{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,6]],"date-time":"2026-01-06T01:40:20Z","timestamp":1767663620729,"version":"3.48.0"},"reference-count":80,"publisher":"SAGE Publications","issue":"4","license":[{"start":{"date-parts":[[2000,4,1]],"date-time":"2000-04-01T00:00:00Z","timestamp":954547200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2000,4]]},"abstract":"<jats:p>We would like to give robots the ability to secure human safety in human-robot                 collisions capable of arising in our living and working environments. However,                 unfortunately, not much attention has been paid to the technologies of human robot                 symbiosis to date because almost all robots have been designed and constructed on                 the assumption that the robots are physically separated from humans. A robot with a                 new concept will be required to deal with human-robot contact. In this article, we                 propose a passively movable human-friendly robot that consists of an elastic                 material-covered manipulator, passive compliant trunk, and passively movable base.                 The compliant trunk is equipped with springs and dampers, and the passively movable                 base is constrained by friction developed between the contact surface of the base                 and the ground. During unexpected collisions, the trunk and base passively move in                 response to the produced collision force. We describe the validity of the movable                 base and compliant trunk for collision force suppression, and it is demonstrated in                 several collision situations.<\/jats:p>","DOI":"10.1177\/02783640022066888","type":"journal-article","created":{"date-parts":[[2003,7,19]],"date-time":"2003-07-19T02:59:46Z","timestamp":1058583586000},"page":"307-335","source":"Crossref","is-referenced-by-count":56,"title":["Human Safety Mechanisms of Human-Friendly Robots: Passive Viscoelastic Trunk                 and Passively Movable Base"],"prefix":"10.1177","volume":"19","author":[{"given":"Hun-Ok","family":"Lim","sequence":"first","affiliation":[{"name":"Department of Mechanical Engineering School of Science and Engineering,                         Waseda University 3-4-1 Okubo, Shinjuku, Tokyo, 169-8555 Japan"}]},{"given":"Kazuo","family":"Tanie","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering Laboratory, Agency of Industrial                         Science and Technology, Ministry of International Trade and Industry, 1-2                         Namiki, Tsukuba, 305 Japan"}]}],"member":"179","published-online":{"date-parts":[[2000,4]]},"reference":[{"key":"e_1_2_1_1_1","doi-asserted-by":"crossref","unstructured":"Akella P. 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