{"id":"https://openalex.org/W2115673058","doi":"https://doi.org/10.1109/iros.2007.4399332","title":"The effect of joint elasticity on bilateral teleoperation","display_name":"The effect of joint elasticity on bilateral teleoperation","publication_year":2007,"publication_date":"2007-10-01","ids":{"openalex":"https://openalex.org/W2115673058","doi":"https://doi.org/10.1109/iros.2007.4399332","mag":"2115673058"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2007.4399332","doi":"https://doi.org/10.1109/iros.2007.4399332","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2007.4399332","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":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},"volume":null,"type":"conference-paper","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":"https://openalex.org/A5018636421","display_name":"Mahdi Tavakoli","orcid":"https://orcid.org/0000-0002-7427-6961","observed_orcids":["https://orcid.org/0000-0002-7427-6961"]},"institutions":[{"id":"https://openalex.org/I136199984","display_name":"Harvard University","ror":"https://ror.org/03vek6s52","country_code":"US","type":"education","lineage":["https://openalex.org/I136199984"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"M. Tavakoli","raw_affiliation_strings":["School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA","Harvard Univ, Cambridge"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA","institution_ids":["https://openalex.org/I136199984"]},{"raw_affiliation_string":"Harvard Univ, Cambridge","institution_ids":["https://openalex.org/I136199984"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5061751542","display_name":"Robert D. Howe","orcid":"https://orcid.org/0000-0002-1392-227X","observed_orcids":["https://orcid.org/0000-0002-1392-227X"]},"institutions":[{"id":"https://openalex.org/I136199984","display_name":"Harvard University","ror":"https://ror.org/03vek6s52","country_code":"US","type":"education","lineage":["https://openalex.org/I136199984"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"R.D. Howe","raw_affiliation_strings":["School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA","Harvard Univ, Cambridge"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA","institution_ids":["https://openalex.org/I136199984"]},{"raw_affiliation_string":"Harvard Univ, Cambridge","institution_ids":["https://openalex.org/I136199984"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I136199984"],"apc_list":null,"apc_paid":null,"fwci":8.9286,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":{"value":0.97851449,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1618","last_page":"1623"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":1.0,"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"}},"topics":[{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":1.0,"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/T13644","display_name":"Control Systems in Engineering","score":0.0,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.0,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/bilateral-teleoperation","display_name":"bilateral teleoperation","score":0.9860000014305115},{"id":"https://openalex.org/keywords/joint-elasticity","display_name":"joint elasticity","score":0.8619999885559082},{"id":"https://openalex.org/keywords/master-slave-teleoperation","display_name":"master-slave teleoperation","score":0.796999990940094},{"id":"https://openalex.org/keywords/teleoperation-transparency","display_name":"teleoperation transparency","score":0.8690000176429749},{"id":"https://openalex.org/keywords/antiresonance","display_name":"anti-resonance","score":0.7730000019073486},{"id":"https://openalex.org/keywords/force-feedback","display_name":"force feedback","score":0.6019999980926514},{"id":"https://openalex.org/keywords/cable-driven-manipulator","display_name":"cable-driven manipulator","score":0.6380000114440918},{"id":"https://openalex.org/keywords/haptic-feedback","display_name":"haptic feedback","score":0.5289999842643738}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.9336258172988892},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.748731255531311},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6137835383415222},{"id":"https://openalex.org/C121854251","wikidata":"https://www.wikidata.org/wiki/Q62932","display_name":"Elasticity (physics)","level":2,"score":0.6028655767440796},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.588051438331604},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.5208356976509094},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5157721042633057},{"id":"https://openalex.org/C196467688","wikidata":"https://www.wikidata.org/wiki/Q1851985","display_name":"Telerobotics","level":4,"score":0.4715462028980255},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.4488700032234192},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.43578192591667175},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4164438843727112},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2698102593421936},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1399279534816742},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.133832186460495},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.09770756959915161},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.08467182517051697},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2007.4399332","doi":"https://doi.org/10.1109/iros.2007.4399332","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2007.4399332","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":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.73.6128","doi":null,"is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.73.6128","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://people.deas.harvard.edu/~tavakoli/IROS07-flex.pdf","raw_type":"text"}],"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/W1535473159","https://openalex.org/W1995090200","https://openalex.org/W2020021263","https://openalex.org/W2097347938","https://openalex.org/W2102727488","https://openalex.org/W2103610162","https://openalex.org/W2115384033","https://openalex.org/W2134927525","https://openalex.org/W2143829770","https://openalex.org/W2154511092","https://openalex.org/W2168006543","https://openalex.org/W2479408785"],"related_works":["https://openalex.org/W2123939746","https://openalex.org/W2142695785","https://openalex.org/W2078274395","https://openalex.org/W2004267141","https://openalex.org/W4315852006","https://openalex.org/W2153974855","https://openalex.org/W7162103455","https://openalex.org/W7042750501","https://openalex.org/W2088841726","https://openalex.org/W1997519608"],"abstract_inverted_index":{"In":[0,24,43],"applications":[1],"such":[2,98],"as":[3],"space":[4],"and":[5,14,56,120,146],"surgical":[6],"robotics,":[7],"the":[8,22,36,39,58,66,69,81,85,95,103,108,124,135,157,160,166],"use":[9],"of":[10,21,35,41,61,68,84,97,153],"thin,":[11],"lightweight":[12],"manipulators":[13],"cable-driven":[15],"end-":[16],"effectors":[17],"results":[18],"in":[19,30,94,159],"flexibility":[20,29],"manipulator.":[23],"bilateral":[25],"teleoperation,":[26],"however,":[27],"any":[28],"a":[31,117,169],"link":[32],"or":[33],"joint":[34,54,87,161],"robot":[37,53],"reduces":[38],"transparency":[40,50],"teleoperation.":[42],"this":[44],"paper,":[45],"we":[46],"analyze":[47],"master-slave":[48],"teleoperation":[49],"under":[51],"slave":[52],"elasticity":[55,158],"evaluate":[57],"added":[59],"benefits":[60],"using":[62],"extra":[63],"sensors":[64],"at":[65],"end-effector":[67,126,154,174],"elastic-joint":[70],"robot.":[71],"It":[72],"is":[73,100,177],"shown":[74],"that":[75],"velocity":[76,127,175],"(or":[77],"position)":[78],"feedback":[79,99,128,176],"from":[80],"output":[82],"shaft":[83],"elastic":[86],"improves":[88,129],"free-space":[89,143],"position":[90,144],"tracking":[91,132,145,149],"performance,":[92],"which":[93],"absence":[96],"hampered":[101],"by":[102,116],"joint's":[104],"anti-resonance.":[105],"Also,":[106],"when":[107],"interaction":[109],"forces":[110],"with":[111],"an":[112],"environment":[113],"are":[114,150],"measured":[115],"force":[118,131,148],"sensor":[119],"fed":[121],"back":[122],"to":[123,139,165],"user,":[125],"hard-contact":[130,147],"performance.":[133],"If":[134],"operating":[136],"trajectories":[137],"correspond":[138],"low":[140],"frequencies,":[141],"both":[142],"satisfactory":[151],"regardless":[152],"feedback,":[155],"yet":[156],"will":[162],"be":[163],"transmitted":[164],"user":[167],"during":[168],"hard":[170],"contact":[171],"task":[172],"unless":[173],"used.":[178]},"counts_by_year":[{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":4}],"updated_date":"2026-10-26T11:51:55.731654","created_date":"2016-06-24T00:00:00"}