{"id":"https://openalex.org/W3044842329","doi":"https://doi.org/10.1017/s0263574720000648","title":"A Human Arm\u2019s Mechanical Impedance Tuning Method for Improving the Stability of Haptic Rendering","display_name":"A Human Arm\u2019s Mechanical Impedance Tuning Method for Improving the Stability of Haptic Rendering","publication_year":2020,"publication_date":"2020-07-21","ids":{"openalex":"https://openalex.org/W3044842329","doi":"https://doi.org/10.1017/s0263574720000648","mag":"3044842329"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574720000648","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574720000648","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/A5046117737","display_name":"Xiong Lu","orcid":"https://orcid.org/0000-0002-4470-8516"},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xiong Lu","raw_affiliation_strings":["College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing211106, China"],"affiliations":[{"raw_affiliation_string":"College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing211106, China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052084637","display_name":"Beibei Qi","orcid":null},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Beibei Qi","raw_affiliation_strings":["College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing211106, China"],"affiliations":[{"raw_affiliation_string":"College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing211106, China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075864940","display_name":"Hao Zhao","orcid":"https://orcid.org/0000-0003-3710-333X"},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hao Zhao","raw_affiliation_strings":["College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing211106, China"],"affiliations":[{"raw_affiliation_string":"College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing211106, China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5052588431","display_name":"Junbin Sun","orcid":null},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junbin Sun","raw_affiliation_strings":["College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing211106, China"],"affiliations":[{"raw_affiliation_string":"College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing211106, China","institution_ids":["https://openalex.org/I9842412"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5046117737"],"corresponding_institution_ids":["https://openalex.org/I9842412"],"apc_list":null,"apc_paid":null,"fwci":0.3643,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.56125359,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"39","issue":"4","first_page":"652","last_page":"664"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9993000030517578,"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":0.9993000030517578,"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":0.9907000064849854,"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/T10982","display_name":"Motor Control and Adaptation","score":0.9857000112533569,"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/haptic-technology","display_name":"Haptic technology","score":0.8703694343566895},{"id":"https://openalex.org/keywords/human-arm","display_name":"Human arm","score":0.7756253480911255},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.7296146154403687},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.6174851655960083},{"id":"https://openalex.org/keywords/mechanical-impedance","display_name":"Mechanical impedance","score":0.607616126537323},{"id":"https://openalex.org/keywords/rendering","display_name":"Rendering (computer graphics)","score":0.5679976940155029},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5673779249191284},{"id":"https://openalex.org/keywords/transparency","display_name":"Transparency (behavior)","score":0.5511783361434937},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.5123637914657593},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.48968246579170227},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.4737440049648285},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4625147879123688},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4321085512638092},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2624157965183258},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2566911578178406},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24744486808776855},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.09909430146217346}],"concepts":[{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.8703694343566895},{"id":"https://openalex.org/C2988484212","wikidata":"https://www.wikidata.org/wiki/Q43471","display_name":"Human arm","level":2,"score":0.7756253480911255},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.7296146154403687},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.6174851655960083},{"id":"https://openalex.org/C159447365","wikidata":"https://www.wikidata.org/wiki/Q6421317","display_name":"Mechanical impedance","level":3,"score":0.607616126537323},{"id":"https://openalex.org/C205711294","wikidata":"https://www.wikidata.org/wiki/Q176953","display_name":"Rendering (computer