{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,13]],"date-time":"2026-02-13T16:52:48Z","timestamp":1771001568260,"version":"3.50.1"},"reference-count":24,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"4","license":[{"start":{"date-parts":[[2017,8,1]],"date-time":"2017-08-01T00:00:00Z","timestamp":1501545600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"}],"funder":[{"DOI":"10.13039\/501100007040","name":"SUTD-MIT International Design Center","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100007040","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Energy-Efficient Compliant Actuator Designs","award":["IDG31400108"],"award-info":[{"award-number":["IDG31400108"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Trans. Robot."],"published-print":{"date-parts":[[2017,8]]},"DOI":"10.1109\/tro.2017.2689068","type":"journal-article","created":{"date-parts":[[2017,5,16]],"date-time":"2017-05-16T18:33:43Z","timestamp":1494959623000},"page":"1002-1010","source":"Crossref","is-referenced-by-count":40,"title":["Criterion for the Design of Low-Power Variable Stiffness Mechanisms"],"prefix":"10.1109","volume":"33","author":[{"given":"Vincent","family":"Chalvet","sequence":"first","affiliation":[]},{"given":"David J.","family":"Braun","sequence":"additional","affiliation":[]}],"member":"263","reference":[{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1115\/1.2429699"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2008.4543452"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2010.2100450"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2008.915453"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1038\/nature14288"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2010.5509127"},{"key":"ref16","first-page":"1145","article-title":"Design and control of a variable stiffness actuator based on adjustable moment arm","volume":"28","author":"kim","year":"2012","journal-title":"IEEE Trans Robot"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2011.2177098"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1177\/0278364908095333"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2011.2150430"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2010.2052398"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2004.1310939"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2013.2271099"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2011.VII.004"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1995.525630"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1991.131824"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.1995.525827"},{"key":"ref1","first-page":"81","article-title":"Compliant actuator designs","volume":"16","author":"van ham","year":"2009","journal-title":"IEEE Robot Autom Mag"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1016\/S0094-114X(97)00103-1"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2007.03.001"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.1984.1103644"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2016.7487188"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2016.7487194"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1016\/S0094-114X(97)00103-1"}],"container-title":["IEEE Transactions on Robotics"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/8860\/8002734\/07929334.pdf?arnumber=7929334","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,1,12]],"date-time":"2022-01-12T17:01:18Z","timestamp":1642006878000},"score":1,"resource":{"primary":{"URL":"http:\/\/ieeexplore.ieee.org\/document\/7929334\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2017,8]]},"references-count":24,"journal-issue":{"issue":"4"},"URL":"https:\/\/doi.org\/10.1109\/tro.2017.2689068","relation":{},"ISSN":["1552-3098","1941-0468"],"issn-type":[{"value":"1552-3098","type":"print"},{"value":"1941-0468","type":"electronic"}],"subject":[],"published":{"date-parts":[[2017,8]]}}}