{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,7]],"date-time":"2025-10-07T05:41:31Z","timestamp":1759815691243},"reference-count":22,"publisher":"Springer Science and Business Media LLC","issue":"3","license":[{"start":{"date-parts":[[2024,2,27]],"date-time":"2024-02-27T00:00:00Z","timestamp":1708992000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"},{"start":{"date-parts":[[2024,2,27]],"date-time":"2024-02-27T00:00:00Z","timestamp":1708992000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"}],"funder":[{"name":"Self-Planned Task of State Key Laboratory of Robotics and System","award":["SKLRS202207B","SKLRS202207B","SKLRS202207B","SKLRS202207B","SKLRS202207B","SKLRS202207B"],"award-info":[{"award-number":["SKLRS202207B","SKLRS202207B","SKLRS202207B","SKLRS202207B","SKLRS202207B","SKLRS202207B"]}]},{"name":"National Key Research and Development Program of China","award":["2019YFB1311303","2019YFB1311303","2019YFB1311303","2019YFB1311303","2019YFB1311303","2019YFB1311303"],"award-info":[{"award-number":["2019YFB1311303","2019YFB1311303","2019YFB1311303","2019YFB1311303","2019YFB1311303","2019YFB1311303"]}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Int J Intell Robot Appl"],"published-print":{"date-parts":[[2024,9]]},"DOI":"10.1007\/s41315-024-00321-6","type":"journal-article","created":{"date-parts":[[2024,2,27]],"date-time":"2024-02-27T12:02:54Z","timestamp":1709035374000},"page":"503-516","update-policy":"http:\/\/dx.doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":3,"title":["Research on stiffness adaptation control of medical assistive robots based on stiffness prediction"],"prefix":"10.1007","volume":"8","author":[{"given":"Chong","family":"Yao","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Changle","family":"Li","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yihan","family":"Shan","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xuehe","family":"Zhang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Leifeng","family":"Zhang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jie","family":"Zhao","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2024,2,27]]},"reference":[{"doi-asserted-by":"publisher","unstructured":"Ajoudani, A. \u201cTeleimpedance: Teleoperation with Impedance Regulation Using a Body-Machine Interface,\u201d in Transferring Human Impedance Regulation Skills to Robots, A. Ajoudani, Ed., in Springer Tracts in Advanced Robotics. , Cham: Springer International Publishing, 2016, pp. 19\u201331. doi: https:\/\/doi.org\/10.1007\/978-3-319-24205-7_3.","key":"321_CR1","DOI":"10.1007\/978-3-319-24205-7_3"},{"issue":"5","key":"321_CR2","doi-asserted-by":"publisher","first-page":"469","DOI":"10.1016\/j.robot.2008.10.024","volume":"57","author":"BD Argall","year":"2009","unstructured":"Argall, B.D., Chernova, S., Veloso, M., Browning, B.: A survey of robot learning from demonstration. Robot. Auton. Syst. 57(5), 469\u2013483 (2009). https:\/\/doi.org\/10.1016\/j.robot.2008.10.024","journal-title":"Robot. Auton. Syst."},{"key":"321_CR3","doi-asserted-by":"publisher","first-page":"6862","DOI":"10.1038\/35106566","volume":"414","author":"E Burdet","year":"2001","unstructured":"Burdet, E., Osu, R., Franklin, D.W., Milner, T.E., Kawato, M.: The central nervous system stabilizes unstable dynamics by learning optimal impedance. Nature 414, 6862 (2001). https:\/\/doi.org\/10.1038\/35106566","journal-title":"Nature"},{"issue":"1","key":"321_CR4","doi-asserted-by":"publisher","first-page":"168","DOI":"10.1109\/TRO.2014.2385212","volume":"31","author":"MS Erden","year":"2015","unstructured":"Erden, M.S., Billard, A.: Hand impedance measurements during interactive manual welding with a robot. IEEE Trans. Rob. 31(1), 168\u2013179 (2015). https:\/\/doi.org\/10.1109\/TRO.2014.2385212","journal-title":"IEEE Trans. Rob."},{"issue":"4","key":"321_CR5","doi-asserted-by":"publisher","first-page":"850","DOI":"10.1109\/TRO.2015.2430053","volume":"31","author":"F Ficuciello","year":"2015","unstructured":"Ficuciello, F., Villani, L., Siciliano, B.: Variable impedance control of redundant manipulators for intuitive human-robot physical interaction. IEEE Trans. Rob. 31(4), 850\u2013863 (2015). https:\/\/doi.org\/10.1109\/TRO.2015.2430053","journal-title":"IEEE Trans. Rob."