{"id":"https://openalex.org/W2772684727","doi":"https://doi.org/10.1108/ir-02-2017-0031","title":"Improving backdrivability in preoperative manual manipulability of minimally invasive surgery robot","display_name":"Improving backdrivability in preoperative manual manipulability of minimally invasive surgery robot","publication_year":2017,"publication_date":"2017-12-13","ids":{"openalex":"https://openalex.org/W2772684727","doi":"https://doi.org/10.1108/ir-02-2017-0031","mag":"2772684727"},"language":"en","primary_location":{"id":"doi:10.1108/ir-02-2017-0031","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-02-2017-0031","pdf_url":null,"source":{"id":"https://openalex.org/S166948985","display_name":"Industrial Robot the international journal of robotics research and application","issn_l":"0143-991X","issn":["0143-991X","1758-5791"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319811","host_organization_name":"Emerald Publishing Limited","host_organization_lineage":["https://openalex.org/P4310319811"],"host_organization_lineage_names":["Emerald Publishing Limited"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Industrial Robot: An International Journal","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/A5112985180","display_name":"Shuizhong Zou","orcid":null},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuizhong Zou","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101778538","display_name":"Bo Pan","orcid":"https://orcid.org/0000-0001-8954-399X"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bo Pan","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008597054","display_name":"Yili Fu","orcid":"https://orcid.org/0000-0003-2075-2384"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yili Fu","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5026976285","display_name":"Shuixiang Guo","orcid":null},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuixiang Guo","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I204983213"],"apc_list":null,"apc_paid":null,"fwci":0.2548,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.56355238,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"45","issue":"1","first_page":"127","last_page":"140"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9994999766349792,"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"}},"topics":[{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9994999766349792,"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"}},{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.996399998664856,"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"}},{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9943000078201294,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5858669877052307},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.5811289548873901},{"id":"https://openalex.org/keywords/angular-acceleration","display_name":"Angular acceleration","score":0.5705208778381348},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5653207302093506},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5589256286621094},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.5139347910881042},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4859949052333832},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.48101502656936646},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.4804386794567108},{"id":"https://openalex.org/keywords/angular-velocity","display_name":"Angular velocity","score":0.4728712737560272},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.46249914169311523},{"id":"https://openalex.org/keywords/rehabilitation-robotics","display_name":"Rehabilitation robotics","score":0.43362754583358765},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3981541395187378},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2832843065261841},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.22897493839263916},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08819624781608582}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5858669877052307},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.5811289548873901},{"id":"https://openalex.org/C190704821","wikidata":"https://www.wikidata.org/wiki/Q186300","display_name":"Angular acceleration","level":3,"score":0.5705208778381348},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5653207302093506},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5589256286621094},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.5139347910881042},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4859949052333832},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.48101502656936646},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.4804386794567108},{"id":"https://openalex.org/C5594486","wikidata":"https://www.wikidata.org/wiki/Q161635","display_name":"Angular