Design and Control of a Waist-Mounted Gyroscope-Based Stabilization System for Humanoid Robots

Design and Control of a Waist-Mounted Gyroscope-Based Stabilization System for Humanoid Robots | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Article Design and Control of a Waist-Mounted Gyroscope-Based Stabilization System for Humanoid Robots Endalk Abebe, Getnet Ayele, Nathnael Abebaw This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-8177547/v1 This work is licensed under a CC BY 4.0 License Status: Under Review Version 1 posted 12 You are reading this latest preprint version Abstract Maintaining dynamic balance and stability in humanoid robots remains a substantial challenge, especially when navigating complex, unstructured environments or experiencing external disturbances. This study introduces a novel waist-mounted stabilization system utilizing a mechanically actuated gyroscope to improve humanoid robot equilibrium during standing, walking, and running. The design incorporates a high-strength aluminum alloy (AL-7075-T6) for gimbals and a flywheel, driven by brushless DC motors. Engineered for a 76.4 kg humanoid robot with a height of 1.74 meters, the system achieves a gyroscopic coupling moment of 99.95 Nm at a disc speed of 350 rad/s, validated under a safety factor of 4.6. Dynamic equations were derived and linearized for control design across three axes (roll, pitch, yaw). MATLAB simulations confirmed enhanced stabilization using both pole placement and Linear Quadratic Regulator (LQR) control strategies. The LQR method yielded a rise time of 0.30 s, minimal overshoot of 0.69%, and complete stabilization within 3.5 s. This research advances the biomechanical design and control precision of humanoid robots in real-world environments. Physical sciences/Engineering Physical sciences/Materials science Humanoid Robot Gyroscopic Stabilization Balance Control LQR Controller Unstructured Environments Full Text Additional Declarations No competing interests reported. Cite Share Download PDF Status: Under Review Version 1 posted Editorial decision: Revision requested 17 Dec, 2025 Reviews received at journal 13 Dec, 2025 Reviews received at journal 12 Dec, 2025 Reviewers agreed at journal 09 Dec, 2025 Reviewers agreed at journal 07 Dec, 2025 Reviews received at journal 05 Dec, 2025 Reviewers agreed at journal 05 Dec, 2025 Reviewers invited by journal 05 Dec, 2025 Editor invited by journal 05 Dec, 2025 Editor assigned by journal 25 Nov, 2025 Submission checks completed at journal 25 Nov, 2025 First submitted to journal 21 Nov, 2025 You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. As a division of Research Square Company, we’re committed to making research communication faster, fairer, and more useful. We do this by developing innovative software and high quality services for the global research community. Our growing team is made up of researchers and industry professionals working together to solve the most critical problems facing scientific publishing. Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {"props":{"pageProps":{"initialData":{"identity":"rs-8177547","acceptedTermsAndConditions":true,"allowDirectSubmit":false,"archivedVersions":[],"articleType":"Article","associatedPublications":[],"authors":[{"id":556645329,"identity":"a2909f0a-dbf6-4231-b856-45cf23e9cffc","order_by":0,"name":"Endalk Abebe","email":"data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAZAAAAAyAQMAAABI0h/eAAAABlBMVEX///8AAABVwtN+AAAACXBIWXMAAA7EAAAOxAGVKw4bAAABGklEQVRIiWNgGAWjYDACCQY2EMXYwM7G+PhPRY0ciHfgAVFamNmYDXjOHDMGa0kgUgubBG8Lc2IDiItPC//s5mMPPlTcke1vZkuQkGxgS58fdvgh0BY7Od0GHJbcOZZuOOPMM+MZh9kOGBjukMndeDvNAKgl2djsAA5rbuSYSfO2HU5sOMzekJB4hi134+wEkJYDidtwaJG/kf9N+u+/w4nzgVoOHGxjTjecnf4BrxaDGzls0owNhxM3HGY72NjYxpwgL52D3xbDO8fMDXuOHTbeeJgtmZnhzDHDDdI5BQcSDHD7Re5287MHP2oOy8473mb+m6GiRl5+dvrmDx8q7ORweh/TqWCVBsQqBwH5BlJUj4JRMApGwUgAAHp3a52CXZHAAAAAAElFTkSuQmCC","orcid":"","institution":"Bahir