{"id":"https://openalex.org/W2037267024","doi":"https://doi.org/10.1017/s0263574709990336","title":"To enhance transparency of a piezo-actuated tele-micromanipulator using passive bilateral control","display_name":"To enhance transparency of a piezo-actuated tele-micromanipulator using passive bilateral control","publication_year":2009,"publication_date":"2009-08-27","ids":{"openalex":"https://openalex.org/W2037267024","doi":"https://doi.org/10.1017/s0263574709990336","mag":"2037267024"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574709990336","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574709990336","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"},"type":"article","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/A5052861077","display_name":"Reza Seifabadi","orcid":"https://orcid.org/0000-0002-9799-3672"},"institutions":[{"id":"https://openalex.org/I158248296","display_name":"Amirkabir University of Technology","ror":"https://ror.org/04gzbav43","country_code":"IR","type":"education","lineage":["https://openalex.org/I158248296"]}],"countries":["IR"],"is_corresponding":true,"raw_author_name":"R. Seifabadi","raw_affiliation_strings":["Mechnical Engineering Department, Amirkabir University of Technology, Tehran, Iran","New Technologies Research Centre (NTRC), Amirkabir University of Technology, Tehran, Iran"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechnical Engineering Department, Amirkabir University of Technology, Tehran, Iran","institution_ids":["https://openalex.org/I158248296"]},{"raw_affiliation_string":"New Technologies Research Centre (NTRC), Amirkabir University of Technology, Tehran, Iran","institution_ids":["https://openalex.org/I158248296"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073831871","display_name":"Seyed Mehdi Rezaei","orcid":"https://orcid.org/0000-0001-6476-4278"},"institutions":[{"id":"https://openalex.org/I158248296","display_name":"Amirkabir University of Technology","ror":"https://ror.org/04gzbav43","country_code":"IR","type":"education","lineage":["https://openalex.org/I158248296"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"S. M. Rezaei","raw_affiliation_strings":["Mechnical Engineering Department, Amirkabir University of Technology, Tehran, Iran","New Technologies Research Centre (NTRC), Amirkabir University of Technology, Tehran, Iran"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechnical Engineering Department, Amirkabir University of Technology, Tehran, Iran","institution_ids":["https://openalex.org/I158248296"]},{"raw_affiliation_string":"New Technologies Research Centre (NTRC), Amirkabir University of Technology, Tehran, Iran","institution_ids":["https://openalex.org/I158248296"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024741305","display_name":"Saeed Shiry Ghidary","orcid":"https://orcid.org/0000-0002-9019-3947"},"institutions":[{"id":"https://openalex.org/I158248296","display_name":"Amirkabir University of Technology","ror":"https://ror.org/04gzbav43","country_code":"IR","type":"education","lineage":["https://openalex.org/I158248296"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"S. Shiry Ghidary","raw_affiliation_strings":["Computer Engineering Department, Amirkabir University of Technology, Tehran, Iran","New Technologies Research Centre (NTRC), Amirkabir University of Technology, Tehran, Iran"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Engineering Department, Amirkabir University of Technology, Tehran, Iran","institution_ids":["https://openalex.org/I158248296"]},{"raw_affiliation_string":"New Technologies Research Centre (NTRC), Amirkabir University of Technology, Tehran, Iran","institution_ids":["https://openalex.org/I158248296"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079583161","display_name":"Mohammad Zareinejad","orcid":"https://orcid.org/0000-0001-5807-1643"},"institutions":[{"id":"https://openalex.org/I158248296","display_name":"Amirkabir University of Technology","ror":"https://ror.org/04gzbav43","country_code":"IR","type":"education","lineage":["https://openalex.org/I158248296"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"M. Zareinejad","raw_affiliation_strings":["Mechnical Engineering Department, Amirkabir University of Technology, Tehran, Iran","New Technologies Research Centre (NTRC), Amirkabir University of Technology, Tehran, Iran"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechnical Engineering Department, Amirkabir University of Technology, Tehran, Iran","institution_ids":["https://openalex.org/I158248296"]},{"raw_affiliation_string":"New Technologies Research Centre (NTRC), Amirkabir University of Technology, Tehran, Iran","institution_ids":["https://openalex.org/I158248296"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5065890212","display_name":"Mozafar Saadat","orcid":"https://orcid.org/0000-0002-6622-4715"},"institutions":[{"id":"https://openalex.org/I79619799","display_name":"University of Birmingham","ror":"https://ror.org/03angcq70","country_code":"GB","type":"education","lineage":["https://openalex.org/I79619799"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"M. Saadat","raw_affiliation_strings":["Mechnical