{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,16]],"date-time":"2026-01-16T03:46:26Z","timestamp":1768535186420,"version":"3.49.0"},"reference-count":22,"publisher":"IEEE","license":[{"start":{"date-parts":[[2021,5,30]],"date-time":"2021-05-30T00:00:00Z","timestamp":1622332800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2021,5,30]],"date-time":"2021-05-30T00:00:00Z","timestamp":1622332800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2021,5,30]]},"DOI":"10.1109\/icra48506.2021.9560966","type":"proceedings-article","created":{"date-parts":[[2021,10,20]],"date-time":"2021-10-20T00:28:35Z","timestamp":1634689715000},"page":"7052-7057","source":"Crossref","is-referenced-by-count":29,"title":["Design and Modeling of a Variable-Stiffness Spring Mechanism for Impedance Modulation in Physical Human\u2013Robot Interaction"],"prefix":"10.1109","author":[{"given":"Ronnapee","family":"Chaichaowarat","sequence":"first","affiliation":[{"name":"Massachusetts Institute of Technology,Department of Mechanical Engineering,Cambridge,MA,USA,02139"}]},{"given":"Satoshi","family":"Nishimura","sequence":"additional","affiliation":[{"name":"Massachusetts Institute of Technology,Department of Mechanical Engineering,Cambridge,MA,USA,02139"}]},{"given":"Hermano Igo","family":"Krebs","sequence":"additional","affiliation":[{"name":"Massachusetts Institute of Technology,Department of Mechanical Engineering,Cambridge,MA,USA,02139"}]}],"member":"263","reference":[{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2011.2177098"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2013.2251894"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.3390\/act3020107"},{"key":"ref13","first-page":"4363","article-title":"A variable stiffness joint using leaf springs for robot manipulators","author":"choi","year":"0","journal-title":"Proc 2009 IEEE Int Conf Robotics and Automation"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/ICIEA.2016.7603689"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2019.2929686"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1115\/1.4028705"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/IECON.1993.339311"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.3390\/act8010012"},{"key":"ref19","author":"howell","year":"2001","journal-title":"Compliant Mechanisms"},{"key":"ref4","article-title":"A robot for gait rehabilitation","author":"roberts","year":"2004","journal-title":"MS Thesis"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/TNSRE.2007.903899"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1995.525630"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/TNSRE.2016.2533492"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.1995.525828"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2017.7989788"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/86.662623"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2011.2150430"},{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1109\/ROMAN.1992.253895"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/ROBIO.2017.8324503"},{"key":"ref22","first-page":"952","article-title":"A spring-embedded planetary-geared parallel elastic actuator","author":"chaichaowarat","year":"0","journal-title":"Proc 2020 IEEE\/ASME Int Conf Advanced Intelligent Mechatronics"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1115\/1.4023558"}],"event":{"name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","location":"Xi'an, China","start":{"date-parts":[[2021,5,30]]},"end":{"date-parts":[[2021,6,5]]}},"container-title":["2021 IEEE International Conference on Robotics and Automation (ICRA)"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/9560720\/9560666\/09560966.pdf?arnumber=9560966","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,8,2]],"date-time":"2022-08-02T23:20:58Z","timestamp":1659482458000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/9560966\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,5,30]]},"references-count":22,"URL":"https:\/\/doi.org\/10.1109\/icra48506.2021.9560966","relation":{},"subject":[],"published":{"date-parts":[[2021,5,30]]}}}