{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,16]],"date-time":"2026-04-16T16:49:11Z","timestamp":1776358151144,"version":"3.51.2"},"reference-count":36,"publisher":"IEEE","license":[{"start":{"date-parts":[[2021,9,27]],"date-time":"2021-09-27T00:00:00Z","timestamp":1632700800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2021,9,27]],"date-time":"2021-09-27T00:00:00Z","timestamp":1632700800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2021,9,27]],"date-time":"2021-09-27T00:00:00Z","timestamp":1632700800000},"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":[[2021,9,27]]},"DOI":"10.1109\/iros51168.2021.9636249","type":"proceedings-article","created":{"date-parts":[[2021,12,16]],"date-time":"2021-12-16T20:45:38Z","timestamp":1639687538000},"page":"8225-8231","source":"Crossref","is-referenced-by-count":10,"title":["Parallel Variable Stiffness Actuators"],"prefix":"10.1109","author":[{"given":"Chase W.","family":"Mathews","sequence":"first","affiliation":[]},{"given":"David J.","family":"Braun","sequence":"additional","affiliation":[]}],"member":"263","reference":[{"key":"ref33","author":"budynas","year":"2015","journal-title":"Shigley’s Mechanical Engineering Design"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1177\/0278364908095333"},{"key":"ref31","first-page":"1","article-title":"Variable Stiffness Spring Actuators for Low Energy Cost Human Augmentation","author":"braun","year":"2016","journal-title":"IEEE Transactions on Robotics"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2012.6224868"},{"key":"ref36","first-page":"4","article-title":"Torque scaling laws for interior and exterior rotor permanent magnet machines","volume":"3","author":"reichert","year":"2009","journal-title":"IEEE International Magnetics Conference"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1109\/EMBC.2019.8857502"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2011.12.007"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2011.5980303"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2016.2640183"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/BioRob.2012.6290722"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2012.6224967"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2014.2376564"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2016.2604496"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1038\/nature14288"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/TNSRE.2018.2872889"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1186\/s12984-021-00893-5"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/TNSRE.2019.2899753"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2012.2218615"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2019.2897993"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2010.5648902"},{"key":"ref3","article-title":"Series elastic actuation: Potential and pitfalls","author":"hurst","year":"2004","journal-title":"International Conference on Climbing and Walking Robots"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/IEMBS.2011.6090583"},{"key":"ref29","first-page":"1655","article-title":"Hybrid dual actuator unit: A design of a variable stiffness actuator based on an adjustable moment arm mechanism","author":"kim","year":"2010","journal-title":"IEEE International Conference on Robotics and Automation"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/ICORR.2013.6650383"},{"key":"ref8","first-page":"79","article-title":"Control : Experiments on a Bipedal Exoskeleton","volume":"21","author":"ugurlu","year":"2016","journal-title":"IEEE\/ASME Transactions on Mechatronics"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2004.1302453"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.1995.525827"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/ICORR.2013.6650352"},{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2009.933629"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2017.2689068"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1016\/S0094-114X(97)00103-1"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1016\/S0094-114X(98)00026-3"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2018.8463186"},{"key":"ref23","article-title":"Adjustable stiffness Jack-Spring actuator","author":"sugar","year":"2012","journal-title":"U S Patent"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1103\/PhysRevLett.116.044102"},{"key":"ref25","doi-asserted-by":"crossref","first-page":"162","DOI":"10.1109\/TRO.2018.2872284","article-title":"Positive-Negative Stiffness Actuators","volume":"35","author":"braun","year":"2019","journal-title":"IEEE Transactions on Robotics"}],"event":{"name":"2021 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)","location":"Prague, Czech Republic","start":{"date-parts":[[2021,9,27]]},"end":{"date-parts":[[2021,10,1]]}},"container-title":["2021 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/9635848\/9635849\/09636249.pdf?arnumber=9636249","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,5,10]],"date-time":"2022-05-10T16:54:53Z","timestamp":1652201693000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/9636249\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,9,27]]},"references-count":36,"URL":"https:\/\/doi.org\/10.1109\/iros51168.2021.9636249","relation":{},"subject":[],"published":{"date-parts":[[2021,9,27]]}}}