},{"issue":"5258","key":"321_CR6","doi-asserted-by":"publisher","first-page":"117","DOI":"10.1126\/science.272.5258.117","volume":"272","author":"H Gomi","year":"1996","unstructured":"Gomi, H., Kawato, M.: Equilibrium-point control hypothesis examined by measured arm stiffness during multijoint movement. Science 272(5258), 117\u2013120 (1996). https:\/\/doi.org\/10.1126\/science.272.5258.117","journal-title":"Science"},{"issue":"3","key":"321_CR7","doi-asserted-by":"publisher","first-page":"163","DOI":"10.1007\/s004220050329","volume":"76","author":"H Gomi","year":"1997","unstructured":"Gomi, H., Kawato, M.: Human arm stiffness and equilibrium-point trajectory during multi-joint movement. Biol. Cybern. 76(3), 163\u2013171 (1997). https:\/\/doi.org\/10.1007\/s004220050329","journal-title":"Biol. Cybern."},{"issue":"21","key":"321_CR8","doi-asserted-by":"publisher","first-page":"8965","DOI":"10.1523\/JNEUROSCI.18-21-08965.1998","volume":"18","author":"H Gomi","year":"1998","unstructured":"Gomi, H., Osu, R.: Task-dependent viscoelasticity of human multijoint arm and its spatial characteristics for interaction with environments. J. Neurosci. 18(21), 8965\u20138978 (1998). https:\/\/doi.org\/10.1523\/JNEUROSCI.18-21-08965.1998","journal-title":"J. Neurosci."},{"issue":"9","key":"321_CR9","doi-asserted-by":"publisher","first-page":"3302","DOI":"10.1109\/JSEN.2013.2259051","volume":"13","author":"Z Ju","year":"2013","unstructured":"Ju, Z., Ouyang, G., Wilamowska-Korsak, M., Liu, H.: Surface EMG based hand manipulation identification via nonlinear feature extraction and classification. IEEE Sens. J. 13(9), 3302\u20133311 (2013). https:\/\/doi.org\/10.1109\/JSEN.2013.2259051","journal-title":"IEEE Sens. J."},{"doi-asserted-by":"publisher","unstructured":"M. Kasuya, M. Seki, K. Kawamura, and M. G. Fujie, \u201cSubtle grip force estimation from EMG and muscle stiffness \u2014 Relationship between muscle character frequency and grip force,\u201d in 2011 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 2011, pp. 4116\u20134119. doi: https:\/\/doi.org\/10.1109\/IEMBS.2011.6091022.","key":"321_CR10","DOI":"10.1109\/IEMBS.2011.6091022"},{"issue":"5","key":"321_CR11","doi-asserted-by":"publisher","first-page":"972","DOI":"10.1109\/TSMCA.2009.2025021","volume":"39","author":"HK Kim","year":"2009","unstructured":"Kim, H.K., Kang, B., Kim, B., Park, S.: Estimation of multijoint stiffness using electromyogram and artificial neural network. IEEE Transactions on Systems, Man, and Cybernetics - Part a: Systems and Humans 39(5), 972\u2013980 (2009). https:\/\/doi.org\/10.1109\/TSMCA.2009.2025021","journal-title":"IEEE Transactions on Systems, Man, and Cybernetics - Part a: Systems and Humans"},{"issue":"5","key":"321_CR12","doi-asserted-by":"publisher","first-page":"581","DOI":"10.1163\/016918611X558261","volume":"25","author":"P Kormushev","year":"2011","unstructured":"Kormushev, P., Calinon, S., Caldwell, D.G.: Imitation learning of positional and force skills demonstrated via kinesthetic teaching and haptic input. Adv. Robot. 25(5), 581\u2013603 (2011). https:\/\/doi.org\/10.1163\/016918611X558261","journal-title":"Adv. Robot."},{"issue":"2","key":"321_CR13","doi-asserted-by":"publisher","first-page":"1664","DOI":"10.1109\/TIE.2016.2538741","volume":"64","author":"Z Li","year":"2017","unstructured":"Li, Z., Huang, Z., He, W., Su, C.-Y.: Adaptive impedance control for an upper limb robotic exoskeleton using biological signals. IEEE Trans. Industr. Electron. 64(2), 1664\u20131674 (2017). https:\/\/doi.org\/10.1109\/TIE.2016.2538741","journal-title":"IEEE Trans. Industr. Electron."},{"doi-asserted-by":"publisher","unstructured":"M. Maehara, D. Tanaka, H. Maeda, and T. Nakamura, \u201cEstimation of joint stiffness using EMG and application to master-slave system with an artificial muscle manipulator,\u201d In: 19th International Symposium in Robot and Human Interactive Communication, Sep. 2010, pp. 743\u2013748. doi: https:\/\/doi.org\/10.1109\/ROMAN.2010.5598703.","key":"321_CR14","DOI":"10.1109\/ROMAN.2010.5598703"},{"issue":"4","key":"321_CR15","doi-asserted-by":"publisher","first-page":"1458","DOI":"10.1152\/jn.1999.81.4.1458","volume":"81","author":"R Osu","year":"1999","unstructured":"Osu, R., Gomi, H.: Multijoint muscle regulation mechanisms examined by measured human arm stiffness and EMG signals. J. Neurophysiol. 