{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,25]],"date-time":"2026-04-25T18:29:17Z","timestamp":1777141757711,"version":"3.51.4"},"reference-count":65,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","license":[{"start":{"date-parts":[[2024,1,1]],"date-time":"2024-01-01T00:00:00Z","timestamp":1704067200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2024,1,1]],"date-time":"2024-01-01T00:00:00Z","timestamp":1704067200000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2024,1,1]],"date-time":"2024-01-01T00:00:00Z","timestamp":1704067200000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"name":"Helmholtz Association in the sustainability challenge iFOODis KA-HSC-06 iFOODis"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Trans. Robot."],"published-print":{"date-parts":[[2024]]},"DOI":"10.1109\/tro.2024.3422049","type":"journal-article","created":{"date-parts":[[2024,7,2]],"date-time":"2024-07-02T19:55:35Z","timestamp":1719950135000},"page":"3657-3675","source":"Crossref","is-referenced-by-count":2,"title":["Impact Robustness Versus Torque Bandwidth: A Design Guide for Differential Elastic Actuators"],"prefix":"10.1109","volume":"40","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-8825-6697","authenticated-orcid":false,"given":"Anton","family":"Shu","sequence":"first","affiliation":[{"name":"Robotic Systems Lab, ETH Zurich, Zurich, Switzerland"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1333-5910","authenticated-orcid":false,"given":"Clara","family":"Raschel","sequence":"additional","affiliation":[{"name":"Institute of Robotics and Mechatronics, German Aerospace Center (DLR), We&#x00DF;ling, Germany"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1532-963X","authenticated-orcid":false,"given":"Manuel","family":"Keppler","sequence":"additional","affiliation":[{"name":"Institute of Robotics and Mechatronics, German Aerospace Center (DLR), We&#x00DF;ling, Germany"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8641-0163","authenticated-orcid":false,"given":"Armin","family":"Wedler","sequence":"additional","affiliation":[{"name":"Institute of Robotics and Mechatronics, German Aerospace Center (DLR), We&#x00DF;ling, Germany"}]},{"ORCID":"https:\/\/orcid.org\/0009-0001-3418-574X","authenticated-orcid":false,"given":"Martin","family":"G\u00f6rner","sequence":"additional","affiliation":[{"name":"Institute of Robotics and Mechatronics, German Aerospace Center (DLR), We&#x00DF;ling, Germany"}]}],"member":"263","reference":[{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2011.5980371"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1142\/9789814374286_0059"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1002\/rob.21560"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2016.7758092"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1002\/rob.21702"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/AIM.1999.803231"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1989.100173"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.1995.525827"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2008.4543763"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2009.5152496"},{"key":"ref11","article-title":"High-performance series elastic actuation","author":"Paine","year":"2014"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.3390\/act9010006"},{"issue":"34","key":"ref13","first-page":"160","article-title":"Statischer ausgleich bei gelenkrobotern","volume":"4","author":"Baudisch","year":"1985","journal-title":"Feingertetechnik"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1163\/156855399X00135"},{"key":"ref15","first-page":"39","article-title":"High performance differential elastic actuator for robotic interaction tasks","volume-title":"Proc. AAAI Spring Symp.: Multidisciplinary Collaboration Socially Assistive Robot.","author":"Lauria","year":"2007"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/IECON.2016.7793816"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2018.8593872"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/ICORR.2019.8779492"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2021.3139195"},{"key":"ref20","article-title":"StarlETH & Co.: Design and control of legged robots with compliant actuation","author":"Hutter"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/HUMANOIDS.2015.7363567"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2009.03.004"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2012.6386084"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1109\/BioRob.2012.6290722"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.3390\/act8030067"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.2983386"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2022.3220527"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2016.2604496"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2017.2726141"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1016\/S0094-114X(97)00103-1"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2005.1570172"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2008.4543528"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2014.2321428"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2011.5979994"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-011-9230-7"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2012.6224868"},{"key":"ref37","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2016.7759104"},{"key":"ref38","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2008.4543452"},{"key":"ref39","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2010.5509662"},{"key":"ref40","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574716000357"},{"key":"ref41","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3117245"},{"key":"ref42","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2022.3197088"},{"key":"ref43","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2017.7989145"},{"key":"ref44","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2021.3138388"},{"key":"ref45","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA46639.2022.9811727"},{"key":"ref46","doi-asserted-by":"publisher","DOI":"10.3390\/act6030026"},{"key":"ref47","doi-asserted-by":"crossref","DOI":"10.1007\/978-3-642-58725-2","volume-title":"Die Umlaufgetriebe","volume":"28","author":"Mller","year":"1998"},{"key":"ref48","doi-asserted-by":"publisher","DOI":"10.1109\/IECON.2019.8927520"},{"key":"ref49","doi-asserted-by":"publisher","DOI":"10.1017\/9781139050227"},{"key":"ref50","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-70939-0_20"},{"key":"ref51","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2022.3145967"},{"key":"ref52","article-title":"Harmonic drive gears","year":"2022"},{"key":"ref53","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2016.2640183"},{"key":"ref54","doi-asserted-by":"publisher","DOI":"10.1109\/IROS45743.2020.9341217"},{"key":"ref55","doi-asserted-by":"publisher","DOI":"10.1109\/IROS45743.2020.9340700"},{"key":"ref56","doi-asserted-by":"publisher","DOI":"10.2514\/6.1996-3362"},{"key":"ref57","doi-asserted-by":"publisher","DOI":"10.2307\/2310304"},{"key":"ref58","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2008.4651049"},{"key":"ref59","doi-asserted-by":"publisher","DOI":"10.1109\/iros.2018.8593415"},{"key":"ref60","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2016.7487239"},{"key":"ref61","doi-asserted-by":"publisher","DOI":"10.1177\/0278364907073776"},{"key":"ref62","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2013.6697139"},{"key":"ref63","doi-asserted-by":"publisher","DOI":"10.1109\/70.326571"},{"key":"ref64","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2005.1545208"},{"key":"ref65","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574714000137"}],"container-title":["IEEE Transactions on Robotics"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx8\/8860\/10365208\/10582442.pdf?arnumber=10582442","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,11,27]],"date-time":"2024-11-27T00:30:21Z","timestamp":1732667421000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/10582442\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2024]]},"references-count":65,"URL":"https:\/\/doi.org\/10.1109\/tro.2024.3422049","relation":{},"ISSN":["1552-3098","1941-0468"],"issn-type":[{"value":"1552-3098","type":"print"},{"value":"1941-0468","type":"electronic"}],"subject":[],"published":{"date-parts":[[2024]]}}}