{"id":"https://openalex.org/W4412569438","doi":"https://doi.org/10.1007/s10055-025-01199-w","title":"A neural network architecture for physically-consistent haptic rendering","display_name":"A neural network architecture for physically-consistent haptic rendering","publication_year":2025,"publication_date":"2025-07-22","ids":{"openalex":"https://openalex.org/W4412569438","doi":"https://doi.org/10.1007/s10055-025-01199-w"},"language":"en","primary_location":{"id":"doi:10.1007/s10055-025-01199-w","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10055-025-01199-w","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10055-025-01199-w.pdf","source":{"id":"https://openalex.org/S2495878607","display_name":"Virtual Reality","issn_l":"1359-4338","issn":["1359-4338","1434-9957"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Virtual Reality","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://link.springer.com/content/pdf/10.1007/s10055-025-01199-w.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5024406335","display_name":"Quercus Hern\u00e1ndez","orcid":"https://orcid.org/0000-0003-2571-4889"},"institutions":[{"id":"https://openalex.org/I922845939","display_name":"Philadelphia University","ror":"https://ror.org/03zzmyz63","country_code":"US","type":"education","lineage":["https://openalex.org/I922845939"]},{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Quercus Hern\u00e1ndez","raw_affiliation_strings":["Mechanical Engineering, University of Pennsylvania, Philadelphia, 28006, USA"],"affiliations":[{"raw_affiliation_string":"Mechanical Engineering, University of Pennsylvania, Philadelphia, 28006, USA","institution_ids":["https://openalex.org/I922845939","https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024233672","display_name":"Pedro Martins","orcid":"https://orcid.org/0000-0002-3630-7034"},"institutions":[{"id":"https://openalex.org/I255234318","display_name":"Universidad de Zaragoza","ror":"https://ror.org/012a91z28","country_code":"ES","type":"education","lineage":["https://openalex.org/I255234318"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Pedro Martins","raw_affiliation_strings":["ESI Group-UZ Chair of the National Strategy on Artificial Intelligence, Aragon Institute of Engineering Research, Universidad de Zaragoza, Maria de Luna, s.n., 50018, Zaragoza, Spain"],"affiliations":[{"raw_affiliation_string":"ESI Group-UZ Chair of the National Strategy on Artificial Intelligence, Aragon Institute of Engineering Research, Universidad de Zaragoza, Maria de Luna, s.n., 50018, Zaragoza, Spain","institution_ids":["https://openalex.org/I255234318"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5106107404","display_name":"Lucas Tesan","orcid":"https://orcid.org/0009-0001-6786-0596"},"institutions":[{"id":"https://openalex.org/I255234318","display_name":"Universidad de Zaragoza","ror":"https://ror.org/012a91z28","country_code":"ES","type":"education","lineage":["https://openalex.org/I255234318"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Lucas Tesan","raw_affiliation_strings":["ESI Group-UZ Chair of the National Strategy on Artificial Intelligence, Aragon Institute of Engineering Research, Universidad de Zaragoza, Maria de Luna, s.n., 50018, Zaragoza, Spain"],"affiliations":[{"raw_affiliation_string":"ESI Group-UZ Chair of the National Strategy on Artificial Intelligence, Aragon Institute of Engineering Research, Universidad de Zaragoza, Maria de Luna, s.n., 50018, Zaragoza, Spain","institution_ids":["https://openalex.org/I255234318"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059828995","display_name":"Ic\u00edar Alfaro","orcid":null},"institutions":[{"id":"https://openalex.org/I255234318","display_name":"Universidad de Zaragoza","ror":"https://ror.org/012a91z28","country_code":"ES","type":"education","lineage":["https://openalex.org/I255234318"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Ic\u00edar Alfaro","raw_affiliation_strings":["ESI Group-UZ Chair of the National Strategy on Artificial Intelligence, Aragon Institute of Engineering Research, Universidad de Zaragoza, Maria de Luna, s.n., 50018, Zaragoza, Spain"],"affiliations":[{"raw_affiliation_string":"ESI Group-UZ Chair of the National Strategy on Artificial Intelligence, Aragon Institute of Engineering Research, Universidad de Zaragoza, Maria de Luna, s.n., 50018, Zaragoza, Spain","institution_ids":["https://openalex.org/I255234318"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100632189","display_name":"David Gonz\u00e1lez G.","orcid":"https://orcid.org/0000-0003-2090-8481"},"institutions":[{"id":"https://openalex.org/I255234318","display_name":"Universidad de Zaragoza","ror":"https://ror.org/012a91z28","country_code":"ES","type":"education","lineage":["https://openalex.org/I255234318"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"David Gonz\u00e1lez","raw_affiliation_strings":["ESI Group-UZ Chair of the National Strategy on Artificial Intelligence, Aragon Institute of Engineering Research, Universidad de Zaragoza, Maria de Luna, s.n., 50018, Zaragoza, Spain"],"affiliations":[{"raw_affiliation_string":"ESI Group-UZ Chair of the National Strategy on Artificial Intelligence, Aragon Institute of Engineering Research, Universidad de Zaragoza, Maria