{"id":"https://openalex.org/W2140742953","doi":"https://doi.org/10.1017/s0263574713000593","title":"A psychophysical evaluation of haptic controllers: viscosity perception of soft environments","display_name":"A psychophysical evaluation of haptic controllers: viscosity perception of soft environments","publication_year":2013,"publication_date":"2013-07-19","ids":{"openalex":"https://openalex.org/W2140742953","doi":"https://doi.org/10.1017/s0263574713000593","mag":"2140742953"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574713000593","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574713000593","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/A5037876636","display_name":"Hyoung Il Son","orcid":"https://orcid.org/0000-0002-7249-907X"},"institutions":[{"id":"https://openalex.org/I4210112925","display_name":"Max Planck Institute for Biological Cybernetics","ror":"https://ror.org/026nmvv73","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210112925"]},{"id":"https://openalex.org/I2250650973","display_name":"Samsung (South Korea)","ror":"https://ror.org/04w3jy968","country_code":"KR","type":"company","lineage":["https://openalex.org/I2250650973"]},{"id":"https://openalex.org/I149899117","display_name":"Max Planck Society","ror":"https://ror.org/01hhn8329","country_code":"DE","type":"funder","lineage":["https://openalex.org/I149899117"]}],"countries":["DE","KR"],"is_corresponding":true,"raw_author_name":"Hyoung Il Son","raw_affiliation_strings":["Institute of Industrial Technology, Samsung Heavy Industries, 217 Munji-ro, Yuseong-gu, Daejeon 305-380, Republic of Korea","Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society"],"affiliations":[{"raw_affiliation_string":"Institute of Industrial Technology, Samsung Heavy Industries, 217 Munji-ro, Yuseong-gu, Daejeon 305-380, Republic of Korea","institution_ids":["https://openalex.org/I2250650973"]},{"raw_affiliation_string":"Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society","institution_ids":["https://openalex.org/I4210112925","https://openalex.org/I149899117"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085750592","display_name":"Hoeryong Jung","orcid":"https://orcid.org/0009-0003-9929-3105"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]},{"id":"https://openalex.org/I2250650973","display_name":"Samsung (South Korea)","ror":"https://ror.org/04w3jy968","country_code":"KR","type":"company","lineage":["https://openalex.org/I2250650973"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hoeryong Jung","raw_affiliation_strings":["Institute of Industrial Technology, Samsung Heavy Industries, 217 Munji-ro, Yuseong-gu, Daejeon 305-380, Republic of Korea","Korea Advanced Institute Of Science and Technology"],"affiliations":[{"raw_affiliation_string":"Institute of Industrial Technology, Samsung Heavy Industries, 217 Munji-ro, Yuseong-gu, Daejeon 305-380, Republic of Korea","institution_ids":["https://openalex.org/I2250650973"]},{"raw_affiliation_string":"Korea Advanced Institute Of Science and Technology","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007964198","display_name":"Doo Yong Lee","orcid":"https://orcid.org/0000-0003-4769-1331"},"institutions":[{"id":"https://openalex.org/I149899117","display_name":"Max Planck Society","ror":"https://ror.org/01hhn8329","country_code":"DE","type":"funder","lineage":["https://openalex.org/I149899117"]},{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]},{"id":"https://openalex.org/I4210112925","display_name":"Max Planck Institute for Biological Cybernetics","ror":"https://ror.org/026nmvv73","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210112925"]}],"countries":["DE","KR"],"is_corresponding":false,"raw_author_name":"Doo Yong Lee","raw_affiliation_strings":["Department of Mechanical Engineering, KAIST, 291 Daehak-ro, Yuseong-gu, Daejeon, 305-701, Republic of Korea. E-mail:","Department Empirical Inference, Max Planck Institute for Biological Cybernetics, Max Planck Society"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, KAIST, 291 Daehak-ro, Yuseong-gu, Daejeon, 305-701, Republic of Korea. E-mail:","institution_ids":["https://openalex.org/I157485424"]},{"raw_affiliation_string":"Department Empirical Inference, Max Planck Institute for Biological Cybernetics, Max Planck Society","institution_ids":["https://openalex.org/I4210112925","https://openalex.org/I149899117"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058103274","display_name":"Jang Ho Cho","orcid":"https://orcid.org/0000-0003-3268-960X"},"institutions":[{"id":"https://openalex.org/I187531555","display_name":"Lund University","ror":"https://ror.org/012a77v79","country_code":"SE","type":"education","lineage":["https://openalex.org/I187531555"]},{"id":"https://openalex.org/I4210112925","display_name":"Max Planck Institute for Biological Cybernetics","ror":"https://ror.org/026nmvv73","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210112925"]}],"countries":["DE","SE"],"is_corresponding":false,"raw_author_name":"Jang Ho Cho","raw_affiliation_strings":["Department of Automatic Control, Lund University, PO Box 118, SE-221 00 Lund, Sweden. E-mail:","Max Planck Institute for Biological Cybernetics,"],"affiliations":[{"raw_affiliation_string":"Department of Automatic Control, Lund University, PO Box 118, SE-221 00 Lund, Sweden. E-mail:","institution_ids":["https://openalex.org/I187531555"]},{"raw_affiliation_string":"Max Planck Institute for Biological