{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,18]],"date-time":"2026-04-18T15:58:59Z","timestamp":1776527939810,"version":"3.51.2"},"reference-count":45,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"1","license":[{"start":{"date-parts":[[2019,2,1]],"date-time":"2019-02-01T00:00:00Z","timestamp":1548979200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2019,2,1]],"date-time":"2019-02-01T00:00:00Z","timestamp":1548979200000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2019,2,1]],"date-time":"2019-02-01T00:00:00Z","timestamp":1548979200000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"DOI":"10.13039\/501100014356","name":"SUTD-MIT International Design Center","doi-asserted-by":"crossref","id":[{"id":"10.13039\/501100014356","id-type":"DOI","asserted-by":"crossref"}]},{"DOI":"10.13039\/501100007040","name":"Singapore University of Technology and Design","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":[[2019,2]]},"DOI":"10.1109\/tro.2018.2872284","type":"journal-article","created":{"date-parts":[[2018,10,15]],"date-time":"2018-10-15T18:30:12Z","timestamp":1539628212000},"page":"162-173","source":"Crossref","is-referenced-by-count":43,"title":["Positive\u2013Negative Stiffness Actuators"],"prefix":"10.1109","volume":"35","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-3672-3847","authenticated-orcid":false,"given":"David J.","family":"Braun","sequence":"first","affiliation":[]},{"given":"Vincent","family":"Chalvet","sequence":"additional","affiliation":[]},{"given":"Abhinav","family":"Dahiya","sequence":"additional","affiliation":[]}],"member":"263","reference":[{"key":"ref39","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2011.2177098"},{"key":"ref38","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2007.03.001"},{"key":"ref33","author":"rudin","year":"1976","journal-title":"Principles of Mathematical Analysis"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2012.2218615"},{"key":"ref31","doi-asserted-by":"crossref","first-page":"1145","DOI":"10.1109\/TRO.2012.2199649","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":"ref30","doi-asserted-by":"crossref","first-page":"229","DOI":"10.1109\/TRO.2010.2100450","article-title":"A robot joint with variable stiffness using leaf springs","volume":"27","author":"choi","year":"2011","journal-title":"IEEE Trans Robot"},{"key":"ref37","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmat.2013.10.009"},{"key":"ref36","author":"timoshenko","year":"1953","journal-title":"History of Strength of Materials with a brief account of the history of theory of elasticity and theory of structures"},{"key":"ref35","doi-asserted-by":"crossref","DOI":"10.1007\/978-1-4612-4574-2","author":"golubitsky","year":"1988","journal-title":"Singularities and Groups in Bifurcation Theory"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1002\/sapm1931101191"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1080\/00207178808906161"},{"key":"ref40","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2005.1570814"},{"key":"ref11","doi-asserted-by":"crossref","first-page":"44","DOI":"10.1117\/12.56823","article-title":"Negative-stiffness-mechanism vibration isolation systems","volume":"1619","author":"platus","year":"1991","journal-title":"Proc SPIE"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/84.846696"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2013.6697140"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1126\/sciadv.1500778"},{"key":"ref15","author":"timoshenko","year":"1961","journal-title":"Theory of Elastic Stability"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1103\/PhysRevE.95.012201"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2017.7989146"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2016.7487188"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2017.7989147"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2008.4543452"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2009.933629"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1115\/1.2429699"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.1995.525827"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2008.915453"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2011.2150430"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1177\/0278364908095333"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2010.2052398"},{"key":"ref7","doi-asserted-by":"crossref","first-page":"1085","DOI":"10.1109\/TRO.2013.2271099","article-title":"Robots driven by compliant actuators: Optimal control under actuation constraints","volume":"29","author":"braun","year":"2013","journal-title":"IEEE Trans Robot"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1115\/1.3140702"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.1984.1103644"},{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2004.1310939"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2017.2689068"},{"key":"ref45","doi-asserted-by":"publisher","DOI":"10.1016\/0025-5564(80)90070-X"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2015.7139301"},{"key":"ref21","first-page":"7742","year":"0","journal-title":"Proc IEEE Int Conf Robot Automat"},{"key":"ref42","author":"inman","year":"1981","journal-title":"Human Walking"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1995.525630"},{"key":"ref41","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2017.2719049"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1109\/AIM.2016.7576772"},{"key":"ref44","author":"winter","year":"1990","journal-title":"Biomechanics and Motor Control of Human Movement"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1016\/S0094-114X(97)00103-1"},{"key":"ref43","doi-asserted-by":"publisher","DOI":"10.1371\/journal.pone.0059993"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1163\/156855399X00135"}],"container-title":["IEEE Transactions on Robotics"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/8860\/8635005\/08492364.pdf?arnumber=8492364","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,7,13]],"date-time":"2022-07-13T20:45:20Z","timestamp":1657745120000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/8492364\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2019,2]]},"references-count":45,"journal-issue":{"issue":"1"},"URL":"https:\/\/doi.org\/10.1109\/tro.2018.2872284","relation":{},"ISSN":["1552-3098","1941-0468"],"issn-type":[{"value":"1552-3098","type":"print"},{"value":"1941-0468","type":"electronic"}],"subject":[],"published":{"date-parts":[[2019,2]]}}}