{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2024,6,6]],"date-time":"2024-06-06T22:39:41Z","timestamp":1717713581624},"reference-count":17,"publisher":"Cambridge University Press (CUP)","issue":"8","license":[{"start":{"date-parts":[[2013,6,7]],"date-time":"2013-06-07T00:00:00Z","timestamp":1370563200000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2013,12]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>Series elastic actuators have beneficial properties for some robot applications. Several recent implementations contain alternative placements of the compliant element to improve instrumentation design. We use a class 1 versus class 2 lever model and energy-port methods to demonstrate in this paper that these alternative placements should still be classified as series elastic actuators. We also note that the compliance of proximal series elastic actuators is reflected by an augmented gear ratio dependent on the nominal gear ratio, which is significant for small gear ratios and approaches unity for large gear ratios. This reflected compliance is shown to differ depending on the sign of the gear ratio. We demonstrate that although the reflected compliance is only marginally influenced by the magnitude of the gear ratio, there are several notable differences, particularly for small gear ratios.<\/jats:p>","DOI":"10.1017\/s0263574713000532","type":"journal-article","created":{"date-parts":[[2013,6,7]],"date-time":"2013-06-07T07:13:05Z","timestamp":1370589185000},"page":"1313-1318","source":"Crossref","is-referenced-by-count":12,"title":["Effect of compliance location in series elastic actuators"],"prefix":"10.1017","volume":"31","author":[{"given":"Jonathon W.","family":"Sensinger","sequence":"first","affiliation":[]},{"given":"Lawrence E.","family":"Burkart","sequence":"additional","affiliation":[]},{"given":"Gill A.","family":"Pratt","sequence":"additional","affiliation":[]},{"given":"Richard F. ff.","family":"Weir","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2013,6,7]]},"reference":[{"key":"S0263574713000532_ref12","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2008.927692"},{"key":"S0263574713000532_ref2","first-page":"399","volume-title":"Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Pratt","year":"1995"},{"key":"S0263574713000532_ref1","first-page":"253","volume-title":"Proceedings of the 4th International Symposium on Experimental Robotics","author":"Pratt","year":"1995"},{"key":"S0263574713000532_ref16","doi-asserted-by":"crossref","first-page":"108","DOI":"10.1109\/TMECH.2009.2019639","article-title":"A serial-type dual actuator unit with planetary gear train: basic design and applications","volume":"15","author":"Kim","year":"2010","journal-title":"IEEE-ASME Trans. 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Mag."},{"key":"S0263574713000532_ref4","first-page":"160","volume-title":"Proceedings of the IEEE\/ASME International Conference on Mechatronic and Embedded Systems and Applications","author":"Sensinger","year":"2006"},{"key":"S0263574713000532_ref5","doi-asserted-by":"publisher","DOI":"10.1115\/1.3427095"},{"key":"S0263574713000532_ref7","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2006.02.013"},{"key":"S0263574713000532_ref15","first-page":"4189","volume-title":"IEEE International Conference on Robotics and Automation (ICRA)","author":"Petit","year":"2010"},{"key":"S0263574713000532_ref10","doi-asserted-by":"publisher","DOI":"10.1115\/1.4001139"},{"key":"S0263574713000532_ref14","first-page":"3606","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation","author":"Laura","year":"2008"},{"key":"S0263574713000532_ref17","doi-asserted-by":"publisher","DOI":"10.1109\/TNSRE.2008.918388"},{"key":"S0263574713000532_ref9","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2008.2008747"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574713000532","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,4,22]],"date-time":"2019-04-22T22:53:55Z","timestamp":1555973635000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574713000532\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2013,6,7]]},"references-count":17,"journal-issue":{"issue":"8","published-print":{"date-parts":[[2013,12]]}},"alternative-id":["S0263574713000532"],"URL":"https:\/\/doi.org\/10.1017\/s0263574713000532","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2013,6,7]]}}}