Dar University","correspondingAuthor":true,"prefix":"","firstName":"Endalk","middleName":"","lastName":"Abebe","suffix":""},{"id":556645330,"identity":"79206644-e7d6-4ae7-87e7-c064525206ad","order_by":1,"name":"Getnet Ayele","email":"","orcid":"","institution":"Bahir Dar University","correspondingAuthor":false,"prefix":"","firstName":"Getnet","middleName":"","lastName":"Ayele","suffix":""},{"id":556645331,"identity":"c0e0c974-2026-4cc1-9414-ea100878e56d","order_by":2,"name":"Nathnael Abebaw","email":"","orcid":"","institution":"Bahir Dar University","correspondingAuthor":false,"prefix":"","firstName":"Nathnael","middleName":"","lastName":"Abebaw","suffix":""}],"badges":[],"createdAt":"2025-11-22 03:38:18","currentVersionCode":1,"declarations":"","doi":"10.21203/rs.3.rs-8177547/v1","doiUrl":"https://doi.org/10.21203/rs.3.rs-8177547/v1","draftVersion":[],"editorialEvents":[],"editorialNote":"","failedWorkflow":false,"files":[{"id":97783061,"identity":"686bbeda-76f5-49dc-b051-f56b24b4b04e","added_by":"auto","created_at":"2025-12-09 10:14:01","extension":"docx","order_by":0,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":1214520,"visible":true,"origin":"","legend":"","description":"","filename":"ManuscriptFinal.docx","url":"https://assets-eu.researchsquare.com/files/rs-8177547/v1/06a4dcc6b40b88d76b240086.docx"},{"id":97897549,"identity":"6ad6c3a6-83fa-4739-8694-24365aa6ae69","added_by":"auto","created_at":"2025-12-10 15:37:57","extension":"json","order_by":1,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":4966,"visible":true,"origin":"","legend":"","description":"","filename":"26a46a76f629425cab27b6d36f0c8616.json","url":"https://assets-eu.researchsquare.com/files/rs-8177547/v1/375817c34687ed4b49c799a9.json"},{"id":97897060,"identity":"9c8dd0bf-2b93-439b-a256-cb10bb1b6344","added_by":"auto","created_at":"2025-12-10 15:37:23","extension":"rar","order_by":2,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":10616176,"visible":true,"origin":"","legend":"","description":"","filename":"Manuscriptdocument.rar","url":"https://assets-eu.researchsquare.com/files/rs-8177547/v1/63b6ed1e747462e0874bafeb.rar"},{"id":97895639,"identity":"e29309d9-7b2e-45f4-b569-ee8f565dd06f","added_by":"auto","created_at":"2025-12-10 15:34:36","extension":"xml","order_by":3,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":115787,"visible":true,"origin":"","legend":"","description":"","filename":"26a46a76f629425cab27b6d36f0c86161enriched.xml","url":"https://assets-eu.researchsquare.com/files/rs-8177547/v1/5f5cc596e82f0fa8f5abd8f5.xml"},{"id":97783067,"identity":"1003df9b-d268-43a8-8dbe-e87c37170a0d","added_by":"auto","created_at":"2025-12-09 10:14:01","extension":"png","order_by":4,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":93684,"visible":true,"origin":"","legend":"","description":"","filename":"floatimage1.png","url":"https://assets-eu.researchsquare.com/files/rs-8177547/v1/6458be8aaa5b42138da06e2f.png"},{"id":97783063,"identity":"7518d02b-c9b1-46f3-bef7-eea08052c31c","added_by":"auto","created_at":"2025-12-09 10:14:01","extension":"png","order_by":5,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":88443,"visible":true,"origin":"","legend":"","description":"","filename":"floatimage10.png","url":"https://assets-eu.researchsquare.com/files/rs-8177547/v1/0ecfbaa244b7c46c6255bd4d.png"},{"id":97783065,"identity":"4bc740a9-b1df-45b5-a829-a2d3f47ce959","added_by":"auto","created_at":"2025-12-09 10:14:01","extension":"png","order_by":6,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":84885,"visible":true,"origin":"","legend":"","description":"","filename":"floatimage11.png","url":"https://assets-eu.researchsquare.com/files/rs-8177547/v1/983491e54916426f69ff8da3.png"},{"id":97898517,"identity":"27b8703a-8954-4dec-85ed-927de1647d0e","added_by":"auto","created_at":"2025-12-10 