Engineering Department, University of Birmingham, Birmingham, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechnical Engineering Department, University of Birmingham, Birmingham, UK","institution_ids":["https://openalex.org/I79619799"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5052861077"],"corresponding_institution_ids":["https://openalex.org/I158248296"],"apc_list":null,"apc_paid":null,"fwci":1.1615,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.80566482,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"28","issue":"5","first_page":"689","last_page":"703"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9995999932289124,"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":0.9995999932289124,"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/T13885","display_name":"Geophysics and Sensor Technology","score":0.9779999852180481,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T10868","display_name":"Soft Robotics and Applications","score":0.975600004196167,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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":0.7318314909934998},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7091743350028992},{"id":"https://openalex.org/keywords/micromanipulator","display_name":"Micromanipulator","score":0.6995925903320312},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.6051053404808044},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5088484287261963},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4989745616912842},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.4901677072048187},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.48553702235221863},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.45963793992996216},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4469897150993347},{"id":"https://openalex.org/keywords/transparency","display_name":"Transparency (behavior)","score":0.4443740248680115},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.43863654136657715},{"id":"https://openalex.org/keywords/passivity","display_name":"Passivity","score":0.4260580539703369},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.359807550907135},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.31427329778671265},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1713528037071228},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12913531064987183}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.7318314909934998},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7091743350028992},{"id":"https://openalex.org/C2776470464","wikidata":"https://www.wikidata.org/wiki/Q1933900","display_name":"Micromanipulator","level":2,"score":0.6995925903320312},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.6051053404808044},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5088484287261963},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4989745616912842},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4901677072048187},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.48553702235221863},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.45963793992996216},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4469897150993347},{"id":"https://openalex.org/C2780233690","wikidata":"https://www.wikidata.org/wiki/Q535347","display_name":"Transparency (behavior)","level":2,"score":0.4443740248680115},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.43863654136657715},{"id":"https://openalex.org/C2778809601","wikidata":"https://www.wikidata.org/wiki/Q1045736","display_name":"Passivity","level":2,"score":0.4260580539703369},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.359807550907135},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.31427329778671265},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1713528037071228},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12913531064987183},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1017/s0263574709990336","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574709990336","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"},{"id":"pmh:oai:pure.atira.dk:openaire_cris_publications/dc5bd83d-3b24-484d-8f01-54b381025b89","is_oa":false,"landing_page_url":"https://research.birmingham.ac.uk/en/publications/dc5bd83d-3b24-484d-8f01-54b381025b89","pdf_url":null,"source":{"id":"https://openalex.org/S4306402634","display_name":"University of Birmingham Research Portal (University of Birmingham)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79619799","host_organization_name":"University of Birmingham","host_organization_lineage":["https://openalex.org/I79619799"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Seifabadi, R, Rezaei, SM, Ghidary, SS, Zareinejad, M & Saadat, M 2010, 'To enhance transparency of a piezo-actuated tele-micromanipulator using passive bilateral control', Robotica, vol. 28, pp. 689-703. https://doi.org/10.1017/S0263574709990336","raw_type":"article"},{"id":"pmh:oai:pure.atira.dk:publications/dc5bd83d-3b24-484d-8f01-54b381025b89","is_oa":false,"landing_page_url":"https://research.birmingham.ac.uk/portal/en/publications/to-enhance-transparency-of-a-piezoactuated-telemicromanipulator-using-passive-bilateral-control(dc5bd83d-3b24-484d-8f01-54b381025b89).html","pdf_url":null,"source":{"id":"https://openalex.org/S4306402634","display_name":"University