{"entities":{"Q2426755":{"pageid":2437498,"ns":120,"title":"Item:Q2426755","lastrevid":50354759,"modified":"2026-01-13T21:25:17Z","type":"item","id":"Q2426755","labels":{"en":{"language":"en","value":"Improvement of balancing accuracy of robotic systems: Application to leg orthosis for rehabilitation devices"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 5274423"}},"aliases":{},"claims":{"P31":[{"mainsnak":{"snaktype":"value","property":"P31","hash":"fd5912e4dab4b881a8eb0eb27e7893fef55176ad","datavalue":{"value":{"entity-type":"item","numeric-id":56887,"id":"Q56887"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2426755$61A0B415-CA92-4EE8-B3F2-A88552E97E57","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"44d3507ee4fc61072fd8d598808de27c4e7ee0c3","datavalue":{"value":{"text":"Improvement of balancing accuracy of robotic systems: Application to leg orthosis for rehabilitation devices","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q2426755$297DB51B-A96C-4F3E-8A08-E92ED04BE258","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"a59ccae18509069c02840275c12583594f9d7065","datavalue":{"value":"1160.70005","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2426755$F5388F32-2ACB-4AE6-B014-ED90FDF396E2","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"cc45e6b9322bed7360e4aac2a42f8c73614b44f3","datavalue":{"value":{"entity-type":"item","numeric-id":1787138,"id":"Q1787138"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2426755$CACECA02-1FA4-4CC3-ADA6-F573FBC186C1","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"b54abea66bedd9716daf14bcb7a3f7fc0416c247","datavalue":{"value":{"entity-type":"item","numeric-id":129633,"id":"Q129633"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2426755$A26CA6E0-9A8E-4765-9490-859C731E1BF2","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"197a22e98db84c6d9ea60e98af5a32c35ab992c8","datavalue":{"value":{"time":"+2008-05-14T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q2426755$66486F35-18FC-4AD8-8DD0-870EB8BECAA6","rank":"normal"}],"P1448":[{"mainsnak":{"snaktype":"value","property":"P1448","hash":"6ef7e576261e13de6be72174abc44470843e4271","datavalue":{"value":"For many schemes of gravity balancing, the introduction of weightless springs reduces the computational complexity, but is also a source of errors. Here the authors show how a relationship between the stiffness coefficient of the spring and its mass can be introduced into the balancing equation, the elastic force can be determined, and the mass of the spring can be taken into account. For zero-length springs, the stiffness coefficient is determined from a quadratic equation, for non-zero length springs from a cubic equation. In this way an exact balancing of gravitational forces can be achieved. Several numerical examples are presented, showing the improvements of the balancing accuracy of robotic systems when the non-zero mass of spring(s) is included in the calculation. A balancing scheme for a robotic rehabilitation device is discussed, which can support the weight of the leg during walking. The development of a prototype and an experimental verification are announced.","type":"string"},"datatype":"string"},"type":"statement","id":"Q2426755$EC61D315-C6DD-43D5-A57A-7CB569468FFF","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"c5408ffa34731028dac8aa7abec8a3b9626903f0","datavalue":{"value":"70E60","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2426755$94DAE9B6-C0AC-4A00-8952-E049B1D778BE","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"6cd2dee30926fa9b0dad415b46290fd2f62a0166","datavalue":{"value":"92C10","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2426755$8DAB915E-DF89-4652-8D7D-B855C222790F","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"6f9b72cdd4df2d4a20f49387a4e79ba54454daf2","datavalue":{"value":"5274423","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2426755$7FE1F071-C84D-4719-AF9B-97694572C658","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"d6a88e2a97aa721347d75ac959bd196ceb230a50","datavalue":{"value":"gravity balancing","type":"string"},"datatype":"string"},"type":"statement","id":"Q2426755$FB1283A8-2C77-4436-8F1E-0BB8500B95C1","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"77760d48d536941509570cdb6b3cf593929667b3","datavalue":{"value":"spring balancer","type":"string"},"datatype":"string"},"type":"statement","id":"Q2426755$7BF73C46-10B9-46AC-AF88-347EBD0B6635","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"a2c66b869a80956c29c0f585239a25d5f0b69f94","datavalue":{"value":"stiffness