15:39:15","extension":"png","order_by":7,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":103518,"visible":true,"origin":"","legend":"","description":"","filename":"floatimage12.png","url":"https://assets-eu.researchsquare.com/files/rs-8177547/v1/3d32b0006f8c6b79330550fe.png"},{"id":97895997,"identity":"757464e3-c882-423f-bea2-6f05f2c016fa","added_by":"auto","created_at":"2025-12-10 15:35:33","extension":"png","order_by":8,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":45420,"visible":true,"origin":"","legend":"","description":"","filename":"floatimage2.png","url":"https://assets-eu.researchsquare.com/files/rs-8177547/v1/d3e98021c21b38546bd3c707.png"},{"id":97897583,"identity":"e93c355f-9eca-415d-8324-2203c497dae1","added_by":"auto","created_at":"2025-12-10 15:37:58","extension":"png","order_by":9,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":56564,"visible":true,"origin":"","legend":"","description":"","filename":"floatimage3.png","url":"https://assets-eu.researchsquare.com/files/rs-8177547/v1/cd3826fbb49bb4c6ffa7a974.png"},{"id":97783085,"identity":"e3359a78-fac1-4762-97bc-f625012c5226","added_by":"auto","created_at":"2025-12-09 10:14:01","extension":"png","order_by":10,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":188293,"visible":true,"origin":"","legend":"","description":"","filename":"floatimage4.png","url":"https://assets-eu.researchsquare.com/files/rs-8177547/v1/8a6ccd71407ba563847715e3.png"},{"id":97898497,"identity":"1393d4c4-fda7-4ad4-9d86-f03fcde9c423","added_by":"auto","created_at":"2025-12-10 15:39:13","extension":"png","order_by":11,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":129184,"visible":true,"origin":"","legend":"","description":"","filename":"floatimage5.png","url":"https://assets-eu.researchsquare.com/files/rs-8177547/v1/46d0ca06cf6af932d2df8b7b.png"},{"id":97897813,"identity":"d37a1806-9782-4bc6-88dc-2bc04141ad59","added_by":"auto","created_at":"2025-12-10 15:38:17","extension":"png","order_by":12,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":91413,"visible":true,"origin":"","legend":"","description":"","filename":"floatimage6.png","url":"https://assets-eu.researchsquare.com/files/rs-8177547/v1/13ef09cafe5e4104eab54c61.png"},{"id":97897593,"identity":"165994d9-71c6-4ad5-9584-2945fd21cf21","added_by":"auto","created_at":"2025-12-10 15:37:59","extension":"jpeg","order_by":13,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":70545,"visible":true,"origin":"","legend":"","description":"","filename":"floatimage7.jpeg","url":"https://assets-eu.researchsquare.com/files/rs-8177547/v1/bea2ea943d2be2bf54443b8a.jpeg"},{"id":97897707,"identity":"34927972-762e-4884-ba4d-9f33c9eb2518","added_by":"auto","created_at":"2025-12-10 15:38:06","extension":"png","order_by":14,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":76732,"visible":true,"origin":"","legend":"","description":"","filename":"floatimage8.png","url":"https://assets-eu.researchsquare.com/files/rs-8177547/v1/86f0060cd9c5a4f521e9dc0b.png"},{"id":97896832,"identity":"b02e97c6-7ef7-4aef-8910-886651661b92","added_by":"auto","created_at":"2025-12-10 15:37:06","extension":"png","order_by":15,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":98227,"visible":true,"origin":"","legend":"","description":"","filename":"floatimage9.png","url":"https://assets-eu.researchsquare.com/files/rs-8177547/v1/d2dff03f88eadb04d5a6e9e4.png"},{"id":97783069,"identity":"c4dbf43d-0737-4dd5-b200-05fc643f0036","added_by":"auto","created_at":"2025-12-09 