# An Improved Bouc–Wen Model Based on Equitorque Discretization for a Load-Dependent Nonlinear Stiffness Actuator

> Research article (IEEE Transactions on Automation Science and Engineering, 2020) · cited 10× · AI/ML

**Wikidata**: [openalex:W3032811699](https://www.wikidata.org/wiki/openalex:W3032811699)  
**Source**: https://4ort.xyz/entity/an-improved-boucwen-model-based-on-equitorque-discretization-for-a-load-dependent-nonlinear-stiffness-actuator