{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,4]],"date-time":"2026-07-04T11:15:18Z","timestamp":1783163718063,"version":"3.54.6"},"reference-count":31,"publisher":"Elsevier BV","license":[{"start":{"date-parts":[[2026,8,1]],"date-time":"2026-08-01T00:00:00Z","timestamp":1785542400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.elsevier.com\/tdm\/userlicense\/1.0\/"},{"start":{"date-parts":[[2026,8,1]],"date-time":"2026-08-01T00:00:00Z","timestamp":1785542400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.elsevier.com\/legal\/tdmrep-license"},{"start":{"date-parts":[[2026,8,1]],"date-time":"2026-08-01T00:00:00Z","timestamp":1785542400000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-017"},{"start":{"date-parts":[[2026,8,1]],"date-time":"2026-08-01T00:00:00Z","timestamp":1785542400000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"},{"start":{"date-parts":[[2026,8,1]],"date-time":"2026-08-01T00:00:00Z","timestamp":1785542400000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-012"},{"start":{"date-parts":[[2026,8,1]],"date-time":"2026-08-01T00:00:00Z","timestamp":1785542400000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2026,8,1]],"date-time":"2026-08-01T00:00:00Z","timestamp":1785542400000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-004"}],"funder":[{"DOI":"10.13039\/501100019054","name":"Changsha Science and Technology Project","doi-asserted-by":"publisher","award":["2024AA26001"],"award-info":[{"award-number":["2024AA26001"]}],"id":[{"id":"10.13039\/501100019054","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["2020RC3035"],"award-info":[{"award-number":["2020RC3035"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["elsevier.com","sciencedirect.com"],"crossmark-restriction":true},"short-container-title":["Robotics and Autonomous Systems"],"published-print":{"date-parts":[[2026,8]]},"DOI":"10.1016\/j.robot.2026.105489","type":"journal-article","created":{"date-parts":[[2026,4,20]],"date-time":"2026-04-20T23:09:25Z","timestamp":1776726565000},"page":"105489","update-policy":"https:\/\/doi.org\/10.1016\/elsevier_cm_policy","source":"Crossref","is-referenced-by-count":0,"special_numbering":"C","title":["Discrete modeling and semi-active compliance control of parallel variable stiffness manipulator for robotic assembly"],"prefix":"10.1016","volume":"202","author":[{"given":"Du","family":"Xu","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Long","family":"Huang","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jinlai","family":"Zhang","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8562-3148","authenticated-orcid":false,"given":"Lairong","family":"Yin","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yuebing","family":"Wen","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"78","reference":[{"key":"10.1016\/j.robot.2026.105489_bib0001","doi-asserted-by":"crossref","first-page":"1969","DOI":"10.1007\/s00170-023-12792-1","article-title":"Self-calibration method for installation angle of three-dimensional force sensor in active compliance assembly system","volume":"130","author":"Chu","year":"2024","journal-title":"Int. J. Adv. Manuf. Technol."},{"key":"10.1016\/j.robot.2026.105489_bib0002","doi-asserted-by":"crossref","first-page":"452","DOI":"10.1016\/j.jmsy.2021.01.004","article-title":"Cyber-physical assembly system-based optimization for robotic assembly sequence planning","volume":"58","author":"Ying","year":"2021","journal-title":"J. Manuf. Syst."},{"key":"10.1016\/j.robot.2026.105489_bib0003","doi-asserted-by":"crossref","first-page":"638","DOI":"10.1108\/AA-01-2022-0010","article-title":"Inventive redesign for automatic assembly in the household appliances industry","volume":"42","author":"Bianchini","year":"2022","journal-title":"Assem. Autom."},{"key":"10.1016\/j.robot.2026.105489_bib0004","article-title":"Hybrid compliant control with variable-stiffness wrist for assembly and grinding application","volume":"180","author":"Xu","year":"2024","journal-title":"Rob Aut. Syst."},{"key":"10.1016\/j.robot.2026.105489_bib0005","doi-asserted-by":"crossref","DOI":"10.1016\/j.ymssp.2025.112315","article-title":"A polymer-based compliant force\/torque and displacement sensor with creep compensation","volume":"226","author":"Choi","year":"2025","journal-title":"Mech. Syst. Signal. Process."