{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,27]],"date-time":"2026-02-27T21:41:05Z","timestamp":1772228465653,"version":"3.50.1"},"reference-count":44,"publisher":"Springer Science and Business Media LLC","issue":"3","license":[{"start":{"date-parts":[[2022,11,1]],"date-time":"2022-11-01T00:00:00Z","timestamp":1667260800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"},{"start":{"date-parts":[[2022,11,1]],"date-time":"2022-11-01T00:00:00Z","timestamp":1667260800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"}],"funder":[{"name":"National Key Research and Development Project of China","award":["2019YFC1511401"],"award-info":[{"award-number":["2019YFC1511401"]}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["61773038"],"award-info":[{"award-number":["61773038"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["61103060"],"award-info":[{"award-number":["61103060"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["J Intell Robot Syst"],"published-print":{"date-parts":[[2022,11]]},"DOI":"10.1007\/s10846-022-01757-3","type":"journal-article","created":{"date-parts":[[2022,11,10]],"date-time":"2022-11-10T08:06:32Z","timestamp":1668067592000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":10,"title":["Stewart-Inspired Vibration Isolation Control for a Wheel-legged Robot via Variable Target Force Impedance Control"],"prefix":"10.1007","volume":"106","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-1455-674X","authenticated-orcid":false,"given":"Junfeng","family":"Xue","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Shoukun","family":"Wang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Junzheng","family":"Wang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zhihua","family":"Chen","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2022,11,10]]},"reference":[{"issue":"3","key":"1757_CR1","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1007\/s10846-021-01417-y","volume":"102","author":"Z Chen","year":"2021","unstructured":"Chen, Z., Li, J., Wang, J., Wang, S., Zhao, J., Li, J.: Towards hybrid gait obstacle avoidance for a six wheel-legged robot with payload transportation. J. Intell. Robot. Syst. 102(3), 1\u201321 (2021)","journal-title":"J. Intell. Robot. Syst."},{"key":"1757_CR2","doi-asserted-by":"crossref","unstructured":"Chen, Z., Li, J., Wang, S., Wang, J., Ma, L.: Flexible gait transition for six wheel-legged robot with unstructured terrains. Robotics and Autonomous Systems p. 103989 (2022)","DOI":"10.1016\/j.robot.2021.103989"},{"issue":"1","key":"1757_CR3","doi-asserted-by":"publisher","first-page":"209","DOI":"10.1109\/TII.2019.2957768","volume":"17","author":"D Huang","year":"2021","unstructured":"Huang, D., Yang, C., Pan, Y., Cheng, L.: Composite learning enhanced neural control for robot manipulator with output error constraints. IEEE Trans. Industr. Inf. 17(1), 209\u2013218 (2021)","journal-title":"IEEE Trans. Industr. Inf."},{"key":"1757_CR4","doi-asserted-by":"crossref","unstructured":"Li, J., Dai, Y., Wang, J., Su, X., Ma, R.: Towards broad learning networks on unmanned mobile robot for semantic segmentation. In: 2022 IEEE International Conference on Robotics and Automation (ICRA), pp. 1\u20137. IEEE (2022)","DOI":"10.1109\/ICRA46639.2022.9812204"},{"issue":"4","key":"1757_CR5","doi-asserted-by":"publisher","first-page":"2491","DOI":"10.1109\/TSMC.2021.3050616","volume":"52","author":"J Li","year":"2022","unstructured":"Li, J., Wang, J., Peng, H., Hu, Y., Su, H.: Fuzzy-torque approximation-enhanced sliding mode control for lateral stability of mobile robot. IEEE Trans. Syst. Man Cybern. A Syst. 52(4), 2491\u20132500 (2022)","journal-title":"IEEE Trans. Syst. Man Cybern. A Syst."