de Luna, s.n., 50018, Zaragoza, Spain","institution_ids":["https://openalex.org/I255234318"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067555406","display_name":"Francisco Chinesta","orcid":null},"institutions":[{"id":"https://openalex.org/I103562704","display_name":"ESI Group (France)","ror":"https://ror.org/05ww4z228","country_code":"FR","type":"company","lineage":["https://openalex.org/I103562704"]},{"id":"https://openalex.org/I4210146168","display_name":"CREATe Centre","ror":"https://ror.org/04e30s833","country_code":"GB","type":"facility","lineage":["https://openalex.org/I4210146168"]}],"countries":["FR","GB"],"is_corresponding":false,"raw_author_name":"Francisco Chinesta","raw_affiliation_strings":["CNRS@CREATE LTD., ENSAM Institute of Technology, 1 CREATE Way, Singapore, 138602, Singapore","ESI Group Chair, PIMM Lab, ENSAM Institute of Technology, 151 Bvd. de l\u2019H\u00f4pital, 75013, Paris, France","ESI Group Chair, PIMM Lab, ENSAM Institute of Technology, 151 Bvd. de l'H\u00f4pital, 75013, Paris, France"],"affiliations":[{"raw_affiliation_string":"CNRS@CREATE LTD., ENSAM Institute of Technology, 1 CREATE Way, Singapore, 138602, Singapore","institution_ids":["https://openalex.org/I4210146168"]},{"raw_affiliation_string":"ESI Group Chair, PIMM Lab, ENSAM Institute of Technology, 151 Bvd. de l\u2019H\u00f4pital, 75013, Paris, France","institution_ids":["https://openalex.org/I103562704"]},{"raw_affiliation_string":"ESI Group Chair, PIMM Lab, ENSAM Institute of Technology, 151 Bvd. de l'H\u00f4pital, 75013, Paris, France","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5076212934","display_name":"El\u00edas Cueto","orcid":"https://orcid.org/0000-0003-1017-4381"},"institutions":[{"id":"https://openalex.org/I255234318","display_name":"Universidad de Zaragoza","ror":"https://ror.org/012a91z28","country_code":"ES","type":"education","lineage":["https://openalex.org/I255234318"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"El\u00edas Cueto","raw_affiliation_strings":["ESI Group-UZ Chair of the National Strategy on Artificial Intelligence, Aragon Institute of Engineering Research, Universidad de Zaragoza, Maria de Luna, s.n., 50018, Zaragoza, Spain"],"affiliations":[{"raw_affiliation_string":"ESI Group-UZ Chair of the National Strategy on Artificial Intelligence, Aragon Institute of Engineering Research, Universidad de Zaragoza, Maria de Luna, s.n., 50018, Zaragoza, Spain","institution_ids":["https://openalex.org/I255234318"]}]}],"institutions":[],"countries_distinct_count":4,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5024406335"],"corresponding_institution_ids":["https://openalex.org/I79576946","https://openalex.org/I922845939"],"apc_list":{"value":2290,"currency":"EUR","value_usd":2890},"apc_paid":{"value":2290,"currency":"EUR","value_usd":2890},"fwci":1.4802,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":{"value":0.82158281,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"29","issue":"3","first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9986000061035156,"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":0.9986000061035156,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9562000036239624,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10648","display_name":"Virtual Reality Applications and Impacts","score":0.9434000253677368,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.8474531173706055},{"id":"https://openalex.org/keywords/rendering","display_name":"Rendering (computer graphics)","score":0.6965518593788147},{"id":"https://openalex.org/keywords/architecture","display_name":"Architecture","score":0.6223396062850952},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.6181995868682861},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.6150711178779602},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.5336490273475647},{"id":"https://openalex.org/keywords/virtual-reality","display_name":"Virtual reality","score":0.493294894695282},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.46276775002479553},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics","score":0.44905710220336914}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8474531173706055},{"id":"https://openalex.org/C205711294","wikidata":"https://www.wikidata.org/wiki/Q176953","display_name":"Rendering (computer graphics)","level":2,"score":0.6965518593788147},{"id":"https://openalex.org/C123657996","wikidata":"https://www.wikidata.org/wiki/Q12271","display_name":"Architecture","level":2,"score":0.6223396062850952},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.6181995868682861},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.6150711178779602},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.5336490273475647},{"id":"https://openalex.org/C194969405","wikidata":"https://www.wikidata.org/wiki/Q170519","display_name":"Virtual reality","level":2,"score":0.493294894695282},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.46276775002479553},{"id":"https://openalex.org/C77660652","wikidata":"https://www.wikidata.org/wiki/Q150971","display_name":"Computer graphics","level":2,"score":0.44905710220336914},{"id":"https://openalex.org/C153349607","wikidata":"https://www.wikidata.org/wiki/Q36649","display_name":"Visual