},{"key":"10.1016\/j.robot.2026.105489_bib0006","doi-asserted-by":"crossref","DOI":"10.1016\/j.rcim.2023.102678","article-title":"Assembly of low-stiffness parts through admittance control with adaptive stiffness","volume":"86","author":"Yoon","year":"2024","journal-title":"Robot. Comput. Integr. Manuf."},{"key":"10.1016\/j.robot.2026.105489_bib0007","doi-asserted-by":"crossref","first-page":"83","DOI":"10.1016\/j.eng.2022.08.022","article-title":"Human-robot collaboration framework based on impedance control in robotic assembly","volume":"30","author":"Zhao","year":"2023","journal-title":"Engineering"},{"key":"10.1016\/j.robot.2026.105489_bib0008","doi-asserted-by":"crossref","DOI":"10.1016\/j.measurement.2024.114888","article-title":"A centroid measurement method of large components for active compliant assembly","volume":"234","author":"Chu","year":"2024","journal-title":"Measurement"},{"key":"10.1016\/j.robot.2026.105489_bib0009","doi-asserted-by":"crossref","DOI":"10.1007\/s10846-023-01970-8","article-title":"Reinforcement learning with stereo-view observation for robust electronic component robotic insertion","volume":"109","author":"Bartyzel","year":"2023","journal-title":"J. Intell. Robot. Syst."},{"key":"10.1016\/j.robot.2026.105489_bib0010","article-title":"Deep deterministic policy gradient with reward function based on fuzzy logic for robotic peg-in-hole assembly tasks","volume":"12","author":"Wang","year":"2022","journal-title":"Appl. Sci. Basel"},{"key":"10.1016\/j.robot.2026.105489_bib0011","article-title":"Space robot on-orbit operation of insertion and extraction impedance control based on adaptive neural network","volume":"10","author":"Liu","year":"2023","journal-title":"Aerospace"},{"key":"10.1016\/j.robot.2026.105489_bib0012","doi-asserted-by":"crossref","first-page":"8823","DOI":"10.1109\/LRA.2022.3187866","article-title":"Perturbation-based stiffness inference in variable impedance control","volume":"7","author":"Caldarelli","year":"2022","journal-title":"IEEE Robot. Autom. Lett."},{"key":"10.1016\/j.robot.2026.105489_bib0013","doi-asserted-by":"crossref","first-page":"873","DOI":"10.1080\/0951192X.2022.2027017","article-title":"An adaptive force and posture control strategy for automated wiring terminal assembly","volume":"35","author":"Li","year":"2022","journal-title":"Int. J. Comput. Integr. Manuf."},{"key":"10.1016\/j.robot.2026.105489_bib0014","doi-asserted-by":"crossref","first-page":"40","DOI":"10.1177\/00202940221090970","article-title":"Modelling and continuous stiffness control of robot with compliant wrist for misalignment shaft-hole assembly","volume":"57","author":"Xu","year":"2024","journal-title":"Meas. Control."},{"key":"10.1016\/j.robot.2026.105489_bib0015","article-title":"Position\/force visual-sensing-based robotic sheet-like peg-in-hole assembly","volume":"71","author":"Chen","year":"2022","journal-title":"IEEe Trans. Instrum. Meas."},{"key":"10.1016\/j.robot.2026.105489_bib0016","doi-asserted-by":"crossref","DOI":"10.1089\/soro.2023.0116","article-title":"Learning-based control for soft robot-environment interaction with force\/position tracking capability","author":"Tang","year":"2024","journal-title":"Soft. Robot."},{"key":"10.1016\/j.robot.2026.105489_bib0017","doi-asserted-by":"crossref","first-page":"544","DOI":"10.1016\/j.jmapro.2021.10.047","article-title":"Online performance optimization for complex robotic assembly processes","volume":"72","author":"Chen","year":"2021","journal-title":"J. Manuf. Process."},{"key":"10.1016\/j.robot.2026.105489_bib0018","series-title":"Development of a New Variable Remote Center Compliance Using Stiffness Adjusters","author":"Choi","year":"2001"},{"key":"10.1016\/j.robot.2026.105489_bib0019","doi-asserted-by":"crossref","first-page":"106","DOI":"10.1115\/1.2826840","article-title":"Design of an orthogonal compliance for polygonal peg insertion","volume":"118","author":"Sturges","year":"1996","journal-title":"Asme J. Mech. Des."},{"key":"10.1016\/j.robot.2026.105489_bib0020","unstructured":"W. Haskiya, H. Newlyn, M.R. Lawrence, M.B. Harris, M.A. Gayretli, M.A. Ahmed, robotic assembly: chamferless peg-hole assembly operation from xniz directions, (2019)."},{"key":"10.1016\/j.robot.2026.105489_bib0021","doi-asserted-by":"crossref","first-page":"1974","DOI":"10.1109\/TMECH.2019.2932772","article-title":"Robust insertion control for precision assembly with passive compliance combining vision and force information","volume":"24","author":"Liu","year":"2019","journal-title":"IEEE\/ASME Trans. Mechatron."