10:14:01","extension":"png","order_by":16,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":13826,"visible":true,"origin":"","legend":"","description":"","filename":"Onlinefloatimage1.png","url":"https://assets-eu.researchsquare.com/files/rs-8177547/v1/73a968ea106071e63941ebfb.png"},{"id":97897620,"identity":"3e32dcd7-f6cd-4188-a9ba-71edca1d931e","added_by":"auto","created_at":"2025-12-10 15:38:00","extension":"png","order_by":17,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":11562,"visible":true,"origin":"","legend":"","description":"","filename":"Onlinefloatimage10.png","url":"https://assets-eu.researchsquare.com/files/rs-8177547/v1/36b631232826bf0f0e3ad73f.png"},{"id":97783070,"identity":"7e2af7c4-6d08-45c2-a700-cad075753c23","added_by":"auto","created_at":"2025-12-09 10:14:01","extension":"png","order_by":18,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":11730,"visible":true,"origin":"","legend":"","description":"","filename":"Onlinefloatimage11.png","url":"https://assets-eu.researchsquare.com/files/rs-8177547/v1/9efa7338bcf1d50e1cc4fe26.png"},{"id":97898144,"identity":"ba1abf83-dd87-4a80-b20c-6f1c5513afd2","added_by":"auto","created_at":"2025-12-10 15:38:42","extension":"png","order_by":19,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":19357,"visible":true,"origin":"","legend":"","description":"","filename":"Onlinefloatimage12.png","url":"https://assets-eu.researchsquare.com/files/rs-8177547/v1/43daa3cbc8747b7e35887795.png"},{"id":97897065,"identity":"ea00cec9-92a2-4d96-ab08-1b9bfe8521c2","added_by":"auto","created_at":"2025-12-10 15:37:23","extension":"png","order_by":20,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":9683,"visible":true,"origin":"","legend":"","description":"","filename":"Onlinefloatimage2.png","url":"https://assets-eu.researchsquare.com/files/rs-8177547/v1/e27d1480e7e14d0ada07f0bc.png"},{"id":97783084,"identity":"12029239-b1ce-43c3-8521-575e64f01b0f","added_by":"auto","created_at":"2025-12-09 10:14:01","extension":"png","order_by":21,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":18646,"visible":true,"origin":"","legend":"","description":"","filename":"Onlinefloatimage3.png","url":"https://assets-eu.researchsquare.com/files/rs-8177547/v1/16880f1dae9009e2863781f8.png"},{"id":97896830,"identity":"557ebe26-c43b-44d6-8261-bd1cf4da85f5","added_by":"auto","created_at":"2025-12-10 15:37:06","extension":"png","order_by":22,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":27692,"visible":true,"origin":"","legend":"","description":"","filename":"Onlinefloatimage4.png","url":"https://assets-eu.researchsquare.com/files/rs-8177547/v1/4b9cafe669b091149c4e8681.png"},{"id":97897745,"identity":"9707a8a4-e3e2-4e81-9ee2-788ddab66640","added_by":"auto","created_at":"2025-12-10 15:38:12","extension":"png","order_by":23,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":18668,"visible":true,"origin":"","legend":"","description":"","filename":"Onlinefloatimage5.png","url":"https://assets-eu.researchsquare.com/files/rs-8177547/v1/e919dcb991fb88d9aac68e40.png"},{"id":97783082,"identity":"9389ea1f-4383-42ec-94bd-d5bceffa84a4","added_by":"auto","created_at":"2025-12-09 10:14:01","extension":"png","order_by":24,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":11287,"visible":true,"origin":"","legend":"","description":"","filename":"Onlinefloatimage6.png","url":"https://assets-eu.researchsquare.com/files/rs-8177547/v1/449de056e86224c017c23d6d.png"},{"id":97783086,"identity":"932794ab-1933-4906-8e10-9a5a985b0b17","added_by":"auto","created_at":"2025-12-09 10:14:01","extension":"png","order_by":25,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":19907,"visible":true,"origin":"","legend":"","description":"","filename":"Onlinefloatimage7.png","url":"https://assets-eu.researchsquare.com/files/rs-8177547/v1/ddafc1cc6d45e65f84c3c387.png"},{"id":97783077,"identity":"b553dbbe-10f5-4ba5-b81e-6665ef7c22fe","added_by":"auto","created_at":"2025-12-09 