{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,9,19]],"date-time":"2025-09-19T11:24:28Z","timestamp":1758281068068,"version":"3.41.2"},"reference-count":29,"publisher":"Emerald","issue":"6","license":[{"start":{"date-parts":[[2014,10,20]],"date-time":"2014-10-20T00:00:00Z","timestamp":1413763200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2014,10,20]]},"abstract":"<jats:sec>\n               <jats:title content-type=\"abstract-heading\">Purpose<\/jats:title>\n               <jats:p> \u2013 The purpose of this study is to present a variable stiffness actuator, one of whose main features is that the compliant elements simultaneously allow measuring of the torque exerted by the joint. Conceived as a force-controlled actuator, this actuator with Adjustable Rigidity and Embedded Sensor (ARES) is intended to be implemented in the knee of the ATLAS exoskeleton for children to allow the exploitation of the intrinsic dynamic during the locomotion cycle. <\/jats:p>\n            <\/jats:sec>\n            <jats:sec>\n               <jats:title content-type=\"abstract-heading\">Design\/methodology\/approach<\/jats:title>\n               <jats:p> \u2013 A set of simulations were performed to evaluate the behavior of the actuator mechanism and a prototype of the variable impedance actuator was incorporated into the exoskeleton\u2019s knee and evaluations of the torque measurements capabilities along with the rigidity adjustments were made. <\/jats:p>\n            <\/jats:sec>\n            <jats:sec>\n               <jats:title content-type=\"abstract-heading\">Findings<\/jats:title>\n               <jats:p> \u2013 Mass and inertia of the actuator are minimized by the compact design and the utilization of the different component for more than one utility. By a proper match of the compliance of the joint and the performed task, good torque measurements can be achieved and no bandwidth saturation is expected. <\/jats:p>\n            <\/jats:sec>\n            <jats:sec>\n               <jats:title content-type=\"abstract-heading\">Originality\/value<\/jats:title>\n               <jats:p> \u2013 In the actuator, the compliant elements simultaneously allow measuring of the torque exerted by the join. By a proper match of the compliance of the joint and the performed task, good torque measurements can be achieved and no bandwidth saturation is expected.<\/jats:p>\n            <\/jats:sec>","DOI":"10.1108\/ir-06-2014-0350","type":"journal-article","created":{"date-parts":[[2014,10,31]],"date-time":"2014-10-31T09:14:11Z","timestamp":1414746851000},"page":"518-526","source":"Crossref","is-referenced-by-count":31,"title":["ARES, a variable stiffness actuator with embedded force sensor for the ATLAS exoskeleton"],"prefix":"10.1108","volume":"41","author":[{"given":"M.","family":"Cestari","sequence":"first","affiliation":[]},{"given":"D.","family":"Sanz-Merodio","sequence":"additional","affiliation":[]},{"given":"J.C.","family":"Arevalo","sequence":"additional","affiliation":[]},{"given":"E.","family":"Garcia","sequence":"additional","affiliation":[]}],"member":"140","reference":[{"key":"key2020122804330841200_b1","doi-asserted-by":"crossref","unstructured":"Albu-Schaffer, A.\n            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active orthosis\u201d, 13th Mechatronics Forum International Conference, Linz, Austria."},{"key":"key2020122804330841200_b4","doi-asserted-by":"crossref","unstructured":"Cherelle, P.\n               , \n                  Grosu, V.\n               , \n                  Beyl, P.\n               , \n                  Mathys, A.\n               , \n                  Van Ham, R.\n               , \n                  Van Damme, M.\n               , \n                  Vanderborght, B.\n                and \n                  Lefeber, D.\n                (2010), \u201cThe maccepa actuation system as torque actuator in the gait rehabilitation robot altacro\u201d, 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), Tokyo, Japan, pp. 27-32.","DOI":"10.1109\/BIOROB.2010.5627030"},{"key":"key2020122804330841200_b5","doi-asserted-by":"crossref","unstructured":"Eiberger, O.\n               , \n                  Haddadin, S.\n               , \n         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\n                  Ham, R.V.\n               , \n                  Visser, L.\n                and \n                  Wolf, S.\n                (2013), \u201cVariable impedance actuators: a review\u201d, \n                  Robotics and Autonomous Systems\n               , Vol. 61 No. 12, pp. 1601-1614, available at: www.sciencedirect.com\/science\/article\/pii\/S0921889013001188"},{"key":"key2020122804330841200_b25","doi-asserted-by":"crossref","unstructured":"Vanderborght, B.\n               , \n                  Tsagarakis, N.\n               , \n                  Semini, C.\n               , \n                  Van Ham, R.\n                and \n                  Caldwell, D.\n                (2009), \u201cMACCEPA 2.0: adjustable compliant actuator with stiffening characteristic for energy efficient hopping\u201d, ICRA 09, IEEE International Conference on Robotics and Automation, Kobe, Japan, pp. 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