graphics)","level":2,"score":0.5679976940155029},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5673779249191284},{"id":"https://openalex.org/C2780233690","wikidata":"https://www.wikidata.org/wiki/Q535347","display_name":"Transparency (behavior)","level":2,"score":0.5511783361434937},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.5123637914657593},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.48968246579170227},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.4737440049648285},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4625147879123688},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4321085512638092},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2624157965183258},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2566911578178406},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24744486808776855},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.09909430146217346},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574720000648","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574720000648","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"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.4399999976158142,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":48,"referenced_works":["https://openalex.org/W998690604","https://openalex.org/W1480135040","https://openalex.org/W1524122981","https://openalex.org/W1969993920","https://openalex.org/W1995712537","https://openalex.org/W1996072528","https://openalex.org/W2016886744","https://openalex.org/W2028720893","https://openalex.org/W2031863090","https://openalex.org/W2031882076","https://openalex.org/W2080487795","https://openalex.org/W2088709318","https://openalex.org/W2107207454","https://openalex.org/W2122341681","https://openalex.org/W2130188873","https://openalex.org/W2130693052","https://openalex.org/W2144415816","https://openalex.org/W2147287153","https://openalex.org/W2149925599","https://openalex.org/W2249857371","https://openalex.org/W2295762028","https://openalex.org/W2346804614","https://openalex.org/W2407283971","https://openalex.org/W2466095367","https://openalex.org/W2592292552","https://openalex.org/W2600314761","https://openalex.org/W2624573824","https://openalex.org/W2758606104","https://openalex.org/W2784191215","https://openalex.org/W2790803863","https://openalex.org/W2793677370","https://openalex.org/W2795927951","https://openalex.org/W2797466960","https://openalex.org/W2797816783","https://openalex.org/W2805027209","https://openalex.org/W2805156264","https://openalex.org/W2888266597","https://openalex.org/W2892490784","https://openalex.org/W2896380445","https://openalex.org/W2921190203","https://openalex.org/W2973040083","https://openalex.org/W6697454272","https://openalex.org/W6713946970","https://openalex.org/W6747835023","https://openalex.org/W6750939214","https://openalex.org/W6753863126","https://openalex.org/W6767590780","https://openalex.org/W7075335487"],"related_works":["https://openalex.org/W3034881631","https://openalex.org/W4381737315","https://openalex.org/W80236471","https://openalex.org/W2788434134","https://openalex.org/W2196801576","https://openalex.org/W1515399142","https://openalex.org/W2699559358","https://openalex.org/W4300849399","https://openalex.org/W4247171469","https://openalex.org/W4390480974"],"abstract_inverted_index":{"SUMMARY":[0],"Rendering":[1],"of":[2,23,29,37,85,120,161],"rigid":[3],"objects":[4],"with":[5,152],"high":[6],"stiffness":[7,144],"while":[8],"guaranteeing":[9],"system":[10,44,132],"stability":[11,82,133],"remains":[12],"a":[13,21,73,97,128,138],"major":[14],"and":[15,63,83,134,145,159],"challenging":[16],"issue":[17],"in":[18],"haptics.":[19],"Being":[20],"part":[22],"the":[24,27,34,51,81,102,112,118,121,157,162],"haptic":[25,86,104,140],"system,":[26],"behavior":[28],"human":[30,52,92,122],"operators,":[31],"represented":[32],"as":[33],"mechanical":[35],"impedance":[36,54,75,94],"arm,":[38,123],"has":[39],"an":[40,107],"inevitable":[41],"influence":[42],"on":[43,117,137],"performance.":[45],"This":[46],"paper":[47],"first":[48],"verified":[49],"that":[50],"arm":[53,93],"can":[55],"unconsciously":[56],"be":[57],"modified":[58],"through":[59],"imposing":[60],"background":[61,99,114],"forces":[62],"resist":[64],"unstable":[65],"motions":[66],"arising":[67],"from":[68],"external":[69],"disturbance":[70],"forces.":[71],"Then,":[72],"reliable":[74],"tuning":[76],"(IT)":[77],"method":[78],"for":[79],"improving":[80],"performance":[84],"systems":[87],"is":[88,124],"proposed,":[89],"which":[90,155],"tunes":[91],"by":[95],"superimposing":[96],"position-based":[98],"force":[100,115],"over":[101],"traditional":[103],"workspace.":[105],"Moreover,":[106],"adaptive":[108],"IT":[109],"algorithm,":[110],"adjusting":[111],"maximum":[113,142],"based":[116],"velocity":[119],"proposed":[125,163],"to":[126],"achieve":[127],"reasonable":[129],"trade-off":[130],"between":[131],"transparency.":[135],"Based":[136],"three-degrees-of-freedom":[139],"device,":[141],"achievable":[143],"transparency":[146],"grading":[147],"experiments":[148],"are":[149],"carried":[150],"out":[151],"12":[153],"subjects,":[154],"verify":[156],"efficacy":[158],"advantage":[160],"method.":[164]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2020,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