},{"key":"1757_CR6","doi-asserted-by":"publisher","first-page":"342","DOI":"10.1016\/j.neucom.2020.05.091","volume":"410","author":"J Li","year":"2020","unstructured":"Li, J., Wang, J., Peng, H., Zhang, L., Hu, Y., Su, H.: Neural fuzzy approximation enhanced autonomous tracking control of the wheel-legged robot under uncertain physical interaction. Neurocomputing 410, 342\u2013353 (2020)","journal-title":"Neurocomputing"},{"key":"1757_CR7","doi-asserted-by":"publisher","unstructured":"Li, J., Wang, J., Wang, S., Yang, C.: Human-robot skill transmission for mobile robot via learning by demonstration. Neural Computing and Applications pp. 1\u201311 (2021). https:\/\/doi.org\/10.1007\/s00521-021-06449-x","DOI":"10.1007\/s00521-021-06449-x"},{"key":"1757_CR8","doi-asserted-by":"publisher","first-page":"394","DOI":"10.1016\/j.neucom.2020.06.004","volume":"409","author":"J Li","year":"2020","unstructured":"Li, J., Zhang, X., Li, J., Liu, Y., Wang, J.: Building and optimization of 3d semantic map based on lidar and camera fusion. Neurocomputing 409, 394\u2013407 (2020)","journal-title":"Neurocomputing"},{"issue":"3","key":"1757_CR9","doi-asserted-by":"publisher","first-page":"505","DOI":"10.1007\/s10846-014-0040-y","volume":"76","author":"D Sartori","year":"2014","unstructured":"Sartori, D., Quagliotti, F., Rutherford, M.J., Valavanis, K.P.: Implementation and testing of a backstepping controller autopilot for fixed-wing uavs. J. Intell. Robot. Syst. 76(3), 505\u2013525 (2014)","journal-title":"J. Intell. Robot. Syst."},{"key":"1757_CR10","doi-asserted-by":"crossref","unstructured":"Wang, S., Chen, Z., Li, J., Wang, J., Li, J., Zhao, J.: Flexible motion framework of the six wheel-legged robot: experimental results. IEEE\/ASME Transactions on Mechatronics (2021)","DOI":"10.1109\/TMECH.2021.3100879"},{"issue":"9","key":"1757_CR11","doi-asserted-by":"publisher","first-page":"4231","DOI":"10.1109\/TNNLS.2020.3017202","volume":"32","author":"C Yang","year":"2021","unstructured":"Yang, C., Huang, D., He, W., Cheng, L.: Neural control of robot manipulators with trajectory tracking constraints and input saturation. IEEE Trans. Neural Netw. Learn. Syst. 32(9), 4231\u20134242 (2021)","journal-title":"IEEE Trans. Neural Netw. Learn. Syst."},{"key":"1757_CR12","doi-asserted-by":"crossref","unstructured":"Zeng, C., Chen, X., Wang, N., Yang, C.: Learning compliant robotic movements based on biomimetic motor adaptation. Robotics and Autonomous Systems 135, 103,668 (2021)","DOI":"10.1016\/j.robot.2020.103668"},{"issue":"8","key":"1757_CR13","doi-asserted-by":"publisher","first-page":"1159","DOI":"10.7210\/jrsj.18.1159","volume":"18","author":"G Endo","year":"2000","unstructured":"Endo, G., Hirose, S.: Study on roller-walker\u2013multi-mode steering control and self-contained locomotion. J. Robot. Soc. Japan 18(8), 1159\u20131165 (2000)","journal-title":"J. Robot. Soc. Japan"},{"issue":"6","key":"1757_CR14","doi-asserted-by":"publisher","first-page":"1487","DOI":"10.1109\/TRO.2014.2365651","volume":"30","author":"YS Kim","year":"2014","unstructured":"Kim, Y.S., Jung, G.P., Kim, H., Cho, K.J., Chu, C.N.: Wheel transformer: A wheel-leg hybrid robot with passive transformable wheels. IEEE Trans. Robot. 30(6), 1487\u20131498 (2014)","journal-title":"IEEE Trans. Robot."},{"key":"1757_CR15","doi-asserted-by":"crossref","unstructured":"Tadakuma, K., Tadakuma, R., Maruyama, A., Rohmer, E., Nagatani, K., Yoshida, K., Ming, A., Shimojo, M., Higashimori, M., Kaneko, M.: Mechanical design of the wheel-leg hybrid mobile robot to realize a large wheel diameter. In: 2010 IEEE\/RSJ International Conference on Intelligent Robots and Systems, pp. 3358\u20133365. IEEE (2010)","DOI":"10.1109\/IROS.2010.5651912"},{"issue":"3","key":"1757_CR16","doi-asserted-by":"publisher","first-page":"477","DOI":"10.1016\/j.mechmachtheory.2009.10.007","volume":"45","author":"C Grand","year":"2010","unstructured":"Grand, C., Benamar, F., Plumet, F.: Motion kinematics analysis of wheeled-legged rover over 3d surface with posture adaptation. Mech. Mach. Theory 45(3), 477\u2013495 (2010)","journal-title":"Mech. Mach. Theory"},{"key":"1757_CR17","doi-asserted-by":"crossref","unstructured":"Li, X., Zhou, H., Feng, H., Zhang, S., Fu, Y.: Design and experiments of a novel hydraulic wheel-legged robot (wlr). In: 2018 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 3292\u20133297. IEEE (2018)","DOI":"10.1109\/IROS.2018.8594484"},{"key":"1757_CR18","doi-asserted-by":"publisher","first-page":"367","DOI":"10.1016\/j.isatra.2020.08.033","volume":"108","author":"Z Chen","year":"2021","unstructured":"Chen, Z., Wang, S., Wang, J., Xu, K., Lei, T., Zhang, H., Wang, X., Liu, D., Si, J.: Control strategy of stable walking for a hexapod wheel-legged robot. ISA Trans. 108, 367\u2013380 (2021)","journal-title":"ISA Trans."},{"key":"1757_CR19","doi-asserted-by":"crossref","unstructured":"Xue, J., Wang, S., Li, J., Wang, J., Zhang, J., Chen, Z.: Impedance-based foot-end torque vibration isolation control of parallel structure wheel-leg robot. The 2022 WRC Symposium on Advanced Robotics and Automation (WRC SARA) (2022)","DOI":"10.1109\/WRCSARA57040.2022.9903930"},{"issue":"6","key":"1757_CR20","doi-asserted-by":"publisher","first-page":"1397","DOI":"10.1017\/S0263574716000175","volume":"35","author":"H Du","year":"2017","unstructured":"Du, H., Gao, F.: Fault tolerance properties and motion planning of a six-legged robot with multiple faults. Robotica 35(6), 1397\u20131414 (2017)","journal-title":"Robotica"},{"issue":"3","key":"1757_CR21","doi-asserted-by":"publisher","first-page":"474","DOI":"10.1109\/TCST.2004.824320","volume":"12","author":"S Jung","year":"2004","unstructured":"Jung, S., Hsia, T., Bonitz, R.: 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","journal-title":"IEEE Trans. Control Syst. Technol."},{"issue":"3","key":"1757_CR22","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."},{"issue":"5","key":"1757_CR23","doi-asserted-by":"publisher","first-page":"1298","DOI":"10.1109\/TRO.2016.2593492","volume":"32","author":"K Kronander","year":"2016","unstructured":"Kronander, K., Billard, A.: Stability considerations for variable impedance control. IEEE Trans. Robot. 32(5), 1298\u20131305 (2016)","journal-title":"IEEE Trans. Robot."},{"issue":"2","key":"1757_CR24","doi-asserted-by":"publisher","first-page":"9636","DOI":"10.1016\/j.ifacol.2020.12.2610","volume":"53","author":"Z Chen","year":"2020","unstructured":"Chen, Z., Wang, S., Wang, J., Xu, K.: Attitude stability control for multi-agent six wheel-legged robot. IFAC-PapersOnLine 53(2), 9636\u20139641 (2020)","journal-title":"IFAC-PapersOnLine"},{"issue":"6","key":"1757_CR25","doi-asserted-by":"publisher","first-page":"1741","DOI":"10.1007\/s12083-019-00747-x","volume":"12","author":"H Peng","year":"2019","unstructured":"Peng, H., Wang, J., Shen, W., Shi, D.: Cooperative attitude control for a wheel-legged robot. Peer-to-Peer Netw. Appl. 12(6), 1741\u20131752 (2019)","journal-title":"Peer-to-Peer Netw. Appl."},{"key":"1757_CR26","doi-asserted-by":"crossref","unstructured":"Xin, Y., Chai, H., Li, Y., Rong, X., Li, B., Li, Y.: Speed and acceleration control for a two wheel-leg robot based on distributed dynamic model and whole-body control. IEEE Access 7, 180,630\u2013180,639 (2019)","DOI":"10.1109\/ACCESS.2019.2959333"},{"key":"1757_CR27","doi-asserted-by":"crossref","unstructured":"Xu, K., Wang, S., Wang, X., Wang, J., Chen, Z., Liu, D.: High-flexibility locomotion and whole-torso control for a wheel-legged robot on challenging terrain*. In: 2020 IEEE International Conference on Robotics and Automation (ICRA), pp. 10,372\u201310,377 (2020)","DOI":"10.1109\/ICRA40945.2020.9197526"},{"key":"1757_CR28","doi-asserted-by":"crossref","unstructured":"Yue, B., Wang, S., Chen, Z., Xu, K., Wang, J.: Research on vibration isolation control of six wheel-legged robot based on impedance control. In: 2020 39th Chinese Control Conference (CCC), pp. 3978\u20133983. IEEE (2020)","DOI":"10.23919\/CCC50068.2020.9189175"},{"key":"1757_CR29","doi-asserted-by":"crossref","unstructured":"Huang, H., He, W., Wang, J., Zhang, L., Fu, Q.: An all servo-driven bird-like flapping-wing aerial robot capable of autonomous flight. IEEE\/ASME Transactions on Mechatronics (2022)","DOI":"10.1109\/TMECH.2022.3182418"},{"issue":"9","key":"1757_CR30","doi-asserted-by":"publisher","first-page":"8657","DOI":"10.1109\/TIE.2020.3016271","volume":"68","author":"X Yu","year":"2020","unstructured":"Yu, X., He, W., Li, Q., Li, Y., Li, B.: Human-robot co-carrying using visual and force sensing. IEEE Trans. Ind. Electron. 