10:14:01","extension":"png","order_by":26,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":10181,"visible":true,"origin":"","legend":"","description":"","filename":"Onlinefloatimage8.png","url":"https://assets-eu.researchsquare.com/files/rs-8177547/v1/c1f732a594d2a9fd273d1dbe.png"},{"id":97898058,"identity":"854e686d-2584-450f-ad91-8925bd27d8e2","added_by":"auto","created_at":"2025-12-10 15:38:39","extension":"png","order_by":27,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":13011,"visible":true,"origin":"","legend":"","description":"","filename":"Onlinefloatimage9.png","url":"https://assets-eu.researchsquare.com/files/rs-8177547/v1/086835b109a6b48d3f84ef65.png"},{"id":97783090,"identity":"446113d9-a754-4085-9717-4bde42f43009","added_by":"auto","created_at":"2025-12-09 10:14:02","extension":"xml","order_by":28,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":116038,"visible":true,"origin":"","legend":"","description":"","filename":"26a46a76f629425cab27b6d36f0c86161structuring.xml","url":"https://assets-eu.researchsquare.com/files/rs-8177547/v1/f3db65c877890199d5b56801.xml"},{"id":97783089,"identity":"b889cefb-6eb4-4998-b478-e5ca558dff71","added_by":"auto","created_at":"2025-12-09 10:14:02","extension":"html","order_by":29,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":134311,"visible":true,"origin":"","legend":"","description":"","filename":"earlyproof.html","url":"https://assets-eu.researchsquare.com/files/rs-8177547/v1/c291102df8e13d7e5adeeaa6.html"},{"id":98421100,"identity":"9a6defd0-36ae-4cf1-905e-09b9a1e51a54","added_by":"auto","created_at":"2025-12-17 16:23:40","extension":"pdf","order_by":1,"title":"","display":"","copyAsset":false,"role":"manuscript-pdf","size":882708,"visible":true,"origin":"","legend":"","description":"","filename":"ManuscriptFinal.pdf","url":"https://assets-eu.researchsquare.com/files/rs-8177547/v1_covered_423d2810-5714-40f0-af73-7af4791c456c.pdf"}],"financialInterests":"No competing interests reported.","formattedTitle":"Design and Control of a Waist-Mounted Gyroscope-Based Stabilization System for Humanoid Robots","fulltext":[],"fulltextSource":"","fullText":"","funders":[],"hasAdminPriorityOnWorkflow":false,"hasManuscriptDocX":false,"hasOptedInToPreprint":true,"hasPassedJournalQc":"","hasAnyPriority":false,"hideJournal":false,"highlight":"","institution":"","isAcceptedByJournal":false,"isAuthorSuppliedPdf":true,"isDeskRejected":"","isHiddenFromSearch":false,"isInQc":false,"isInWorkflow":false,"isPdf":true,"isPdfUpToDate":true,"isWithdrawnOrRetracted":false,"journal":{"display":true,"email":"[email protected]","identity":"scientific-reports","isNatureJournal":false,"hasQc":true,"allowDirectSubmit":false,"externalIdentity":"scirep","sideBox":"Learn more about [Scientific Reports](http://www.nature.com/srep/)","snPcode":"","submissionUrl":"","title":"Scientific Reports","twitterHandle":"","acdcEnabled":true,"dfaEnabled":true,"editorialSystem":"stoa","reportingPortfolio":"Scientific Reports","inReviewEnabled":true,"inReviewRevisionsEnabled":true},"keywords":"Humanoid Robot, Gyroscopic Stabilization, Balance Control, LQR Controller, Unstructured Environments","lastPublishedDoi":"10.21203/rs.3.rs-8177547/v1","lastPublishedDoiUrl":"https://doi.org/10.21203/rs.3.rs-8177547/v1","license":{"name":"CC BY 4.0","url":"https://creativecommons.org/licenses/by/4.0/"},"manuscriptAbstract":"\u003cp\u003eMaintaining dynamic balance and stability in humanoid robots remains a substantial challenge, especially when navigating complex, unstructured environments or experiencing external disturbances. This study introduces a novel waist-mounted stabilization system utilizing a mechanically actuated gyroscope to improve humanoid robot equilibrium during standing, walking, and running. The design incorporates a high-strength aluminum