{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,9]],"date-time":"2025-10-09T21:09:22Z","timestamp":1760044162506,"version":"3.41.0"},"reference-count":57,"publisher":"Springer Science and Business Media LLC","issue":"3-4","license":[{"start":{"date-parts":[[2017,10,3]],"date-time":"2017-10-03T00:00:00Z","timestamp":1506988800000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"funder":[{"name":"Four- ByThree","award":["637095"],"award-info":[{"award-number":["637095"]}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["J Intell Robot Syst"],"published-print":{"date-parts":[[2018,6]]},"DOI":"10.1007\/s10846-017-0683-6","type":"journal-article","created":{"date-parts":[[2017,10,4]],"date-time":"2017-10-04T07:39:10Z","timestamp":1507102750000},"page":"407-417","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":29,"title":["Discrete-Time Formulation for Optimal Impact Control in Interaction Tasks"],"prefix":"10.1007","volume":"90","author":[{"given":"Loris","family":"Roveda","sequence":"first","affiliation":[]},{"given":"Niccol\u00f3","family":"Iannacci","sequence":"additional","affiliation":[]},{"given":"Lorenzo Molinari","family":"Tosatti","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2017,10,3]]},"reference":[{"key":"683_CR1","doi-asserted-by":"crossref","unstructured":"Peternel, L., Petri\u010b, T., Babi\u010b, J.: Human-in-the-loop approach for teaching robot assembly tasks using impedance control interface. In: 2015 IEEE International Conference on Robotics and Automation (ICRA), pp. 1497\u20131502. IEEE, New York (2015)","DOI":"10.1109\/ICRA.2015.7139387"},{"issue":"3","key":"683_CR2","doi-asserted-by":"publisher","first-page":"513","DOI":"10.1109\/TRO.2016.2540623","volume":"32","author":"L Rozo","year":"2016","unstructured":"Rozo, L., Calinon, S., Caldwell, D.G., Jimenez, P., Torras, C.: Learning physical collaborative robot behaviors from human demonstrations. IEEE Trans. Robot 32(3), 513\u2013527 (2016). https:\/\/doi.org\/10.1109\/TRO.2016.2540623 . ISSN 1552-3098 http:\/\/ieeexplore.ieee.org\/lpdocs\/epic03\/wrapper.htm?arnumber=7450630","journal-title":"IEEE Trans. Robot"},{"key":"683_CR3","doi-asserted-by":"crossref","unstructured":"de Silva, C.W.: Some issues and applications of multi-robot cooperation. In: 2016 IEEE 20th International Conference on Computer Supported Cooperative Work in Design (CSCWD), pp. 2\u20132. IEEE, New York (2016)","DOI":"10.1109\/CSCWD.2016.7565951"},{"key":"683_CR4","unstructured":"Universal Robot: Universal robot ur10 (visited january 2017). http:\/\/www.universal-robots.com\/ (2012)"},{"key":"683_CR5","doi-asserted-by":"crossref","unstructured":"Vicentini, F., Giussani, M., Tosatti, L.M.: Trajectory-dependent safe distances in human-robot interaction. In: Proceedings of the 2014 IEEE Emerging Technology and Factory Automation (ETFA), pp. 1\u20134. IEEE, New York (2014)","DOI":"10.1109\/ETFA.2014.7005316"},{"key":"683_CR6","doi-asserted-by":"publisher","first-page":"1410","DOI":"10.1016\/j.promfg.2015.07.304","volume":"3","author":"J Vorm van der","year":"2015","unstructured":"van der Vorm, J., Nugent, R., O\u2019Sullivan, L.: Safety and risk management in designing for the lifecycle of an exoskeleton: a novel process developed in the robo-mate project. Procedia Manuf 3, 1410\u20131417 (2015)","journal-title":"Procedia Manuf"},{"key":"683_CR7","unstructured":"Rethink: Baxter research robot (visited january 2017). http:\/\/www.rethinkrobotics.com\/baxter-research-robot\/ (2012)"},{"issue":"1","key":"683_CR8","doi-asserted-by":"publisher","first-page":"23","DOI":"10.1177\/0278364907073776","volume":"26","author":"A Albu-Sch\u00e4ffer","year":"2007","unstructured":"Albu-Sch\u00e4ffer, A., Ott, C., Hirzinger, G.: A unified passivity-based control framework for position, torque and impedance control of flexible joint robots. Int. J. Robot. Res. 26(1), 23\u201339 (2007). https:\/\/doi.org\/10.1177\/0278364907073776","journal-title":"Int. J. Robot. Res."