68(9), 8657\u20138666 (2020)","journal-title":"IEEE Trans. Ind. Electron."},{"key":"1757_CR31","doi-asserted-by":"crossref","unstructured":"Yu, X., Li, B., He, W., Feng, Y., Cheng, L., Silvestre, C.: Adaptive-constrained impedance control for human-robot co-transportation. IEEE transactions on cybernetics (2021)","DOI":"10.1109\/TCYB.2021.3107357"},{"key":"1757_CR32","doi-asserted-by":"publisher","first-page":"9","DOI":"10.1016\/j.conengprac.2014.07.001","volume":"32","author":"M Sharifi","year":"2014","unstructured":"Sharifi, M., Behzadipour, S., Vossoughi, G.: Nonlinear model reference adaptive impedance control for human-robot interactions. Control. Eng. Pract. 32, 9\u201327 (2014)","journal-title":"Control. Eng. Pract."},{"key":"1757_CR33","doi-asserted-by":"publisher","first-page":"54","DOI":"10.1016\/j.robot.2018.01.009","volume":"102","author":"J Duan","year":"2018","unstructured":"Duan, J., Gan, Y., Chen, M., Dai, X.: Adaptive variable impedance control for dynamic contact force tracking in uncertain environment. Robot. Auton. Syst. 102, 54\u201365 (2018)","journal-title":"Robot. Auton. Syst."},{"key":"1757_CR34","doi-asserted-by":"crossref","unstructured":"Xu, K., Wang, S., Yue, B., Wang, J., Peng, H., Liu, D., Chen, Z., Shi, M.: Adaptive impedance control with variable target stiffness for wheel-legged robot on complex unknown terrain. Mechatronics 69, 102,388 (2020)","DOI":"10.1016\/j.mechatronics.2020.102388"},{"key":"1757_CR35","doi-asserted-by":"crossref","unstructured":"Kasaei, M., Abreu, M., Lau, N., Pereira, A., Reis, L.P.: Robust biped locomotion using deep reinforcement learning on top of an analytical control approach. Robotics and Autonomous Systems 146, 103,900 (2021)","DOI":"10.1016\/j.robot.2021.103900"},{"issue":"4","key":"1757_CR36","doi-asserted-by":"publisher","first-page":"599","DOI":"10.1016\/j.robot.2011.12.003","volume":"60","author":"I Vincent","year":"2012","unstructured":"Vincent, I., Sun, Q.: A combined reactive and reinforcement learning controller for an autonomous tracked vehicle. Robot. Auton. Syst. 60(4), 599\u2013608 (2012)","journal-title":"Robot. Auton. Syst."},{"issue":"10","key":"1757_CR37","doi-asserted-by":"publisher","first-page":"8013","DOI":"10.1109\/TIE.2017.2694391","volume":"64","author":"Z Li","year":"2017","unstructured":"Li, Z., Liu, J., Huang, Z., Peng, Y., Pu, H., Ding, L.: Adaptive impedance control of human-robot cooperation using reinforcement learning. IEEE Trans. Ind. Electron. 64(10), 8013\u20138022 (2017). https:\/\/doi.org\/10.1109\/TIE.2017.2694391","journal-title":"IEEE Trans. Ind. Electron."},{"key":"1757_CR38","doi-asserted-by":"publisher","unstructured":"Izadbakhsh, A., Khorashadizadeh, S., Ghandali, S.: Robust adaptive impedance control of robot manipulators using sz\u00e1sz\u2013mirakyan operator as universal approximator. ISA Transactions 106, 1\u201311 (2020). https:\/\/doi.org\/10.1016\/j.isatra.2020.06.017.https:\/\/www.sciencedirect.com\/science\/article\/pii\/S0019057820302640","DOI":"10.1016\/j.isatra.2020.06.017."},{"key":"1757_CR39","doi-asserted-by":"publisher","unstructured":"Brahmi, B., Driscoll, M., El Bojairami, I.K., Saad, M., Brahmi, A.: Novel adaptive impedance control for exoskeleton robot for rehabilitation using a nonlinear time-delay disturbance observer. ISA Transactions 108, 381\u2013392 (2021). https:\/\/doi.org\/10.1016\/j.isatra.2020.08.036.https:\/\/www.sciencedirect.com\/science\/article\/pii\/S0019057820303682","DOI":"10.1016\/j.isatra.2020.08.036."