{"id":"https://openalex.org/W2010537695","doi":"https://doi.org/10.1109/iros.2006.282251","title":"Autonomous Kinematic Self-Calibration of a Novel Haptic Device","display_name":"Autonomous Kinematic Self-Calibration of a Novel Haptic Device","publication_year":2006,"publication_date":"2006-10-01","ids":{"openalex":"https://openalex.org/W2010537695","doi":"https://doi.org/10.1109/iros.2006.282251","mag":"2010537695"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2006.282251","doi":"https://doi.org/10.1109/iros.2006.282251","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2006.282251","pdf_url":null,"source":{"id":"https://openalex.org/S4393918188","display_name":"IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":"2153-0858","issn":["2153-0858"],"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":["jufo-1","norway-1"],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2006 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},"volume":null,"type":"conference-paper","is_traditional":true,"indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Zhu Yanhe","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhu Yanhe","raw_affiliation_strings":["Robot Research Institute, Harbin Institute of Technology, Harbin, China","Robot Research Institute,Harbin Institute of Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robot Research Institute, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"Robot Research Institute,Harbin Institute of Technology","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Yan Jihong","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yan Jihong","raw_affiliation_strings":["Robot Research Institute, Harbin Institute of Technology, Harbin, China","Robot Research Institute,Harbin Institute of Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robot Research Institute, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"Robot Research Institute,Harbin Institute of Technology","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Zhao Jie","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhao Jie","raw_affiliation_strings":["Robot Research Institute, Harbin Institute of Technology, Harbin, China","Robot Research Institute,Harbin Institute of Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robot Research Institute, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"Robot Research Institute,Harbin Institute of Technology","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5113513267","display_name":"Cai He-gao","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Cai Hegao","raw_affiliation_strings":["Robot Research Institute, Harbin Institute of Technology, Harbin, China","Robot Research Institute,Harbin Institute of Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robot Research Institute, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"Robot Research Institute,Harbin Institute of Technology","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I204983213"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.0,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":88,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"4654","last_page":"4659"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9887999892234802,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9887999892234802,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.010700000450015068,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11583","display_name":"Advanced Measurement and Metrology Techniques","score":9.999999747378752e-05,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/haptic-devices","display_name":"haptic devices","score":0.7789999842643738},{"id":"https://openalex.org/keywords/closed-loop-calibration","display_name":"closed-loop calibration","score":0.878000020980835},{"id":"https://openalex.org/keywords/delta-mechanism","display_name":"delta mechanism","score":0.890999972820282},{"id":"https://openalex.org/keywords/3-rrr-mechanism","display_name":"3-RRR mechanism","score":0.9769999980926514},{"id":"https://openalex.org/keywords/joint-locking","display_name":"joint locking","score":0.5320000052452087},{"id":"https://openalex.org/keywords/condition-number","display_name":"condition number","score":0.8299999833106995},{"id":"https://openalex.org/keywords/singular-values","display_name":"singular values","score":0.8579999804496765},{"id":"https://openalex.org/keywords/calibration-set-selection","display_name":"calibration set selection","score":0.9190000295639038}],"concepts":[{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.7681328058242798},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6895565986633301},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6297481060028076},{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.6259573698043823},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.6214466691017151},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6088237166404724},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5688943862915039},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.5427671670913696},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.5376969575881958},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4465918242931366},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.44211167097091675},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.34851089119911194},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2774336040019989},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.2172781527042389},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2088194489479065},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18968302011489868},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.15871146321296692},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2006.282251","doi":"https://doi.org/10.1109/iros.2006.282251","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2006.282251","pdf_url":null,"source":{"id":"https://openalex.org/S4393918188","display_name":"IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":"2153-0858","issn":["2153-0858"],"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":["jufo-1","norway-1"],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2006 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W1551371275","https://openalex.org/W2032110014","https://openalex.org/W2100124892","https://openalex.org/W2107477013","https://openalex.org/W2110257364","https://openalex.org/W2110562767","https://openalex.org/W2132229732","https://openalex.org/W2135779730","https://openalex.org/W2141379667","https://openalex.org/W2150811685","https://openalex.org/W2156361385","https://openalex.org/W2619087422"],"related_works":["https://openalex.org/W7197562470","https://openalex.org/W1969901254","https://openalex.org/W2113443112","https://openalex.org/W2523682617","https://openalex.org/W2141379667","https://openalex.org/W3196961187","https://openalex.org/W2138361546","https://openalex.org/W2167290845","https://openalex.org/W2100124892","https://openalex.org/W1986699083"],"abstract_inverted_index":{"A":[0],"closed":[1],"loop":[2],"self-calibration":[3],"method":[4],"for":[5],"Delta":[6],"mechanism":[7,10,29,39,50],"and":[8,35,65,73,101,117,135,145],"3-RRR":[9],"used":[11],"in":[12],"a":[13,31,42,84],"double":[14],"parallel":[15,28],"haptic":[16],"device":[17,34],"was":[18],"presented.":[19],"This":[20],"approach":[21],"blocks":[22],"successively":[23],"one":[24],"joint":[25],"of":[26,48,61,76,88,113,126,138],"each":[27],"using":[30],"simple":[32],"lockup":[33],"reforms":[36],"the":[37,49,55,58,62,70,77,93,99,102,111,123,127,136],"3-DOF":[38],"to":[40,54,98],"be":[41],"2-DOF":[43],"one.":[44],"The":[45],"parameter":[46],"errors":[47],"are":[51,81,130],"identified":[52],"according":[53],"differences":[56],"between":[57],"sensor":[59],"output":[60],"redundant":[63],"chain":[64],"nominal":[66],"model":[67],"output.":[68],"Both":[69],"condition":[71],"number":[72],"singular":[74],"value":[75],"error":[78,115,137],"propagation":[79],"Jacobian":[80],"synthesized":[82],"as":[83],"new":[85],"selection":[86],"principle":[87],"calibration":[89,103],"set":[90],"such":[91],"that":[92,110],"calibrating":[94,119],"process":[95],"is":[96,105,120,140],"insensitive":[97],"noise":[100],"precision":[104],"increased":[106,131],"efficiently.":[107],"Experiments":[108],"show":[109],"ratio":[112],"maximal":[114],"before":[116],"after":[118],"9.6,":[121],"namely,":[122],"setting":[124],"accuracy":[125],"two":[128],"mechanisms":[129],"about":[132],"10":[133],"times":[134],"re-position":[139],"less":[141],"than":[142],"0.1":[143],"mm":[144],"0.1deg":[146]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2012,"cited_by_count":1}],"updated_date":"2026-10-26T11:51:55.731654","created_date":"2016-06-24T00:00:00"}