Cybernetics,","institution_ids":["https://openalex.org/I4210112925"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5000138876","display_name":"HH B\u00fclthoff","orcid":"https://orcid.org/0000-0003-2568-0607"},"institutions":[{"id":"https://openalex.org/I197347611","display_name":"Korea University","ror":"https://ror.org/047dqcg40","country_code":"KR","type":"education","lineage":["https://openalex.org/I197347611"]},{"id":"https://openalex.org/I4210112925","display_name":"Max Planck Institute for Biological Cybernetics","ror":"https://ror.org/026nmvv73","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210112925"]},{"id":"https://openalex.org/I149899117","display_name":"Max Planck Society","ror":"https://ror.org/01hhn8329","country_code":"DE","type":"funder","lineage":["https://openalex.org/I149899117"]}],"countries":["DE","KR"],"is_corresponding":false,"raw_author_name":"Heinrich H. B\u00fclthoff","raw_affiliation_strings":["Department of Brain and Cognitive Engineering, Korea University, Anam-dong, Seongbuk-gu, Seoul 136-713, Republic of Korea","Max Planck Institute for Biological Cybernetics, Spemannstra\u00dfe 38, 72076 T\u00fcbingen, Germany. E-mail:","Max Planck Institute for Biological Cybernetics, Max Planck Society"],"affiliations":[{"raw_affiliation_string":"Department of Brain and Cognitive Engineering, Korea University, Anam-dong, Seongbuk-gu, Seoul 136-713, Republic of Korea","institution_ids":["https://openalex.org/I197347611"]},{"raw_affiliation_string":"Max Planck Institute for Biological Cybernetics, Spemannstra\u00dfe 38, 72076 T\u00fcbingen, Germany. E-mail:","institution_ids":["https://openalex.org/I4210112925"]},{"raw_affiliation_string":"Max Planck Institute for Biological Cybernetics, Max Planck Society","institution_ids":["https://openalex.org/I4210112925","https://openalex.org/I149899117"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5037876636"],"corresponding_institution_ids":["https://openalex.org/I149899117","https://openalex.org/I2250650973","https://openalex.org/I4210112925"],"apc_list":null,"apc_paid":null,"fwci":2.8992,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.90469535,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"32","issue":"1","first_page":"1","last_page":"17"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9994999766349792,"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":0.9994999766349792,"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/T10914","display_name":"Tactile and Sensory Interactions","score":0.9916999936103821,"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/T10429","display_name":"EEG and Brain-Computer Interfaces","score":0.9688000082969666,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.8918972015380859},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.7684623003005981},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.7060518860816956},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5684513449668884},{"id":"https://openalex.org/keywords/fidelity","display_name":"Fidelity","score":0.5602333545684814},{"id":"https://openalex.org/keywords/transparency","display_name":"Transparency (behavior)","score":0.5399596095085144},{"id":"https://openalex.org/keywords/psychophysics","display_name":"Psychophysics","score":0.5115114450454712},{"id":"https://openalex.org/keywords/haptic-perception","display_name":"Haptic perception","score":0.45323634147644043},{"id":"https://openalex.org/keywords/viscosity","display_name":"Viscosity","score":0.4440533518791199},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4324853718280792},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.39385437965393066},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3857506215572357},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3164856433868408},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.16268402338027954},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.0786333680152893}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.8918972015380859},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.7684623003005981},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.7060518860816956},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5684513449668884},{"id":"https://openalex.org/C2776459999","wikidata":"https://www.wikidata.org/wiki/Q2119376","display_name":"Fidelity","level":2,"score":0.5602333545684814},{"id":"https://openalex.org/C2780233690","wikidata":"https://www.wikidata.org/wiki/Q535347","display_name":"Transparency (behavior)","level":2,"score":0.5399596095085144},{"id":"https://openalex.org/C15123163","wikidata":"https://www.wikidata.org/wiki/Q500096","display_name":"Psychophysics","level":3,"score":0.5115114450454712},{"id":"https://openalex.org/C2778360479","wikidata":"https://www.wikidata.org/wiki/Q1289489","display_name":"Haptic perception","level":3,"score":0.45323634147644043},{"id":"https://openalex.org/C127172972","wikidata":"https://www.wikidata.org/wiki/Q128709","display_name":"Viscosity","level":2,"score":0.4440533518791199},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4324853718280792},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.39385437965393066},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3857506215572357},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3164856433868408},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.16268402338027954},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0786333680152893},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","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/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1017/s0263574713000593","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574713000593","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:lup.lub.lu.se:2b5ace92-9cbe-4202-820e-27b50a6bc73c","is_oa":false,"landing_page_url":"https://lup.lub.lu.se/record/4261961","pdf_url":null,"source":{"id":"https://openalex.org/S4306400536","display_name":"Lund