},{"key":"1757_CR40","doi-asserted-by":"crossref","unstructured":"Roveda, L., Maskani, J., Franceschi, P., Abdi, A., Braghin, F., MolinariTosatti, L., Pedrocchi, N.: Model-based reinforcement learning variable impedance control for human-robot collaboration. Journal of Intelligent & Robotic Systems (2020)","DOI":"10.1007\/s10846-020-01183-3"},{"issue":"3","key":"1757_CR41","doi-asserted-by":"crossref","first-page":"1366","DOI":"10.1109\/TMECH.2020.2970505","volume":"25","author":"H Peng","year":"2020","unstructured":"Peng, H., Wang, J., Wang, S., Shen, W., Shi, D., Liu, D.: Coordinated motion control for a wheel-leg robot with speed consensus strategy. IEEE\/ASME Trans. Mechatron. 25(3), 1366\u20131376 (2020)","journal-title":"IEEE\/ASME Trans. Mechatron."},{"key":"1757_CR42","doi-asserted-by":"crossref","unstructured":"Zhihua, C., Shoukun, W., Kang, X., Junzheng, W., Jiangbo, Z., Shanshuai, N.: Research on high precision control of joint position servo system for hydraulic quadruped robot. In: 2019 Chinese Control Conference (CCC), pp. 755\u2013760. IEEE (2019)","DOI":"10.23919\/ChiCC.2019.8866288"},{"issue":"3","key":"1757_CR43","doi-asserted-by":"publisher","first-page":"1399","DOI":"10.1109\/TASE.2015.2427743","volume":"13","author":"R Hao","year":"2016","unstructured":"Hao, R., Wang, J., Zhao, J., Wang, S.: Observer-based robust control of 6-dof parallel electrical manipulator with fast friction estimation. IEEE Trans. Autom. Sci. Eng. 13(3), 1399\u20131408 (2016). https:\/\/doi.org\/10.1109\/TASE.2015.2427743","journal-title":"IEEE Trans. Autom. Sci. Eng."},{"issue":"5","key":"1757_CR44","doi-asserted-by":"publisher","first-page":"2277","DOI":"10.1109\/TMECH.2017.2748887","volume":"22","author":"D Shi","year":"2017","unstructured":"Shi, D., Xue, J., Zhao, L., Wang, J., Huang, Y.: Event-triggered active disturbance rejection control of dc torque motors. IEEE\/ASME Trans. Mechatron. 22(5), 2277\u20132287 (2017)","journal-title":"IEEE\/ASME Trans. Mechatron."}],"container-title":["Journal of Intelligent &amp; Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-022-01757-3.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s10846-022-01757-3\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-022-01757-3.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,11,28]],"date-time":"2022-11-28T18:30:26Z","timestamp":1669660226000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s10846-022-01757-3"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,11]]},"references-count":44,"journal-issue":{"issue":"3","published-print":{"date-parts":[[2022,11]]}},"alternative-id":["1757"],"URL":"https:\/\/doi.org\/10.1007\/s10846-022-01757-3","relation":{},"ISSN":["0921-0296","1573-0409"],"issn-type":[{"value":"0921-0296","type":"print"},{"value":"1573-0409","type":"electronic"}],"subject":[],"published":{"date-parts":[[2022,11]]},"assertion":[{"value":"12 June 2022","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"7 October 2022","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"10 November 2022","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"No conflict of interest exists in the submission of this manuscript.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Conflicts of Interest"}},{"value":"All authors have participated in conception and design, or analysis and interpretation of the data; drafting the article or revising it critically for important intellectual content, and approval of the final version.","order":3,"name":"Ethics","group":{"name":"EthicsHeading","label":"Consent to Participate"}},{"value":"The authors declare no interest conflict regarding the publication of this paper.","order":4,"name":"Ethics","group":{"name":"EthicsHeading","label":"Consent to Publish"}}],"article-number":"61"}}