (2011)","journal-title":"J. Intell. Robot. Syst."},{"issue":"1\u20132","key":"9937_CR5","doi-asserted-by":"crossref","first-page":"223","DOI":"10.1007\/s10846-011-9612-2","volume":"66","author":"M Correa","year":"2012","unstructured":"Correa, M., Hermosilla, G., Verschae, R., Ruiz-del-Solar, J.: Human detection and identification by robots using thermal and visual information in domestic environments. J. Intell. Robot. Syst. 66(1\u20132), 223\u2013243 (2012)","journal-title":"J. Intell. Robot. Syst."},{"key":"9937_CR6","unstructured":"Edsinger-Gonzales, A., Weber, J.: Domo: A force sensing humanoid robot for manipulation research. In:\u00a0Proceedings of the 4th IEEE-RAS International Conference on Humanoid Robots, pp. 273\u2013291. Los\u00a0Angeles, CA, USA (2004)"},{"key":"9937_CR7","doi-asserted-by":"crossref","unstructured":"Lauria, M., Legault, M.-A., Lavoie, M.-A., Michaud, F.: High performance differential elastic actuator for robotic interaction tasks. In: AAAI Spring Symposium, pp. 39\u201341. Palo Alto, CA, USA (2007)","DOI":"10.1109\/ROBOT.2008.4543763"},{"key":"9937_CR8","unstructured":"Sensinger, J.W., Weir, R.F.: Design and analysis of a non-backdrivable series elastic actuator. In: IEEE International Conference on Rehabilitation Robotics, pp. 390\u2013393. Chicago, Illinois, USA (2005)"},{"key":"9937_CR9","doi-asserted-by":"crossref","unstructured":"Torres-Jara, E., Banks, J.: A simple and scalable force actuator. In: Proceeding of 35th International Symposium on Robotics, Paris, France (2004)","DOI":"10.21236\/ADA434149"},{"key":"9937_CR10","unstructured":"Robinson, D.W.: Design and analysis of series elasticity in closed-loop actuator force control. Doctoral dissertation, Massachusetts Institute of Technology (2000)"},{"issue":"1","key":"9937_CR11","doi-asserted-by":"crossref","first-page":"105","DOI":"10.1109\/TMECH.2008.2004561","volume":"14","author":"K Kyoungchul","year":"2009","unstructured":"Kyoungchul, K., Joonbum, B., Tomizuka, M.: Control of rotary series elastic actuator for ideal force-mode actuation in human-robot interaction applications. IEEE\/ASME Trans. Mech. 14(1), 105\u2013118 (2009)","journal-title":"IEEE\/ASME Trans. Mech."},{"key":"9937_CR12","doi-asserted-by":"crossref","unstructured":"Huang, T.H., Kuan, J.Y., Huang, H.P.: Design of a new variable stiffness actuator and application for assistive exercise control. In: Proceedings of 2011 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 372\u2013377. San Francisco, CA, USA (2011)","DOI":"10.1109\/IROS.2011.6095012"},{"issue":"2","key":"9937_CR13","doi-asserted-by":"crossref","first-page":"288","DOI":"10.1109\/TMECH.2010.2100046","volume":"17","author":"K Kyoungchul","year":"2012","unstructured":"Kyoungchul, K., Joonbum, B., Tomizuka, M.: A compact rotary Series elastic actuator for human assistive systems. IEEE\/ASME Trans. Mech. 17(2), 288\u2013297 (2012)","journal-title":"IEEE\/ASME Trans. Mech."},{"issue":"9","key":"9937_CR14","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, I.R.: Programmable springs: developing actuators with programmable compliance for autonomous robots. Robot. Auton. Syst. 55(9), 728\u2013734 (2007)","journal-title":"Robot. Auton. Syst."},{"key":"9937_CR15","unstructured":"Hurst, J.W., Chestnutt, J.E., Rizzi, A.A.: An actuator with mechanically adjustable series compliance. In: CMU-RI-TR-04-24, Robotics Institute. Carnegie Mellon University, Pittsburgh, PA, USA (2004)"},{"key":"9937_CR16","doi-asserted-by":"crossref","unstructured":"Wolf, S., Hirzinger, G.: A new variable stiffness design: matching requirements of the next robot generation. In: IEEE International Conference on Robotics and Automation, pp. 1741\u20131746. Pasadena, CA, USA (2008)","DOI":"10.1109\/ROBOT.2008.4543452"},{"issue":"4","key":"9937_CR17","doi-asserted-by":"crossref","first-page":"406","DOI":"10.1115\/1.2429699","volume":"129","author":"SA Migliore","year":"2007","unstructured":"Migliore, S.A., Brown, E.A., DeWeerth, S.P.: Novel nonlinear elastic actuators for passively controlling robotic joint compliance. J. Mech. Design 129(4), 406\u2013412 (2007)","journal-title":"J. Mech. Design"},{"issue":"10","key":"9937_CR18","doi-asserted-by":"crossref","first-page":"1332","DOI":"10.1016\/j.mechmachtheory.2007.10.004","volume":"43","author":"J-J Park","year":"2007","unstructured":"Park, J.