arts","level":1,"score":0.0},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1007/s10055-025-01199-w","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10055-025-01199-w","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10055-025-01199-w.pdf","source":{"id":"https://openalex.org/S2495878607","display_name":"Virtual Reality","issn_l":"1359-4338","issn":["1359-4338","1434-9957"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Virtual Reality","raw_type":"journal-article"},{"id":"pmh:oai:zaguan.unizar.es:162554","is_oa":true,"landing_page_url":"http://zaguan.unizar.es/record/162554","pdf_url":"https://zaguan.unizar.es/record/162554/files/texto_completo.pdf","source":{"id":"https://openalex.org/S4306401812","display_name":"Zaguan (University of Zaragoza Repository)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I255234318","host_organization_name":"Universidad de Zaragoza","host_organization_lineage":["https://openalex.org/I255234318"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/publishedVersion"}],"best_oa_location":{"id":"doi:10.1007/s10055-025-01199-w","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10055-025-01199-w","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10055-025-01199-w.pdf","source":{"id":"https://openalex.org/S2495878607","display_name":"Virtual Reality","issn_l":"1359-4338","issn":["1359-4338","1434-9957"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Virtual Reality","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320324111","display_name":"Universidad de Zaragoza","ror":"https://ror.org/012a91z28"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4412569438.pdf","grobid_xml":"https://content.openalex.org/works/W4412569438.grobid-xml"},"referenced_works_count":35,"referenced_works":["https://openalex.org/W1578523737","https://openalex.org/W1596004456","https://openalex.org/W1983639022","https://openalex.org/W1994502860","https://openalex.org/W1997471169","https://openalex.org/W2024213098","https://openalex.org/W2032435834","https://openalex.org/W2044776144","https://openalex.org/W2049309414","https://openalex.org/W2050899034","https://openalex.org/W2054316636","https://openalex.org/W2089640842","https://openalex.org/W2111095151","https://openalex.org/W2126528544","https://openalex.org/W2145764306","https://openalex.org/W2149254941","https://openalex.org/W2160712498","https://openalex.org/W2292727595","https://openalex.org/W2296791421","https://openalex.org/W2469075043","https://openalex.org/W2522136034","https://openalex.org/W2755906070","https://openalex.org/W2899283552","https://openalex.org/W2976475057","https://openalex.org/W3021128674","https://openalex.org/W3108981297","https://openalex.org/W3183256646","https://openalex.org/W4200498776","https://openalex.org/W4235603582","https://openalex.org/W4300939759","https://openalex.org/W4381954781","https://openalex.org/W4393241118","https://openalex.org/W4404008166","https://openalex.org/W4411368898","https://openalex.org/W6677978660"],"related_works":["https://openalex.org/W156716224","https://openalex.org/W2111871955","https://openalex.org/W3175380930","https://openalex.org/W1989694608","https://openalex.org/W2139876914","https://openalex.org/W3094485622","https://openalex.org/W4406212671","https://openalex.org/W2348224808","https://openalex.org/W4309505616","https://openalex.org/W2044956415"],"abstract_inverted_index":{"Abstract":[0],"We":[1],"develop":[2],"a":[3,51,109,122],"method":[4],"for":[5,108],"realistic":[6,110],"haptic":[7,102,125],"rendering":[8],"of":[9,28,36,64,87,90,124,145,151,153],"generalized":[10],"solids":[11,37,66],"that":[12,54,76],"employs":[13],"graph":[14],"neural":[15,22,46,95],"networks.":[16,47],"In":[17,33,61,83],"order":[18],"to":[19,99,142],"give":[20],"these":[21],"networks":[23,49,96],"the":[24,34,59,62,72,88,93,101,105,143,146,149],"required":[25],"realism,":[26,135],"biases":[27],"different":[29],"types":[30],"are":[31,97,119],"used.":[32],"case":[35,63],"with":[38,104],"(hyper)elastic,":[39],"hence":[40],"reversible,":[41],"behaviour,":[42],"we":[43,70],"use":[44],"Hamiltonian":[45],"These":[48],"employ":[50],"cognitive":[52,73],"bias":[53,74],"ensures":[55],"energy":[56],"conservation":[57],"during":[58],"simulation.":[60],"dissipative":[65],"(particularly":[67],"visco-hyperelastic":[68],"solids)":[69],"extend":[71],"so":[75],"it":[77],"takes":[78],"into":[79],"account":[80],"entropy":[81],"production.":[82],"this":[84,154],"way,":[85],"regardless":[86],"type":[89],"solid":[91],"considered,":[92],"developed":[94],"able":[98],"provide":[100],"devices":[103],"necessary":[106],"information":[107],"and,":[111],"above":[112],"all,":[113],"physically":[114],"consistent":[115],"rendering.":[116],"The":[117],"results":[118],"tested":[120],"using":[121],"set":[123],"gloves":[126],"and":[127],"virtual":[128],"reality":[129],"glasses,":[130],"which":[131],"have":[132],"shown":[133],"excellent":[134],"but":[136],"not":[137],"without":[138],"certain":[139],"limitations":[140],"due":[141],"state":[144],"art":[147],"in":[148],"development":[150],"hardware":[152],"type.":[155]},"counts_by_year":[{"year":2026,"cited_by_count":2}],"updated_date":"2026-03-22T08:09:32.410652","created_date":"2025-10-10T00:00:00"}
