Papers
17
Total Citations
279
H-Index
8
About
Stein Crispel is a mechanical engineer and robotics researcher whose work sits at the intersection of actuator design, robotic transmission systems, and human-centered robotics. His research focuses primarily on compact gearbox technologies, scaling laws for robotic mechanisms, and the development of next-generation actuators suited for wearable and collaborative robots. Crispel's most influential contribution, "Compact Gearboxes for Modern Robotics: A Review" (2020, 117 citations), has become an essential reference for engineers and researchers navigating the landscape of robotic transmission technologies, particularly Harmonic and Cycloid Drives. His 2021 introduction of a Wolfrom-based gearbox offers a promising alternative for high-torque-density applications, while his foundational work on scaling laws provides researchers with critical design tools for both transmissions and compliant elements. Notably, Crispel has expanded his scope beyond pure mechanics, surveying constant torque mechanisms and investigating backdrivability — a crucial property for safe human-robot interaction in prosthetics and exoskeletons. His R2poweR gearbox concept directly addresses real-world actuation challenges in human-robot collaboration. With over 250 cumulative citations, Crispel's work is shaping how engineers approach the demanding mechanical requirements of modern assistive and collaborative robotic systems.
Research Focus
Key Achievements
Top Papers
- 1Compact Gearboxes for Modern Robotics: A Review117 citations · 2020
- 2A Novel Wolfrom-Based Gearbox for Robotic Actuators34 citations · 2021
- 3Scaling laws for robotic transmissions28 citations · 2019
- 4Constant Torque Mechanisms: A Survey28 citations · 2022
- 5Factors influencing actuator’s backdrivability in human-centered robotics11 citations · 2022
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- 9A Series Elastic Dual-Motor Actuator Concept for Wearable Robotics7 citations · 2018
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