},{"key":"10.1016\/j.robot.2026.105489_bib0022","doi-asserted-by":"crossref","first-page":"29","DOI":"10.1109\/TMECH.2023.3294510","article-title":"A novel compliance compensator capable of measuring six-axis force\/torque and displacement for a robotic assembly","volume":"29","author":"Choi","year":"2024","journal-title":"Ieee-Asme Trans. Mechatron."},{"key":"10.1016\/j.robot.2026.105489_bib0023","doi-asserted-by":"crossref","first-page":"167534","DOI":"10.1109\/ACCESS.2019.2954459","article-title":"A robotic peg-in-hole assembly strategy based on variable compliance center","volume":"7","author":"Wang","year":"2019","journal-title":"IEEe Access."},{"key":"10.1016\/j.robot.2026.105489_bib0024","doi-asserted-by":"crossref","DOI":"10.1016\/j.rcim.2024.102861","article-title":"Force\u2013vision fusion fuzzy control for robotic batch precision assembly of flexibly absorbed pegs","volume":"92","author":"Wang","year":"2025","journal-title":"Robot. Comput. Integr. Manuf."},{"key":"10.1016\/j.robot.2026.105489_bib0025","doi-asserted-by":"crossref","first-page":"606","DOI":"10.4028\/www.scientific.net\/AMM.86.606","article-title":"Optimum design of a 3-RRR planar parallel manipulator with a singularity-free workspace","volume":"86","author":"Gao","year":"2011","journal-title":"Appl. Mech. Mater."},{"key":"10.1016\/j.robot.2026.105489_bib0026","doi-asserted-by":"crossref","first-page":"191","DOI":"10.1109\/TRO.2015.2389415","article-title":"The principal axes decomposition of spatial stiffness matrices","volume":"31","author":"Chen","year":"2015","journal-title":"IEEe Trans. Robot."},{"key":"10.1016\/j.robot.2026.105489_bib0027","doi-asserted-by":"crossref","DOI":"10.1115\/1.4039223","article-title":"A general approach to the large deflection problems of spatial flexible rods using principal axes decomposition of compliance matrices","volume":"10","author":"Chen","year":"2018","journal-title":"J. Mech. Robot."},{"key":"10.1016\/j.robot.2026.105489_bib0028","first-page":"267","volume":"13","author":"Lardner","year":"1994"},{"key":"10.1016\/j.robot.2026.105489_bib0029","series-title":"Modern Robotics - Mechanics, Planning, and Control","author":"Lynch","year":"2017"},{"key":"10.1016\/j.robot.2026.105489_bib0030","doi-asserted-by":"crossref","unstructured":"G. Chen, H. Wang, Z. Lin, X.J.I.T.O.R. Lai, The principal axes decomposition of spatial stiffness matrices, 31 (2015) 191\u2013207.","DOI":"10.1109\/TRO.2015.2389415"},{"key":"10.1016\/j.robot.2026.105489_bib0031","doi-asserted-by":"crossref","first-page":"547","DOI":"10.1007\/s10589-019-00111-y","article-title":"Modified inexact Levenberg\u2013Marquardt methods for solving nonlinear least squares problems","volume":"74","author":"Bao","year":"2019","journal-title":"Comput. Optim. Appl."}],"container-title":["Robotics and Autonomous Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/api.elsevier.com\/content\/article\/PII:S0921889026001624?httpAccept=text\/xml","content-type":"text\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/api.elsevier.com\/content\/article\/PII:S0921889026001624?httpAccept=text\/plain","content-type":"text\/plain","content-version":"vor","intended-application":"text-mining"}],"deposited":{"date-parts":[[2026,7,4]],"date-time":"2026-07-04T10:17:20Z","timestamp":1783160240000},"score":1,"resource":{"primary":{"URL":"https:\/\/linkinghub.elsevier.com\/retrieve\/pii\/S0921889026001624"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026,8]]},"references-count":31,"alternative-id":["S0921889026001624"],"URL":"https:\/\/doi.org\/10.1016\/j.robot.2026.105489","relation":{},"ISSN":["0921-8890"],"issn-type":[{"value":"0921-8890","type":"print"}],"subject":[],"published":{"date-parts":[[2026,8]]},"assertion":[{"value":"Elsevier","name":"publisher","label":"This article is maintained by"},{"value":"Discrete modeling and semi-active compliance control of parallel variable stiffness manipulator for robotic assembly","name":"articletitle","label":"Article Title"},{"value":"Robotics and Autonomous Systems","name":"journaltitle","label":"Journal Title"},{"value":"https:\/\/doi.org\/10.1016\/j.robot.2026.105489","name":"articlelink","label":"CrossRef DOI link to publisher maintained version"},{"value":"article","name":"content_type","label":"Content Type"},{"value":"\u00a9 2026 Elsevier B.V. All rights are reserved, including those for text and data mining, AI training, and similar technologies.","name":"copyright","label":"Copyright"}],"article-number":"105489"}}