{"id":"https://openalex.org/W2123939746","doi":"https://doi.org/10.1109/tepra.2008.4686686","title":"Improving teleoperation performance in the presence of non-ideal robot dynamics","display_name":"Improving teleoperation performance in the presence of non-ideal robot dynamics","publication_year":2008,"publication_date":"2008-11-01","ids":{"openalex":"https://openalex.org/W2123939746","doi":"https://doi.org/10.1109/tepra.2008.4686686","mag":"2123939746"},"language":"en","primary_location":{"id":"doi:10.1109/tepra.2008.4686686","doi":"https://doi.org/10.1109/tepra.2008.4686686","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tepra.2008.4686686","pdf_url":null,"source":{"id":"https://openalex.org/S4306422712","display_name":"IEEE International Conference on Technologies for Practical Robot Applications","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"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":"2008 IEEE International Conference on Technologies for Practical Robot Applications","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":"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/I154425047","display_name":"University of Alberta","ror":"https://ror.org/0160cpw27","country_code":"CA","type":"education","lineage":["https://openalex.org/I154425047"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"M. Tavakoli","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Alberta, Edmonton, AB, Canada","Dept. of Electr. & Comput. Eng, Univ. of Alberta, Edmonton, AB"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Alberta, Edmonton, AB, Canada","institution_ids":["https://openalex.org/I154425047"]},{"raw_affiliation_string":"Dept. of Electr. & Comput. Eng, Univ. of Alberta, Edmonton, AB","institution_ids":["https://openalex.org/I154425047"]}]},{"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":"Robert D. Howe","raw_affiliation_strings":["School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA","School of Engineering and Applied Science, Harvard University, Cambridge, MA#TAB#"],"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":"School of Engineering and Applied Science, Harvard University, Cambridge, MA#TAB#","institution_ids":["https://openalex.org/I136199984"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.25548647,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"128","last_page":"130"},"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/T10982","display_name":"Motor Control and Adaptation","score":0.0,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life 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/teleoperation","display_name":"teleoperation","score":0.9480000138282776},{"id":"https://openalex.org/keywords/master-slave-teleoperation","display_name":"master-slave teleoperation","score":0.8610000014305115},{"id":"https://openalex.org/keywords/robot-flexibility","display_name":"robot flexibility","score":0.7149999737739563},{"id":"https://openalex.org/keywords/link-flexibility","display_name":"link flexibility","score":0.6430000066757202},{"id":"https://openalex.org/keywords/joint-flexibility","display_name":"joint flexibility","score":0.9919999837875366},{"id":"https://openalex.org/keywords/tool-flexibility","display_name":"tool flexibility","score":0.6980000138282776},{"id":"https://openalex.org/keywords/force-feedback","display_name":"force feedback","score":0.7599999904632568},{"id":"https://openalex.org/keywords/contact-force-tracking","display_name":"contact force tracking","score":0.7419999837875366},{"id":"https://openalex.org/keywords/space-manipulators","display_name":"space manipulators","score":0.6919999718666077},{"id":"https://openalex.org/keywords/surgical-manipulator","display_name":"surgical manipulator","score":0.953000009059906}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.9158645868301392},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.7579823136329651},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.694347620010376},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.5815402865409851},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.5537925958633423},{"id":"https://openalex.org/C196467688","wikidata":"https://www.wikidata.org/wiki/Q1851985","display_name":"Telerobotics","level":4,"score":0.5366876125335693},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48918870091438293},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.47234928607940674},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4435696005821228},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4341234564781189},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4170178174972534},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.39265790581703186},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.21656018495559692},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20054391026496887},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.12169799208641052},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.06574615836143494},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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},{"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/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tepra.2008.4686686","doi":"https://doi.org/10.1109/tepra.2008.4686686","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tepra.2008.4686686","pdf_url":null,"source":{"id":"https://openalex.org/S4306422712","display_name":"IEEE International Conference on Technologies for Practical Robot Applications","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"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":"2008 IEEE International Conference on Technologies for Practical Robot Applications","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.417.1424","doi":null,"is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.417.1424","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.ece.ualberta.ca/~tbs/TEPRA-08.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320334593","display_name":"Natural Sciences and Engineering Research Council of Canada","ror":"https://ror.org/01h531d29"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W1535473159","https://openalex.org/W1995090200","https://openalex.org/W2006518904","https://openalex.org/W2072140024","https://openalex.org/W2078274395","https://openalex.org/W2102727488","https://openalex.org/W2115673058","https://openalex.org/W2126552455","https://openalex.org/W2134927525","https://openalex.org/W2143829770","https://openalex.org/W2479408785"],"related_works":["https://openalex.org/W2142695785","https://openalex.org/W2078274395","https://openalex.org/W2115673058","https://openalex.org/W2160507714","https://openalex.org/W4298128197","https://openalex.org/W4315852006","https://openalex.org/W2138927452","https://openalex.org/W2396363971","https://openalex.org/W58560364","https://openalex.org/W2791057216"],"abstract_inverted_index":{"The":[0],"use":[1],"of":[2,29,43,62,69,91,136],"thin":[3],"and":[4,7,12,51,108],"lightweight":[5],"arms":[6],"cable-driven":[8],"end-effectors":[9],"in":[10,88],"space":[11],"surgical":[13],"manipulators":[14,22],"introduces":[15],"link":[16,50],"and/or":[17],"joint":[18,52],"flexibility.":[19,93],"When":[20],"such":[21],"are":[23,102],"used":[24],"as":[25],"the":[26,59,67,70,89,96,112,134,140],"slave":[27,48,72],"robot":[28,49,92,137],"a":[30,41,105,124],"master-slave":[31],"teleoperation":[32,34,44],"system,":[33],"performance":[35,87],"can":[36,131],"be":[37],"degraded.":[38],"We":[39,56],"report":[40],"comparison":[42],"system":[45],"performances":[46],"under":[47],"flexibility":[53,138],"(tool":[54],"flexibility).":[55],"also":[57,132],"evaluate":[58],"added":[60],"benefits":[61],"using":[63],"extra":[64],"sensors":[65],"at":[66],"tip":[68,78,115,128],"flexible":[71],"robot.":[73],"It":[74],"is":[75],"reported":[76],"that":[77],"velocity":[79,116,129],"(or":[80],"position)":[81],"feedback":[82,117,130],"improves":[83,118],"free-space":[84],"position":[85],"tracking":[86,121],"presence":[90],"Also,":[94],"when":[95],"interaction":[97],"forces":[98],"with":[99],"an":[100],"environment":[101],"measured":[103],"by":[104],"force":[106,120],"sensor":[107],"fed":[109],"back":[110],"to":[111,139],"userpsilas":[113,141],"hand,":[114],"hard-contact":[119],"performance.":[122],"During":[123],"hard":[125],"contact":[126],"task,":[127],"eliminate":[133],"transmission":[135],"hand.":[142]},"counts_by_year":[{"year":2012,"cited_by_count":1}],"updated_date":"2026-10-16T09:59:22.235173","created_date":"2016-06-24T00:00:00"}