alloy (AL-7075-T6) for gimbals and a flywheel, driven by brushless DC motors. Engineered for a 76.4 kg humanoid robot with a height of 1.74 meters, the system achieves a gyroscopic coupling moment of 99.95 Nm at a disc speed of 350 rad/s, validated under a safety factor of 4.6. Dynamic equations were derived and linearized for control design across three axes (roll, pitch, yaw). MATLAB simulations confirmed enhanced stabilization using both pole placement and Linear Quadratic Regulator (LQR) control strategies. The LQR method yielded a rise time of 0.30 s, minimal overshoot of 0.69%, and complete stabilization within 3.5 s. This research advances the biomechanical design and control precision of humanoid robots in real-world environments.\u003c/p\u003e","manuscriptTitle":"Design and Control of a Waist-Mounted Gyroscope-Based Stabilization System for Humanoid Robots","msid":"","msnumber":"","nonDraftVersions":[{"code":1,"date":"2025-12-09 10:13:56","doi":"10.21203/rs.3.rs-8177547/v1","editorialEvents":[{"type":"communityComments","content":0},{"type":"decision","content":"Revision requested","date":"2025-12-17T05:03:57+00:00","index":"","fulltext":""},{"type":"editorInvitedReview","content":"","date":"2025-12-14T01:33:45+00:00","index":"hide","fulltext":""},{"type":"editorInvitedReview","content":"","date":"2025-12-12T11:59:28+00:00","index":"hide","fulltext":""},{"type":"reviewerAgreed","content":"225610871522879263706446618154339432518","date":"2025-12-09T05:12:35+00:00","index":"hide","fulltext":""},{"type":"reviewerAgreed","content":"291811912667041375035103435676610058548","date":"2025-12-08T02:01:37+00:00","index":"hide","fulltext":""},{"type":"editorInvitedReview","content":"","date":"2025-12-05T14:49:53+00:00","index":"hide","fulltext":""},{"type":"reviewerAgreed","content":"203391102839986031665526258433957972898","date":"2025-12-05T14:40:09+00:00","index":"hide","fulltext":""},{"type":"reviewersInvited","content":"","date":"2025-12-05T13:59:04+00:00","index":"","fulltext":""},{"type":"editorInvited","content":"","date":"2025-12-05T11:05:45+00:00","index":"","fulltext":""},{"type":"editorAssigned","content":"","date":"2025-11-25T05:27:31+00:00","index":"","fulltext":""},{"type":"checksComplete","content":"","date":"2025-11-25T05:25:41+00:00","index":"","fulltext":""},{"type":"submitted","content":"Scientific Reports","date":"2025-11-22T03:33:38+00:00","index":"","fulltext":""}],"status":"published","journal":{"display":true,"email":"[email protected]","identity":"scientific-reports","isNatureJournal":false,"hasQc":true,"allowDirectSubmit":false,"externalIdentity":"scirep","sideBox":"Learn more about [Scientific Reports](http://www.nature.com/srep/)","snPcode":"","submissionUrl":"","title":"Scientific Reports","twitterHandle":"","acdcEnabled":true,"dfaEnabled":true,"editorialSystem":"stoa","reportingPortfolio":"Scientific Reports","inReviewEnabled":true,"inReviewRevisionsEnabled":true}}],"origin":"","ownerIdentity":"2b7441ff-8c6c-4419-9c49-9acbee9292d6","owner":[],"postedDate":"December 9th, 2025","published":true,"recentEditorialEvents":[],"rejectedJournal":[],"revision":"","amendment":"","status":"under-review","subjectAreas":[{"id":59238873,"name":"Physical sciences/Engineering"},{"id":59238874,"name":"Physical sciences/Materials science"}],"tags":[],"updatedAt":"2026-05-13T07:54:05+00:00","versionOfRecord":[],"versionCreatedAt":"2025-12-09 10:13:56","video":"","vorDoi":"","vorDoiUrl":"","workflowStages":[]},"version":"v1","identity":"rs-8177547","journalConfig":"researchsquare"},"__N_SSP":true},"page":"/article/[identity]/[[...version]]","query":{"redirect":"/article/rs-8177547","identity":"rs-8177547","version":["v1"]},"buildId":"8U1c8b4HqxoKbykW_rLl7","isFallback":false,"isExperimentalCompile":false,"dynamicIds":[84888],"gssp":true,"scriptLoader":[]}