of Birmingham Research Portal (University of Birmingham)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79619799","host_organization_name":"University of Birmingham","host_organization_lineage":["https://openalex.org/I79619799"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Seifabadi , R , Rezaei , SM , Ghidary , SS , Zareinejad , M & Saadat , M 2010 , ' To enhance transparency of a piezo-actuated tele-micromanipulator using passive bilateral control ' , Robotica , vol. 28 , pp. 689-703 . https://doi.org/10.1017/S0263574709990336","raw_type":"article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.5799999833106995,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W1582137406","https://openalex.org/W1595764735","https://openalex.org/W1597447248","https://openalex.org/W1629139275","https://openalex.org/W1869900545","https://openalex.org/W1880249640","https://openalex.org/W1916035459","https://openalex.org/W1964268256","https://openalex.org/W1971925771","https://openalex.org/W1982327642","https://openalex.org/W2001491258","https://openalex.org/W2018527639","https://openalex.org/W2033179049","https://openalex.org/W2076420009","https://openalex.org/W2103621439","https://openalex.org/W2103666635","https://openalex.org/W2110425939","https://openalex.org/W2112975018","https://openalex.org/W2118166401","https://openalex.org/W2125056679","https://openalex.org/W2125435082","https://openalex.org/W2135464393","https://openalex.org/W2149096107","https://openalex.org/W2150483523","https://openalex.org/W2157161618","https://openalex.org/W2159834350","https://openalex.org/W2162265555","https://openalex.org/W2166271005","https://openalex.org/W2166928017","https://openalex.org/W2171649388","https://openalex.org/W2180293407","https://openalex.org/W2400592272","https://openalex.org/W6680147008"],"related_works":["https://openalex.org/W2090171584","https://openalex.org/W2141321389","https://openalex.org/W2126456812","https://openalex.org/W2099914424","https://openalex.org/W2063905323","https://openalex.org/W3207600904","https://openalex.org/W3080989239","https://openalex.org/W2914607567","https://openalex.org/W2017331141","https://openalex.org/W1969993920"],"abstract_inverted_index":{"SUMMARY":[0],"This":[1,18,43,136],"paper":[2,108],"presents":[3],"the":[4,72,85,89,94,100,115,121,152,163,172,176,191,197,216,219,228,234],"research":[5],"work":[6],"on":[7,175,190],"a":[8,21,37,53,70,124,156],"1":[9],"degree":[10],"of":[11,69,99,106,171,196,218,227],"freedom":[12],"(DOF)":[13],"force":[14,157,173,183,207,231],"reflecting":[15],"tele-micromanipulation":[16],"system.":[17,102],"system":[19,75,165,235],"enables":[20],"human":[22],"operator":[23],"to":[24,59,110,114,132,168],"position":[25,91,125,134,137,229],"remote":[26],"objects":[27],"very":[28],"precisely":[29],"having":[30],"haptic":[31],"feedback.":[32],"The":[33,210],"slave":[34,153,179],"robot":[35],"is":[36,57,78,109,128,139,160,186,200],"nano-positioning":[38],"piezo-actuator":[39],"with":[40],"hysteretic":[41],"dynamics.":[42],"intrinsic":[44],"nonlinearity":[45],"results":[46,214],"in":[47,130,143,166,223],"positioning":[48],"inaccuracy":[49],"and":[50,61,93,178,206,212,230],"instability.":[51],"Hence,":[52],"LuGre":[54],"friction":[55],"model":[56,60],"employed":[58],"compensate":[62],"for":[63,162],"this":[64,107,112,182],"undesirable":[65],"behavior.":[66],"By":[67],"means":[68],"transformation,":[71],"2-DOF":[73],"master\u2013slave":[74,90],"(1-DOF":[76],"each)":[77],"decomposed":[79],"into":[80],"two":[81],"1-DOF":[82],"new":[83],"systems:":[84],"shape":[86,122],"system,":[87,96,123],"representing":[88,97],"coordination,":[92],"locked":[95,164],"dynamics":[98],"coordinated":[101],"A":[103],"key":[104],"innovation":[105],"generalize":[111],"approach":[113],"hysteresis-type":[116],"nonlinear":[117],"teleoperated":[118],"systems.":[119],"For":[120],"tracking":[126,158,170,226],"controller":[127,159],"designed":[129,161],"order":[131,167],"achieve":[133,169],"coordination.":[135],"coordination":[138],"guaranteed":[140,201],"not":[141],"only":[142],"free":[144],"space":[145],"motion,":[146],"but":[147],"also":[148],"during":[149],"contact":[150],"at":[151],"side.":[154],"Furthermore,":[155],"exerted":[174],"master":[177],"robots.":[180],"Using":[181],"controller,":[184],"transparency":[185],"remarkably":[187],"enhanced.":[188],"Based":[189],"virtual":[192],"flywheels":[193],"concept,":[194],"passivity":[195],"closed-loop":[198],"teleoperator":[199],"against":[202],"dynamic":[203],"parameter":[204],"uncertainties":[205],"measurement":[208],"inaccuracies.":[209],"simulation":[211],"experimental":[213],"verify":[215],"capability":[217],"proposed":[220],"control":[221],"architectures":[222],"achieving":[224],"high-level":[225],"signals":[232],"while":[233],"remains":[236],"stable.":[237]},"counts_by_year":[{"year":2016,"cited_by_count":1},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
