{"id":"W2114776014","doi":"10.1109/iros.2008.4651039","title":"Admittance control of a human centered 3 DOF robotic arm using Differential Elastic Actuators","year":2008,"lang":"en","type":"article","venue":"","topic":"Prosthetics and Rehabilitation Robotics","field":"Engineering","cited_by":5,"is_retracted":false,"has_abstract":true,"ca_institutions":"Université de Sherbrooke","funders":"","keywords":"Actuator; Torsion spring; Mechanical impedance; Torque; Control theory (sociology); Stiffness; Spring (device); Harmonic drive; Electrical impedance; Robotic arm; Mechanical system; DC motor; Admittance; Computer science; Engineering; Physics; Electrical engineering; Mechanical engineering; Structural engineering; Artificial intelligence","routes":{"ca_aff":true,"ca_fund":false,"ca_venue":false,"about_ca":false,"invisible_to_affiliation_only":false},"retraction":null,"screen":null,"direct_labels":[],"prediction":{"model_version":"metacan-v3-hybrid-931329e0061c","candidate_categories":[],"consensus_categories":[],"category_scores_codex":[0.0001896796,0.0003370219,0.0001241212,0.0001225497,0.0002109782,0.0002768729,0.0004233152,0.0002117608,0.002270621],"category_scores_gemma":[0.0002652002,0.0001091993,0.000137884,0.00006242095,0.000326325,0.0001863053,0.0004166994,0.0001495294,0.0002355251],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.0001749511,"about_ca_system_score_gemma":0.0001379871,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.001217817,"about_ca_topic_score_gemma":0.001935422,"domain_scores_codex":[0.9999051,0.00001381526,0.000005088392,0.00002199631,0.00004282497,0.00001115162],"domain_scores_gemma":[0.9999222,0.00002165322,0.00001803224,0.000009239889,0.00001683674,0.00001213858],"domain_codex":null,"domain_gemma":null,"domain_candidate":null,"domain_consensus":null,"study_design_codex":"bench_or_experimental","study_design_gemma":"not_applicable","study_design_scores_codex":[0.0006096137,0.0001904787,0.001105753,0.0002748366,0.00004646062,0.002028428,0.0008452198,0.1182768,0.7025885,0.009517577,0.004167348,0.160349],"study_design_scores_gemma":[0.0001835215,0.001495273,0.005990301,0.00005153871,0.00004740992,0.0009774562,0.0001726108,0.9006593,0.07290009,0.004360401,0.01309574,0.00006633043],"study_design_candidate":"not_applicable","study_design_consensus":null,"genre_codex":"methods","genre_gemma":"methods","genre_scores_codex":[0.2566088,0.0002221135,0.7179606,0.0002461276,0.0001550098,0.0001154004,0.00007026993,0.001372339,0.0232493],"genre_scores_gemma":[0.97755,0.00006471878,0.01701207,0.00004401853,0.0000178934,0.00004721914,0.00002211504,0.00001517546,0.005226669],"genre_candidate":"methods","genre_consensus":"methods","teacher_disagreement_score":0.002270621,"threshold_uncertainty_score":0.007595956,"prediction_status":"machine_predicted_unvalidated"},"machine_scores":{"provisional":true,"baseline":true,"maturity_gate_passed":false,"score_opus":0.01860137702570503,"score_gpt":0.2304970847807023,"score_spread":0.2118957077549973,"validation_status":"score_only:v0-immature-baseline","note":"Baseline scores from an immature model (maturity gate not passed). Scores rank; they never assert a category."}}