},{"key":"683_CR9","doi-asserted-by":"crossref","unstructured":"Doggett, W.: Robotic assembly of truss structures for space systems and future research plans. In: Aerospace Conference Proceedings, 2002. IEEE, vol. 7, pp. 7\u20133589. IEEE, New York (2002)","DOI":"10.1109\/AERO.2002.1035335"},{"issue":"1","key":"683_CR10","doi-asserted-by":"publisher","first-page":"69","DOI":"10.1016\/j.jmatprotec.2004.01.045","volume":"159","author":"JJ M\u00e1rquez","year":"2005","unstructured":"M\u00e1rquez, J.J., P\u00e9rez, J.M., R\u0131os, J., Viz\u00e1n, A.: Process modeling for robotic polishing. J. Mater. Process. Technol. 159(1), 69\u201382 (2005)","journal-title":"J. Mater. Process. Technol."},{"issue":"7","key":"683_CR11","doi-asserted-by":"publisher","first-page":"912","DOI":"10.1016\/j.actaastro.2009.03.064","volume":"65","author":"R Rembala","year":"2009","unstructured":"Rembala, R., Ower, C.: Robotic assembly and maintenance of future space stations based on the iss mission operations experience. Acta Astronaut 65(7), 912\u2013920 (2009)","journal-title":"Acta Astronaut"},{"issue":"11","key":"683_CR12","doi-asserted-by":"publisher","first-page":"885","DOI":"10.1016\/j.ijmachtools.2009.05.002","volume":"49","author":"M-J Tsai","year":"2009","unstructured":"Tsai, M.-J., Huang, J.F., Kao, W.L.: Robotic polishing of precision molds with uniform material removal control. Int. J. Mach. Tools Manuf. 49(11), 885\u2013895 (2009)","journal-title":"Int. J. Mach. Tools Manuf."},{"key":"683_CR13","unstructured":"Pirrotta, S.: Preliminary study on a novel coring system for planetary surface sampling. In: Proceedings of the 7th International Planetary Probe Workshop, pp. 14\u201318. Barcelona (2010)"},{"key":"683_CR14","doi-asserted-by":"crossref","unstructured":"Stolt, A., Linderoth, M., Robertsson, A., Johansson, R.: Robotic assembly of emergency stop buttons. In: 2013 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 2081\u20132081. IEEE, New York (2013)","DOI":"10.1109\/IROS.2013.6696644"},{"key":"683_CR15","doi-asserted-by":"crossref","unstructured":"Li, J.Z., Rui Qin, H., Yi, W.M., Hao, F., Tang, L.Y.: A study of flexible force control method on robotic assembly for spacecraft. In: Applied Mechanics and Materials, vol. 681, pp. 79\u201385. Trans Tech Publ, Z\u00fcrich (2014)","DOI":"10.4028\/www.scientific.net\/AMM.681.79"},{"key":"683_CR16","doi-asserted-by":"publisher","unstructured":"Salisbury, J.K.: Active stiffness control of a manipulator in cartesian coordinates. In: 1980 19th IEEE Conference on Decision and Control including the Symposium on Adaptive Processes, vol. 19, pp. 95\u2013100. https:\/\/doi.org\/10.1109\/CDC.1980.272026 (1980)","DOI":"10.1109\/CDC.1980.272026"},{"issue":"6","key":"683_CR17","doi-asserted-by":"publisher","first-page":"418","DOI":"10.1109\/TSMC.1981.4308708","volume":"11","author":"MT Mason","year":"1981","unstructured":"Mason, M.T.: Compliance and force control for computer controlled manipulators. IEEE Trans. Syst. Man. Cybern. 11(6), 418\u2013 432 (1981)","journal-title":"IEEE Trans. Syst. Man. Cybern."