{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,20]],"date-time":"2026-05-20T05:35:29Z","timestamp":1779255329985,"version":"3.51.4"},"reference-count":31,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"2","license":[{"start":{"date-parts":[[2021,4,1]],"date-time":"2021-04-01T00:00:00Z","timestamp":1617235200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2021,4,1]],"date-time":"2021-04-01T00:00:00Z","timestamp":1617235200000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2021,4,1]],"date-time":"2021-04-01T00:00:00Z","timestamp":1617235200000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"DOI":"10.13039\/501100000266","name":"Engineering and Physical Sciences Research Council","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100000266","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100000265","name":"Medical Research Council","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100000265","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Confidence in Concept"},{"DOI":"10.13039\/501100017510","name":"UK Dementia Research Institute","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100017510","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Össur Inc"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Robot. Autom. Lett."],"published-print":{"date-parts":[[2021,4]]},"DOI":"10.1109\/lra.2021.3062355","type":"journal-article","created":{"date-parts":[[2021,3,1]],"date-time":"2021-03-01T21:35:07Z","timestamp":1614634507000},"page":"2563-2570","source":"Crossref","is-referenced-by-count":15,"title":["Stiffness Modulation in a Humanoid Robotic Leg and Knee"],"prefix":"10.1109","volume":"6","author":[{"given":"Felix","family":"Russell","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yukio","family":"Takeda","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Petar","family":"Kormushev","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ravi","family":"Vaidyanathan","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Peter","family":"Ellison","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"263","reference":[{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1109\/3516.653050"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1016\/0021-9290(95)00029-1"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1177\/02783640122067561"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1177\/0278364914527485"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.1984.1103644"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1989.100165"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/37.45790"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.5772\/10690"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2015.2511663"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2007.4399073"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1142\/9789814415958_0057"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/BIOROB.2018.8487734"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1152\/jappl.1998.85.3.1044"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1243\/EMED_JOUR_1981_010_055_02"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1016\/0043-1648(62)90062-5"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/HUMANOIDS.2014.7041490"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/BIOROB.2010.5627030"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1016\/j.jelekin.2010.03.011"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/JSYST.2014.2351491"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1177\/0278364904042193"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2004.1307425"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-018-9697-6"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2007.03.001"},{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1177\/0278364916648388"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2015.2450414"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2011.6048561"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1088\/1748-3190\/aad39d"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1108\/01439910310457706"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1109\/TBME.2020.2971855"},{"key":"ref26","first-page":"210","article-title":"The friction and deformation of polymers","volume":"235","author":"pascoe","year":"1956","journal-title":"Proc Roy Soc London Ser Math Phys Sci"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.3109\/17453679409155649"}],"container-title":["IEEE Robotics and Automation Letters"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/7083369\/9285111\/09366375.pdf?arnumber=9366375","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,5,10]],"date-time":"2022-05-10T14:54:24Z","timestamp":1652194464000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/9366375\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,4]]},"references-count":31,"journal-issue":{"issue":"2"},"URL":"https:\/\/doi.org\/10.1109\/lra.2021.3062355","relation":{},"ISSN":["2377-3766","2377-3774"],"issn-type":[{"value":"2377-3766","type":"electronic"},{"value":"2377-3774","type":"electronic"}],"subject":[],"published":{"date-parts":[[2021,4]]}}}