81(4), 1458\u20131468 (1999). https:\/\/doi.org\/10.1152\/jn.1999.81.4.1458","journal-title":"J. Neurophysiol."},{"issue":"2","key":"321_CR16","doi-asserted-by":"publisher","first-page":"991","DOI":"10.1152\/jn.2002.88.2.991","volume":"88","author":"R Osu","year":"2002","unstructured":"Osu, R., et al.: Short- and long-term changes in joint co-contraction associated with motor learning as revealed from surface EMG. J. Neurophysiol. 88(2), 991\u20131004 (2002). https:\/\/doi.org\/10.1152\/jn.2002.88.2.991","journal-title":"J. Neurophysiol."},{"issue":"3","key":"321_CR17","doi-asserted-by":"publisher","first-page":"312","DOI":"10.1007\/s002210100880","volume":"141","author":"EJ Perreault","year":"2001","unstructured":"Perreault, E.J., Kirsch, R.F., Crago, P.E.: Effects of voluntary force generation on the elastic components of endpoint stiffness. Exp. Brain Res. 141(3), 312\u2013323 (2001). https:\/\/doi.org\/10.1007\/s002210100880","journal-title":"Exp. Brain Res."},{"issue":"6","key":"321_CR18","doi-asserted-by":"publisher","first-page":"2808","DOI":"10.1152\/jn.2002.87.6.2808","volume":"87","author":"EJ Perreault","year":"2002","unstructured":"Perreault, E.J., Kirsch, R.F., Crago, P.E.: Voluntary control of static endpoint stiffness during force regulation tasks. J. Neurophysiol. 87(6), 2808\u20132816 (2002). https:\/\/doi.org\/10.1152\/jn.2002.87.6.2808","journal-title":"J. Neurophysiol."},{"issue":"4","key":"321_CR19","doi-asserted-by":"publisher","first-page":"507","DOI":"10.1007\/s00221-004-1864-7","volume":"157","author":"EJ Perreault","year":"2004","unstructured":"Perreault, E.J., Kirsch, R.F., Crago, P.E.: Multijoint dynamics and postural stability of the human arm. Exp. Brain Res. 157(4), 507\u2013517 (2004). https:\/\/doi.org\/10.1007\/s00221-004-1864-7","journal-title":"Exp. Brain Res."},{"issue":"6","key":"321_CR20","doi-asserted-by":"publisher","first-page":"475","DOI":"10.1007\/BF00199890","volume":"72","author":"T Tsuji","year":"1995","unstructured":"Tsuji, T., Morasso, P.G., Goto, K., Ito, K.: Human hand impedance characteristics during maintained posture. Biol. Cybern. 72(6), 475\u2013485 (1995). https:\/\/doi.org\/10.1007\/BF00199890","journal-title":"Biol. Cybern."},{"doi-asserted-by":"publisher","unstructured":"D. S. Walker, J. K. Salisbury, and G. Niemeyer, \u201cDemonstrating the benefits of variable impedance to telerobotic task execution,\u201d in 2011 IEEE International Conference on Robotics and Automation, 2011, pp. 1348\u20131353. doi: https:\/\/doi.org\/10.1109\/ICRA.2011.5980328.","key":"321_CR21","DOI":"10.1109\/ICRA.2011.5980328"},{"issue":"5","key":"321_CR22","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. Rob. 27(5), 918\u2013930 (2011). https:\/\/doi.org\/10.1109\/TRO.2011.2158251","journal-title":"IEEE Trans. Rob."}],"container-title":["International Journal of Intelligent Robotics and Applications"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s41315-024-00321-6.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s41315-024-00321-6\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s41315-024-00321-6.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,9,9]],"date-time":"2024-09-09T02:27:34Z","timestamp":1725848854000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s41315-024-00321-6"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2024,2,27]]},"references-count":22,"journal-issue":{"issue":"3","published-print":{"date-parts":[[2024,9]]}},"alternative-id":["321"],"URL":"https:\/\/doi.org\/10.1007\/s41315-024-00321-6","relation":{},"ISSN":["2366-5971","2366-598X"],"issn-type":[{"type":"print","value":"2366-5971"},{"type":"electronic","value":"2366-598X"}],"subject":[],"published":{"date-parts":[[2024,2,27]]},"assertion":[{"value":"28 September 2023","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"6 January 2024","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"27 February 2024","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"Not applicable.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Institutional review board statement"}},{"value":"Informed consent was obtained from all subjects involved in the study.","order":3,"name":"Ethics","group":{"name":"EthicsHeading","label":"Informed consent"}},{"value":"The authors declare no conflict of interest.","order":4,"name":"Ethics","group":{"name":"EthicsHeading","label":"Conflicts of interest"}}]}}