University Publications (Lund University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I187531555","host_organization_name":"Lund University","host_organization_lineage":["https://openalex.org/I187531555"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"ISSN: 0263-5747","raw_type":"text"},{"id":"pmh:oai:pure.mpg.de:item_2160872","is_oa":false,"landing_page_url":"http://hdl.handle.net/11858/00-001M-0000-0027-806F-9","pdf_url":null,"source":{"id":"https://openalex.org/S4306400654","display_name":"MPG.PuRe (Max Planck Society)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I149899117","host_organization_name":"Max Planck Society","host_organization_lineage":["https://openalex.org/I149899117"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotica","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.49000000953674316,"display_name":"Reduced inequalities","id":"https://metadata.un.org/sdg/10"},{"score":0.47999998927116394,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W635591150","https://openalex.org/W645009165","https://openalex.org/W1550889029","https://openalex.org/W1556800872","https://openalex.org/W1967390389","https://openalex.org/W1971499096","https://openalex.org/W1977598904","https://openalex.org/W1984343324","https://openalex.org/W1985124837","https://openalex.org/W1996365802","https://openalex.org/W1999869379","https://openalex.org/W2000798171","https://openalex.org/W2001852229","https://openalex.org/W2026789234","https://openalex.org/W2040803400","https://openalex.org/W2051317696","https://openalex.org/W2055383340","https://openalex.org/W2089913832","https://openalex.org/W2100440496","https://openalex.org/W2103036658","https://openalex.org/W2111551460","https://openalex.org/W2113388320","https://openalex.org/W2114109903","https://openalex.org/W2119691755","https://openalex.org/W2122850646","https://openalex.org/W2124324456","https://openalex.org/W2135464393","https://openalex.org/W2143417201","https://openalex.org/W2145439762","https://openalex.org/W2152270724","https://openalex.org/W2431417330","https://openalex.org/W2437419847","https://openalex.org/W2623660146","https://openalex.org/W4250047768","https://openalex.org/W6678463889"],"related_works":["https://openalex.org/W2094105667","https://openalex.org/W2097347938","https://openalex.org/W2164858976","https://openalex.org/W2970545857","https://openalex.org/W4311378573","https://openalex.org/W2604504363","https://openalex.org/W2146087280","https://openalex.org/W2156701455","https://openalex.org/W2427793137","https://openalex.org/W2998207585"],"abstract_inverted_index":{"SUMMARY":[0],"In":[1,190],"this":[2,181],"paper,":[3],"human":[4],"viscosity":[5,23,47,198],"perception":[6,16],"in":[7,28,102],"haptic":[8],"teleoperation":[9,88],"systems":[10],"is":[11,24,78,94,104,126,182],"thoroughly":[12],"analyzed.":[13],"An":[14],"accurate":[15],"of":[17,51,114,121,131],"viscoelastic":[18],"environmental":[19],"properties":[20],"such":[21,31],"as":[22,32,204],"a":[25,95,129,172],"critical":[26],"ability":[27,44,175],"several":[29,56],"contexts,":[30],"telesurgery,":[33],"telerehabilitation,":[34],"telemedicine,":[35],"and":[36,41,53,112,137,155],"soft-tissue":[37],"interaction.":[38],"We":[39,107],"study":[40],"compare":[42,158],"the":[43,49,61,70,74,81,87,110,115,122,149,168,177,212,217],"to":[45,72,187],"perceive":[46],"from":[48,206],"standpoint":[50],"detection":[52,154,188,199],"discrimination":[54,156,174,213],"using":[55],"relevant":[57],"control":[58,84,100,161,202],"methods":[59],"for":[60,86,119,141,200,216],"teleoperator.":[62],"The":[63,90,124,144,163],"perception-based":[64,150,218],"method,":[65,92,179],"which":[66,93],"was":[67],"proposed":[68],"by":[69],"authors":[71],"enhance":[73],"operator's":[75],"kinesthetic":[76],"perception,":[77],"compared":[79],"with":[80,159,185],"conventional":[82],"transparency-based":[83,178],"method":[85,97,151,170],"system.":[89],"fidelity-based":[91,169],"primary":[96],"among":[98],"perception-centered":[99],"schemes":[101],"teleoperation,":[103],"also":[105,108],"studied.":[106],"examine":[109],"necessity":[111],"impact":[113],"remote-site":[116],"force":[117,195],"information":[118,196],"each":[120],"methods.":[123,162],"comparison":[125],"based":[127],"on":[128],"series":[130],"psychophysical":[132],"experiments":[133],"measuring":[134],"absolute":[135],"threshold":[136,214],"just":[138],"noticeable":[139],"difference":[140],"all":[142,201],"conditions.":[143],"results":[145,164],"clearly":[146],"show":[147,166,193],"that":[148,167,194],"enhances":[152],"both":[153],"abilities":[157],"other":[160],"further":[165],"confers":[171],"better":[173],"than":[176],"although":[180],"not":[183],"true":[184],"respect":[186],"ability.":[189],"addition,":[191],"we":[192],"improves":[197,211],"methods,":[203],"predicted":[205],"previous":[207],"theoretical":[208],"analysis,":[209],"but":[210],"only":[215],"method.":[219]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2015,"cited_by_count":6},{"year":2014,"cited_by_count":1}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}