},{"issue":"2","key":"683_CR18","doi-asserted-by":"publisher","first-page":"126","DOI":"10.1115\/1.3139652","volume":"103","author":"MH Raibert","year":"1981","unstructured":"Raibert, M.H., Craig, J.J.: Hybrid position\/force control of manipulators. J. Dyn. Syst. Meas. Control 103(2), 126\u2013133 (1981). https:\/\/doi.org\/10.1115\/1.3139652","journal-title":"J. Dyn. Syst. Meas. Control"},{"key":"683_CR19","doi-asserted-by":"crossref","unstructured":"Hogan, N.: Impedance control: An approach to manipulation. In: American Control Conference 1984, pp. 304\u2013313 (1984)","DOI":"10.23919\/ACC.1984.4788393"},{"key":"683_CR20","doi-asserted-by":"publisher","unstructured":"Colgate, E., Hogan, N.: An analysis of contact instability in terms of passive physical equivalents. In: 1989 IEEE International Conference on Robotics and Automation (ICRA), pp. 404\u2013409. IEEE, New York (1989), https:\/\/doi.org\/10.1109\/ROBOT.1989.100021","DOI":"10.1109\/ROBOT.1989.100021"},{"key":"683_CR21","doi-asserted-by":"crossref","unstructured":"Lange, F., Jehle, C., Suppa, M., Hirzinger, G.: Revised force control using a compliant sensor with a position controlled robot. In: 2012 IEEE International Conference on Robotics and Automation (ICRA), pp. 1532\u20131537. IEEE, New York (2012)","DOI":"10.1109\/ICRA.2012.6224630"},{"key":"683_CR22","doi-asserted-by":"crossref","unstructured":"Lange, F., Bertleff, W., Suppa, M.: Force and trajectory control of industrial robots in stiff contact. In: 2013 IEEE International Conference on Robotics and Automation (ICRA), pp. 2927\u20132934. IEEE, New York (2013)","DOI":"10.1109\/ICRA.2013.6630983"},{"key":"683_CR23","doi-asserted-by":"crossref","unstructured":"Ott, C., Mukherjee, R., Nakamura, Y.: Unified impedance and admittance control. In: 2010 IEEE International Conference on Robotics and Automation (ICRA), pp. 554\u2013561. IEEE, New York (2010)","DOI":"10.1109\/ROBOT.2010.5509861"},{"key":"683_CR24","doi-asserted-by":"crossref","unstructured":"Roveda, L., Vicentini, F., Tosatti, L.M.: Deformation-tracking impedance control in interaction with uncertain environments. In: 2013 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 1992\u20131997. IEEE, New York (2013)","DOI":"10.1109\/IROS.2013.6696621"},{"key":"683_CR25","doi-asserted-by":"crossref","unstructured":"Ott, C., Albu-Schaffer, A., Hirzinger, G.: A cartesian compliance controller for a manipulator mounted on a flexible structure. In: 2006 IEEE\/RSJ International Conference on Intelligent Robots and Systems, pp. 4502\u20134508. IEEE, New York (2006)","DOI":"10.1109\/IROS.2006.282539"},{"key":"683_CR26","unstructured":"Roveda, L., Pedrocchi, N., Vicentini, F., Tosatti, L.M.: Industrial compliant robot bases in interaction tasks: a force tracking algorithm with coupled dynamics compensation. Robotica, 1\u201315"},{"key":"683_CR27","doi-asserted-by":"publisher","first-page":"42","DOI":"10.1016\/j.mechatronics.2016.08.001","volume":"39","author":"L Roveda","year":"2016","unstructured":"Roveda, L., Pedrocchi, N., Vicentini, F., Tosatti, L.M.: An interaction controller formulation to systematically avoid force overshoots through impedance shaping method with compliant robot base. Mechatronics 39, 42\u201353 (2016)","journal-title":"Mechatronics"},{"key":"683_CR28","doi-asserted-by":"crossref","unstructured":"Ferraguti, F., Secchi, C., Fantuzzi, C.: A tank-based approach to impedance control with variable stiffness. In: Proceedings of the 2013 International Conference on Robotics and Automation (ICRA) (2013)","DOI":"10.1109\/ICRA.2013.6631284"},{"key":"683_CR29","doi-asserted-by":"crossref","unstructured":"Schindlbeck, C., Haddadin, S.: Unified passivity-based cartesian