-J., Kim, B.-S., Song, J.-B., Kim, H.-S.: Safe link mechanism based on nonlinear stiffness for collision safety. Mech. Mach. Theory 43(10), 1332\u20131348 (2007)","journal-title":"Mech. Mach. Theory"},{"key":"9937_CR19","first-page":"49","volume-title":"Recent Progress in Robotics","author":"J-J Park","year":"2008","unstructured":"Park, J.-J., Song, J.-B., Kim, H.-S.: Safe joint mechanism based on passive compliance for collision safety. In: Recent Progress in Robotics, pp. 49\u201361. Springer, Heidelberg (2008)"},{"key":"9937_CR20","doi-asserted-by":"crossref","unstructured":"Schiavi, R., Grioli, G., Sen, S., Bicchi, A.: VSA-II: a novel prototype of variable stiffness actuator for safe and performing robots interacting with humans. In: IEEE International Conference on Robotics and Automation, pp.\u00a02171\u20132176. Pasadena, CA, USA (2008)","DOI":"10.1109\/ROBOT.2008.4543528"},{"issue":"3","key":"9937_CR21","doi-asserted-by":"crossref","first-page":"20","DOI":"10.1109\/MRA.2008.927979","volume":"15","author":"A Albu-Schaffer","year":"2008","unstructured":"Albu-Schaffer, A., Eiberger, O., Grebenstein, M., Haddadin, S., Ott, C., Wimbock, T., Wolf, S., Hirzinger, G.: Soft robotics. IEEE Robot. Autom. Mag. 15(3), 20\u201330 (2008)","journal-title":"IEEE Robot. Autom. Mag."},{"issue":"10","key":"9937_CR22","doi-asserted-by":"crossref","first-page":"761","DOI":"10.1016\/j.robot.2007.03.001","volume":"55","author":"R Ham Van","year":"2007","unstructured":"Van Ham, R., Vanderborght, B., Van Damme, M., Verrelst, B., Lefeber, D.: MACCEPA, the mechanically adjustable compliance and controllable equilibrium position actuator: design and implementation in a biped robot. Robot. Auton. Syst. 55(10), 761\u2013768 (2007)","journal-title":"Robot. Auton. Syst."},{"issue":"2","key":"9937_CR23","doi-asserted-by":"crossref","first-page":"123","DOI":"10.1007\/BF00197315","volume":"71","author":"N Lan","year":"1994","unstructured":"Lan, N., Crago, P.: Optimal control of antagonistic muscle stiffness during voluntary movements. Biol. Cybern. 71(2), 123\u2013135 (1994)","journal-title":"Biol. Cybern."},{"issue":"10","key":"9937_CR24","doi-asserted-by":"crossref","first-page":"1787","DOI":"10.1016\/j.jbiomech.2005.05.029","volume":"39","author":"LL Menegaldo","year":"2006","unstructured":"Menegaldo, L.L., Fleury, A.d.T., Weber, H.I.: A \u2018cheap\u2019 optimal control approach to estimate muscle forces in musculoskeletal systems. J. Biomech. 39(10), 1787\u20131795 (2006)","journal-title":"J. Biomech."},{"key":"9937_CR25","unstructured":"Ning, L., Crago, P.E.: Optimal control of muscle stiffnesses for FNS induced arm movements. In: Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, vol.\u00a013, no.\u00a02, pp.\u00a0920\u2013921. Orlando, FL, USA (1991)"},{"issue":"1","key":"9937_CR26","doi-asserted-by":"crossref","first-page":"24","DOI":"10.1109\/TNSRE.2003.823266","volume":"12","author":"JA Blaya","year":"2004","unstructured":"Blaya, J.A., Herr, H.: Adaptive control of a variable-impedance ankle-foot orthosis to assist drop-foot gait. IEEE Trans. Neural Syst. Rehabil. Eng. 12(1), 24\u201331 (2004)","journal-title":"IEEE Trans. Neural Syst. Rehabil. Eng."},{"key":"9937_CR27","unstructured":"Hollander, K.W., Sugar, T.G., Herring, D.E.: Adjustable robotic tendon using a \u2019Jack Spring\u2019. In: International Conference on Rehabilitation Robotics, pp.