coefficient","type":"string"},"datatype":"string"},"type":"statement","id":"Q2426755$D08D6382-3643-4908-BA44-6960A2608262","rank":"normal"}],"P1447":[{"mainsnak":{"snaktype":"value","property":"P1447","hash":"72c4d3b0e840daca022ef9c5f7df8bb455d97f41","datavalue":{"value":{"entity-type":"item","numeric-id":588805,"id":"Q588805"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2426755$D453FF8D-9831-404E-9D7C-72516BAE1B78","rank":"normal"}],"P1460":[{"mainsnak":{"snaktype":"value","property":"P1460","hash":"57f7fea50d2ce1b39b695c4a1313582eed405e38","datavalue":{"value":{"entity-type":"item","numeric-id":5976449,"id":"Q5976449"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2426755$46F305F8-4F56-4224-B748-52FF91CFA547","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"824c701580bf2f5b7735b956d081b42436dcb370","datavalue":{"value":"https://doi.org/10.1016/j.mechmachtheory.2007.05.002","type":"string"},"datatype":"url"},"type":"statement","id":"Q2426755$A5FF23C7-F6FF-477C-ABAB-52FDF50D70C4","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"1966025d9decbeea21479d8a91fcc2f176995bf6","datavalue":{"value":"W2000050933","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2426755$06BF15A9-129C-47B6-8731-26075D2104E0","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"98af551e36a1c640f6410ba6c76d409f1f098d62","datavalue":{"value":{"entity-type":"item","numeric-id":1566589,"id":"Q1566589"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2426755$1258CB93-4829-4F98-BA68-37D44B18B2AC","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"b4396bfd2bfbd122160064d0dd8441d0eb691911","datavalue":{"value":{"entity-type":"item","numeric-id":557973,"id":"Q557973"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2426755$77B22AEE-A2D7-40B8-B68A-7DD7B049CC1E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"e4aa11ef49bfdc9c352bf6a1a27d54c77f7d9151","datavalue":{"value":{"entity-type":"item","numeric-id":1301185,"id":"Q1301185"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2426755$0A76BA18-4577-429E-8E2B-70A0C5ED804E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"06ca494cb45fad6ce97d94a4589ad1ce282488ad","datavalue":{"value":{"entity-type":"item","numeric-id":1765941,"id":"Q1765941"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2426755$7055A6AC-8183-4C67-857E-489C647F9721","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"21adc46d7ad4df1fe37c76adacd9c3955d69b713","datavalue":{"value":{"entity-type":"item","numeric-id":2581743,"id":"Q2581743"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2426755$F8B1C3C4-F6DF-4DB4-95EA-77579B606909","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"02c3eda77ed3e15e16f3dfbbee565faa55ac9e6d","datavalue":{"value":{"entity-type":"item","numeric-id":1401673,"id":"Q1401673"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2426755$52197A34-1DB9-4ABC-A8FF-B15590351274","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"485a149fb5bf35cf0b818296ee936892bab9b513","datavalue":{"value":"10.1016/J.MECHMACHTHEORY.2007.05.002","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2426755$0C0B2F46-FB1C-4FD9-8E84-42ADE749E378","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"5a5496dc939cdd8768f37fda6153ddaec667cfd1","datavalue":{"value":{"entity-type":"item","numeric-id":1401665,"id":"Q1401665"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"3a33b29b01026a320f48191616be60bbcc3cf2c9","datavalue":{"value":{"amount":"+0.745855987071991","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2426755$D97C9F19-072A-4706-AB00-701110D4AB87","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"7506433ef10f2f8f8684556caeb3cd28285c445b","datavalue":{"value":{"entity-type":"item","numeric-id":2122114,"id":"Q2122114"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"76af313bb870d98cd2d2099f31f878bbb58d2534","datavalue":{"value":{"amount":"+0.7275338172912598","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2426755$1BF14379-23F4-40B9-9EFE-F12254788FAE","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"a70dd213af5c3790dfcd266287af48c16d5af839","datavalue":{"value":{"entity-type":"item","numeric-id":1888620,"id":"Q1888620"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"2a11973cd0817bc631dd6bf03d9e38cd039aec1b","datavalue":{"value":{"amount":"+0.726305365562439","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2426755$7AFC279C-3F9F-49A8-AC09-CE426C2EB90A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"e5a06182bce9d9dd03a47ba089f0f6819a32b86e","datavalue":{"value":{"entity-type":"item","numeric-id":557973,"id":"Q557973"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"814aaf550ad1e773201166acd9f447c7b7550948","datavalue":{"value":{"amount":"+0.7243331074714661","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2426755$D4E03943-C686-4991-BE3C-464390DF4965","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"84ab061cf307ca6089114ca81e37ac90ff57411b","datavalue":{"value":{"entity-type":"item","numeric-id":1765941,"id":"Q1765941"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"d34d70efcc3a296756e6ab1e200c4ad3fed02e3c","datavalue":{"value":{"amount":"+0.702391505241394","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2426755$B80FA561-D12A-4619-BDA7-C27A79D90042","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:2426755","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Publication:2426755"}}}}}