force\/impedance control for rigid and flexible joint robots via task-energy tanks. In: 2015 IEEE International Conference on Robotics and Automation (ICRA), pp. 440\u2013447. IEEE, New York (2015)","DOI":"10.1109\/ICRA.2015.7139036"},{"key":"683_CR30","doi-asserted-by":"publisher","unstructured":"Roveda, L., Pedrocchi, N., Tosatti, L.M.: Exploiting impedance shaping approaches to overcome force overshoots in delicate interaction tasks. Int. J. Adv. Robot Syst. https:\/\/doi.org\/10.1177\/1729881416662771 (2016)","DOI":"10.1177\/1729881416662771"},{"issue":"2","key":"683_CR31","doi-asserted-by":"publisher","first-page":"613","DOI":"10.1109\/TMECH.2015.2465849","volume":"21","author":"A Calanca","year":"2016","unstructured":"Calanca, A., Muradore, R., Fiorini, P.: A review of algorithms for compliant control of stiff and fixed-compliance robots. IEEE\/ASME Trans. Mechatron. 21(2), 613\u2013624 (2016)","journal-title":"IEEE\/ASME Trans. Mechatron."},{"key":"683_CR32","doi-asserted-by":"publisher","unstructured":"Villani, L., Canudas de Wit, C., Brogliato, B.: An exponentially stable adaptive control for force and position tracking of robot manipulators. IEEE Trans. Autom. Control 44(4), 798\u2013802 (1999). https:\/\/doi.org\/10.1109\/9.754821 . ISSN 0018-9286","DOI":"10.1109\/9.754821"},{"key":"683_CR33","doi-asserted-by":"crossref","unstructured":"Seraji, H., Colbaugh, R.: Adaptive force-based impedance control. In: Proceedings of the 1993 IEEE\/RSJ International Conference on Intelligent Robots and Systems\u2019 93, IROS\u201993, vol. 3, pp. 1537\u20131544. IEEE, New York (1993)","DOI":"10.1109\/IROS.1993.583844"},{"issue":"1","key":"683_CR34","doi-asserted-by":"publisher","first-page":"97","DOI":"10.1177\/027836499701600107","volume":"16","author":"H Seraji","year":"1997","unstructured":"Seraji, H., Colbaugh, R.: Force tracking in impedance control. Int. J. Robot. Res. 16(1), 97\u2013117 (1997)","journal-title":"Int. J. Robot. Res."},{"key":"683_CR35","doi-asserted-by":"publisher","unstructured":"Jung, S., Hsia, T.C., Bonitz, R.G.: Force tracking impedance control of robot manipulators under unknown environment. IEEE Trans. Control Syst. Technol. 12(3), 474\u2013483 (2004). https:\/\/doi.org\/10.1109\/TCST.2004.824320 . ISSN 1063-6536","DOI":"10.1109\/TCST.2004.824320"},{"key":"683_CR36","doi-asserted-by":"crossref","unstructured":"Mohammadi, H., Richter, H.: Robust tracking\/impedance control: Application to prosthetics. In: American Control Conference (ACC) 2015, pp. 2673\u20132678. IEEE, New York (2015)","DOI":"10.1109\/ACC.2015.7171138"},{"key":"683_CR37","doi-asserted-by":"crossref","unstructured":"Ikeura, R., Inooka, H.: Variable impedance control of a robot for cooperation with a human. In: 1995 IEEE International Conference on Robotics and Automation (ICRA), vol. 3, pp. 3097\u20133102. IEEE, New York (1995)","DOI":"10.1109\/ROBOT.1995.525725"},{"issue":"1","key":"683_CR38","first-page":"6751","volume":"16","author":"K Lee","year":"2000","unstructured":"Lee, K., Buss, M.: Force tracking impedance control with variable target stiffness. Intern. Federation Autom. Control 16(1), 6751\u20136756 (2000)","journal-title":"Intern. Federation Autom. Control"},{"issue":"5","key":"683_CR39","doi-asserted-by":"publisher","first-page":"918","DOI":"10.1109\/TRO.2011.2158251","volume":"27","author":"C Yang","year":"2011","unstructured":"Yang, C., Ganesh, G., Haddadin, S., Parusel, S., Albu-Schaeffer, A., Burdet, E.: Human-like adaptation of force and impedance in stable and unstable interactions. IEEE Trans. Robot. 