\u00a0113\u2013118. Chicago, IL, USA (2005)"},{"key":"9937_CR28","doi-asserted-by":"crossref","unstructured":"Walker, D.S., Niemeyer, G.: Examining the benefits of variable impedance actuation. In: IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 4855\u20134861. Taipei, Taiwan, ROC (2010)","DOI":"10.1109\/IROS.2010.5652500"},{"issue":"1\u20132","key":"9937_CR29","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1016\/S0921-8890(98)00034-7","volume":"25","author":"RM Kolacinski","year":"1998","unstructured":"Kolacinski, R.M., Quinn, R.D.: A novel biomimetic actuator system. Robot. Auton. Syst. 25(1\u20132), 1\u201318 (1998)","journal-title":"Robot. Auton. Syst."},{"issue":"4","key":"9937_CR30","doi-asserted-by":"crossref","first-page":"597","DOI":"10.1109\/TRO.2010.2052398","volume":"26","author":"JW Hurst","year":"2010","unstructured":"Hurst, J.W., Chestnutt, J.E., Rizzi, A.A.: The actuator with mechanically adjustable series compliance. IEEE Trans. Robot. 26(4), 597\u2013606 (2010)","journal-title":"IEEE Trans. Robot."},{"issue":"5","key":"9937_CR31","doi-asserted-by":"crossref","first-page":"865","DOI":"10.1109\/TRO.2011.2150430","volume":"27","author":"LC Visser","year":"2011","unstructured":"Visser, L.C., Carloni, R., Stramigioli, S.: Energy-efficient variable stiffness actuators. IEEE Trans. Robot. 27(5), 865\u2013875 (2011)","journal-title":"IEEE Trans. Robot."},{"key":"9937_CR32","unstructured":"Leavitt, J., Jabbari, F., Boborw, J.E.: Optimal control and performance of variable stiffness devices for structural control. In: Proceedings of the American Control Conference, pp. 2499\u20132504. Portland, OR, USA (2005)"},{"issue":"3","key":"9937_CR33","doi-asserted-by":"crossref","first-page":"237","DOI":"10.1007\/s10514-012-9302-3","volume":"33","author":"D Braun","year":"2012","unstructured":"Braun, D., Howard, M., Vijayakumar, S.: Optimal variable stiffness control: formulation and application to explosive movement tasks. Auton. Robot. 33(3), 237\u2013253 (2012)","journal-title":"Auton. Robot."},{"issue":"2","key":"9937_CR34","doi-asserted-by":"crossref","first-page":"130","DOI":"10.1016\/j.fbp.2008.03.007","volume":"86","author":"H Hadiyanto","year":"2008","unstructured":"Hadiyanto, H., Esveld, D.C., Boom, R.M., van Straten, G., van Boxtel, A.J.B.: Control vector parameterization with sensitivity based refinement applied to baking optimization. Food Bioprod. Process. 86(2), 130\u2013141 (2008)","journal-title":"Food Bioprod. Process."},{"key":"9937_CR35","unstructured":"Coleman, T., Branch, M.A., Grace, A.: Optimization Toolbox for Use with MATLAB: User\u2019s Guide Version 2. MathWorks, Inc. (1998)"},{"issue":"1\u20132","key":"9937_CR36","doi-asserted-by":"crossref","first-page":"57","DOI":"10.1007\/s10846-011-9603-3","volume":"66","author":"JB Hayet","year":"2012","unstructured":"Hayet, J.B.: Shortest length paths for a differential drive robot keeping a set of landmarks in sight. J. Intell. Robot. Syst. 66(1\u20132), 57\u201374 (2012)","journal-title":"J. Intell. Robot. Syst."},{"issue":"6","key":"9937_CR37","doi-asserted-by":"crossref","first-page":"1000795","DOI":"10.1371\/journal.pcbi.1000795","volume":"6","author":"WA Farahat","year":"2010","unstructured":"Farahat, W.A., Herr, H.M.: Optimal workloop energetics of muscle-actuated systems: an impedance matching view. PLoS Comput. Biol. 6(6), e1000795 (2010)","journal-title":"PLoS Comput. Biol."}],"container-title":["Journal of Intelligent & Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-013-9937-0.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s10846-013-9937-0\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-013-9937-0","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,7,24]],"date-time":"2019-07-24T11:12:48Z","timestamp":1563966768000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s10846-013-9937-0"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2013,9,22]]},"references-count":37,"journal-issue":{"issue":"3-4","published-print":{"date-parts":[[2014,6]]}},"alternative-id":["9937"],"URL":"https:\/\/doi.org\/10.1007\/s10846-013-9937-0","relation":{},"ISSN":["0921-0296","1573-0409"],"issn-type":[{"value":"0921-0296","type":"print"},{"value":"1573-0409","type":"electronic"}],"subject":[],"published":{"date-parts":[[2013,9,22]]}}}