{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T18:33:25Z","timestamp":1777487605182,"version":"3.51.4"},"reference-count":35,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"2","license":[{"start":{"date-parts":[[2026,2,1]],"date-time":"2026-02-01T00:00:00Z","timestamp":1769904000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2026,2,1]],"date-time":"2026-02-01T00:00:00Z","timestamp":1769904000000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2026,2,1]],"date-time":"2026-02-01T00:00:00Z","timestamp":1769904000000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"name":"NIH","award":["5R01EB029765"],"award-info":[{"award-number":["5R01EB029765"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Trans. Biomed. Eng."],"published-print":{"date-parts":[[2026,2]]},"DOI":"10.1109\/tbme.2025.3586534","type":"journal-article","created":{"date-parts":[[2025,7,7]],"date-time":"2025-07-07T13:48:39Z","timestamp":1751896119000},"page":"510-517","source":"Crossref","is-referenced-by-count":1,"title":["An Active Spring Mass Model With Biomimetic Ground Reaction Forces for Multiple Terrains"],"prefix":"10.1109","volume":"73","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-2253-0462","authenticated-orcid":false,"given":"Saurav","family":"Kumar","sequence":"first","affiliation":[{"name":"Department of Electrical Engineering, Indian Institute of Technology, Jodhpur, Rajasthan, India"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3238-3299","authenticated-orcid":false,"given":"Hartmut","family":"Geyer","sequence":"additional","affiliation":[{"name":"Robotics Institute, Carnegie Mellon University, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"263","reference":[{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1109\/TBME.2009.2034734"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/TMRB.2021.3082206"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA46639.2022.9811835"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2019.2928514"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.3001541"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2022.3181253"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.3390\/s20216277"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1016\/j.jbiomech.2020.110074"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.3390\/s20010130"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1016\/j.jtbi.2011.09.021"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1098\/rsif.2014.0899"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1098\/rsif.2019.0027"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1016\/j.clinbiomech.2005.10.007"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1016\/0021-9290(89)90224-8"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1016\/0021-9290(90)90042-2"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1098\/rspb.2006.3637"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2017.7989559"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1115\/DETC2019-97601"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3061385"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1007\/3-540-32494-1_4"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1016\/S0966-6362(01)00162-X"},{"issue":"6","key":"ref22","first-page":"398","article-title":"Stair-climbing kinematics on stairs of differing dimensions","volume":"72","author":"Livingston","year":"1991","journal-title":"Arch. Phys. Med. Rehabil."},{"key":"ref23","volume-title":"Gait Analysis: Normal and Pathological Function","author":"Perry","year":"2010"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1134\/s1560354707050048"},{"issue":"3","key":"ref25","article-title":"Stride-to-stride energy regulation for robust self-stability of a torque-actuated dissipative spring-mass hopper","volume-title":"Chaos, Interdiscipl. J. Nonlinear Sci.","volume":"20","author":"Ankarali","year":"2010"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1115\/DETC2012-70711"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1109\/MEX.1986.4307016"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1109\/TNSRE.2010.2047592"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1115\/1.3423596"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1016\/S0021-9290(05)80008-9"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1007\/s00422-003-0414-x"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1098\/rspb.2003.2454"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1016\/j.jbiomech.2005.05.005"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3066833"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.15607\/rss.2021.xvii.061"}],"container-title":["IEEE Transactions on Biomedical Engineering"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx8\/10\/11360101\/11072291.pdf?arnumber=11072291","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,1,22]],"date-time":"2026-01-22T21:00:39Z","timestamp":1769115639000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/11072291\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026,2]]},"references-count":35,"journal-issue":{"issue":"2"},"URL":"https:\/\/doi.org\/10.1109\/tbme.2025.3586534","relation":{},"ISSN":["0018-9294","1558-2531"],"issn-type":[{"value":"0018-9294","type":"print"},{"value":"1558-2531","type":"electronic"}],"subject":[],"published":{"date-parts":[[2026,2]]}}}