27(5), 918\u2013930 (2011)","journal-title":"IEEE Trans. Robot."},{"key":"683_CR40","unstructured":"Sehoon, O., Woo, H., Kong, K.: Frequency-shaped impedance control for safe human\u2013robot interaction in reference tracking application (2014)"},{"key":"683_CR41","doi-asserted-by":"crossref","unstructured":"Sehoon, O., Woo, H., Kong, K.: Stability and robustness analysis of frequency-shaped impedance control for reference tracking and compliant interaction. In: World Congress, vol. 19, pp. 3557\u20133562 (2014)","DOI":"10.3182\/20140824-6-ZA-1003.02672"},{"issue":"2","key":"683_CR42","doi-asserted-by":"publisher","first-page":"1009","DOI":"10.1109\/TIE.2013.2251738","volume":"61","author":"N Motoi","year":"2014","unstructured":"Motoi, N., Shimono, T., Kubo, R., Kawamura, A.: Task realization by a force-based variable compliance controller for flexible motion control systems. IEEE Trans. Ind. Electron. 61(2), 1009\u20131021 (2014)","journal-title":"IEEE Trans. Ind. Electron."},{"key":"683_CR43","doi-asserted-by":"crossref","unstructured":"Wang, W.-C., Lee, C.-H.: Fuzzy neural network-based adaptive impedance force control design of robot manipulator under unknown environment. In: 2014 IEEE International Conference on Fuzzy Systems (FUZZ-IEEE), pp. 1442\u20131448. IEEE, New York (2014)","DOI":"10.1109\/FUZZ-IEEE.2014.6891669"},{"issue":"3","key":"683_CR44","doi-asserted-by":"publisher","first-page":"323","DOI":"10.1007\/s12541-016-0040-x","volume":"17","author":"T Kim","year":"2016","unstructured":"Kim, T., Kim, H.S., Kim, J.: Position-based impedance control for force tracking of a wall-cleaning unit. Int. J. Precis. Eng. Manuf. 17(3), 323\u2013329 (2016)","journal-title":"Int. J. Precis. Eng. Manuf."},{"key":"683_CR45","doi-asserted-by":"crossref","unstructured":"Roveda, L., Vicentini, F., Pedrocchi, N., Tosatti, L.M.: Force-tracking impedance control for manipulators mounted on compliant bases. In: 2014 IEEE International Conference on Robotics and Automation (ICRA). IEEE, New York (2014)","DOI":"10.1109\/ICRA.2014.6906940"},{"key":"683_CR46","unstructured":"Roveda, L., Pedrocchi, V.F., Tosatti, L.M.: Impedance control based force-tracking algorithm for interaction robotics tasks: An analytically force overshoots-free approach. In: Informatics in Control, Automation and Robotics, 2015. IEEE, New York (2015)"},{"issue":"1","key":"683_CR47","doi-asserted-by":"publisher","first-page":"130","DOI":"10.1109\/LRA.2015.2508061","volume":"1","author":"L Roveda","year":"2016","unstructured":"Roveda, L., Iannacci, N., Vicentini, F., Pedrocchi, N., Braghin, F., Tosatti, L.M.: Optimal impedance force-tracking control design with impact formulation for interaction tasks. IEEE Robot. Autom. Lett. 1(1), 130\u2013136 (2016)","journal-title":"IEEE Robot. Autom. Lett."},{"key":"683_CR48","doi-asserted-by":"crossref","unstructured":"Roveda, L., Vicentini, F., Pedrocchi, N., Braghin, F., Tosatti, L.M.: Impedance shaping controller for robotic applications in interaction with compliant environments. In: 2014 11th International Conference on Informatics in Control, Automation and Robotics, vol. 2, pp. 444\u2013450. IEEE, New York (2014)","DOI":"10.5220\/0005059504440450"},{"key":"683_CR49","doi-asserted-by":"crossref","unstructured":"Anwar, G., Tomizuka, M., Horowitz, R., Kubo, T.: Experimental study on discrete time adaptive control of an industrial robot arm. In: Adaptive Systems in Control and Signal Processing 1986: Proceedings of the 2nd IFAC Workshop, Lund, Sweden, 1-3 July 1986, p. 265. Elsevier, New York (2014)","DOI":"10.1016\/B978-0-08-034085-2.50049-3"},{"key":"683_CR50","unstructured":"Morita, Y., Okada, H., Ukai, H., Kando, H., Matsui, N.: Optimal force control of elastic robot with contact motion to environment. In: AMC\u201998-Coimbra., 1998 5th Int Workshop on Advanced Motion Control, 1998, pp. 228\u2013233. IEEE, New York (1998)"},{"issue":"5","key":"683_CR51","doi-asserted-by":"publisher","first-page":"2260","DOI":"10.1109\/TMECH.2016.2569466","volume":"21","author":"P Huang","year":"2016","unstructured":"Huang, P., Wang, D., Meng, Z., Zhang, F., Liu, Z.: Impact dynamic modeling and adaptive target capturing control for tethered space robots with uncertainties. IEEE\/ASME Trans. Mechatronics 21(5), 2260\u20132271 (2016)","journal-title":"IEEE\/ASME Trans. Mechatronics"},{"key":"683_CR52","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-662-02276-4","volume-title":"Viscoelasticity","author":"W Fl\u00fcgge","year":"1975","unstructured":"Fl\u00fcgge, W.: Viscoelasticity. Springer, New York (1975)"},{"issue":"1","key":"683_CR53","doi-asserted-by":"publisher","first-page":"41","DOI":"10.1177\/0278364903022001004","volume":"22","author":"D Erickson","year":"2003","unstructured":"Erickson, D., Weber, M., Sharf, I.: Contact stiffness and damping estimation for robotic systems. Int. J. Robot. Res. 22(1), 41\u201357 (2003)","journal-title":"Int. J. Robot. Res."},{"issue":"2","key":"683_CR54","first-page":"102","volume":"5","author":"RE Kalman","year":"1960","unstructured":"Kalman, R.E., et al.: Contributions to the theory of optimal control. Bol. Soc. Mat. Mexicana 5(2), 102\u2013119 (1960)","journal-title":"Bol. Soc. Mat. Mexicana"},{"key":"683_CR55","unstructured":"Roveda, L.: Model Based Compliance Shaping Control of Light-Weight Manipulator in Hard-Contact Industrial Applications. PhD thesis. Politecnico di Milano, Mechanical Engineering Department, Italy (2015)"},{"key":"683_CR56","volume-title":"Positive Linear Systems: Theory and Applications, vol. 50","author":"L Farina","year":"2011","unstructured":"Farina, L., Rinaldi, S.: Positive Linear Systems: Theory and Applications, vol. 50. Wiley, New York (2011)"},{"issue":"9","key":"683_CR57","doi-asserted-by":"publisher","first-page":"1273","DOI":"10.1016\/S0967-0661(97)84366-3","volume":"5","author":"WJ Chung","year":"1997","unstructured":"Chung, W.J., Kim, I.H., Joh, J.: Null-space dynamics-based control of redundant manipulators in reducing impact. Control. Eng. Pract. 5(9), 1273\u20131282 (1997)","journal-title":"Control. Eng. Pract."}],"container-title":["Journal of Intelligent & Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s10846-017-0683-6\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-017-0683-6.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-017-0683-6.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,6,26]],"date-time":"2025-06-26T00:14:57Z","timestamp":1750896897000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s10846-017-0683-6"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2017,10,3]]},"references-count":57,"journal-issue":{"issue":"3-4","published-print":{"date-parts":[[2018,6]]}},"alternative-id":["683"],"URL":"https:\/\/doi.org\/10.1007\/s10846-017-0683-6","relation":{},"ISSN":["0921-0296","1573-0409"],"issn-type":[{"type":"print","value":"0921-0296"},{"type":"electronic","value":"1573-0409"}],"subject":[],"published":{"date-parts":[[2017,10,3]]},"assertion":[{"value":"11 May 2017","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"21 July 2017","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"3 October 2017","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}}]}}