velocity","level":2,"score":0.4728712737560272},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.46249914169311523},{"id":"https://openalex.org/C2775862927","wikidata":"https://www.wikidata.org/wiki/Q7309766","display_name":"Rehabilitation robotics","level":3,"score":0.43362754583358765},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3981541395187378},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2832843065261841},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.22897493839263916},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08819624781608582},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","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/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1108/ir-02-2017-0031","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-02-2017-0031","pdf_url":null,"source":{"id":"https://openalex.org/S166948985","display_name":"Industrial Robot the international journal of robotics research and application","issn_l":"0143-991X","issn":["0143-991X","1758-5791"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319811","host_organization_name":"Emerald Publishing Limited","host_organization_lineage":["https://openalex.org/P4310319811"],"host_organization_lineage_names":["Emerald Publishing Limited"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Industrial Robot: An International Journal","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5199999809265137,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W1549528369","https://openalex.org/W1689251781","https://openalex.org/W1707112145","https://openalex.org/W1837469122","https://openalex.org/W1964047266","https://openalex.org/W1989169659","https://openalex.org/W1999169503","https://openalex.org/W2004841531","https://openalex.org/W2017245516","https://openalex.org/W2028565698","https://openalex.org/W2030770202","https://openalex.org/W2037815528","https://openalex.org/W2068793240","https://openalex.org/W2070927739","https://openalex.org/W2080017937","https://openalex.org/W2101968840","https://openalex.org/W2101973079","https://openalex.org/W2124641719","https://openalex.org/W2126814366","https://openalex.org/W2133884578","https://openalex.org/W2136348177","https://openalex.org/W2139152402","https://openalex.org/W2140151460","https://openalex.org/W2142999592","https://openalex.org/W2158796185","https://openalex.org/W2167371819","https://openalex.org/W2168120373","https://openalex.org/W2168705621","https://openalex.org/W2218556868"],"related_works":["https://openalex.org/W123316752","https://openalex.org/W2628866709","https://openalex.org/W1973219514","https://openalex.org/W2275557598","https://openalex.org/W2067537352","https://openalex.org/W1510705688","https://openalex.org/W2322149471","https://openalex.org/W3134829590","https://openalex.org/W2363911845","https://openalex.org/W136283090"],"abstract_inverted_index":{"Purpose":[0],"The":[1,125,145,190],"purpose":[2],"of":[3,17,28,44,47,54,78,104,149,153,158,182,208,237],"this":[4,196,267],"paper":[5,197,268],"is":[6,60,98,198],"to":[7,12,100,202],"propose":[8],"a":[9,91,199,270,277],"control":[10,92,186,192],"algorithm":[11,93,193,252],"improve":[13],"the":[14,35,40,45,72,86,102,110,120,138,142,150,159,162,180,183,204,217,250],"backdrivability":[15,103,185,191,247,255],"performance":[16,207],"minimally":[18,55],"invasive":[19,56],"surgical":[20],"robotic":[21,29],"arms,":[22],"so":[23,241],"that":[24],"precise":[25],"manual":[26,205,221],"manipulations":[27],"arms":[30],"can":[31,131,166,211],"be":[32,132,167,212],"performed":[33],"in":[34,82,195,216,225],"preoperative":[36,220],"operation.":[37],"Design/methodology/approach":[38],"First,":[39],"flexible-joint":[41],"dynamic":[42,64],"model":[43],"3-degree":[46],"freedom":[48],"remote":[49],"center":[50],"motion":[51],"(RCM)":[52],"mechanisms":[53,106,130,258],"surgery":[57],"(MIS)":[58],"robot":[59,219,226,230,239],"derived":[61],"and":[62,66,75,115,122,141,147,156,176,233,240,263],"its":[63],"parameters":[65,68],"friction":[67,273],"are":[69,80],"identified.":[70],"Next,":[71],"angular":[73,76,154],"velocities":[74],"accelerations":[77],"joints":[79],"estimated":[81],"real":[83],"time":[84],"by":[85,107,161],"designed":[87,163],"Kalman":[88,96,164],"filter.":[89],"Finally,":[90],"based":[94],"on":[95],"filter":[97,165],"proposed":[99,184,251],"enhance":[101,203],"RCM":[105,129,257],"compensating":[108],"for":[109,128,256,276],"internally":[111],"generated":[112],"gravitational,":[113],"frictional":[114],"inertial":[116],"resistances":[117],"experienced":[118],"during":[119],"positioning":[121],"orientating.":[123],"Findings":[124],"parameter":[126],"identification":[127],"experimentally":[133],"evaluated":[134],"from":[135,169],"comparison":[136],"between":[137],"measured":[139],"torques":[140],"reconstructed":[143],"torques.":[144],"accuracy":[146],"convergence":[148],"real-time":[151],"estimation":[152],"velocity":[155],"acceleration":[157],"joint":[160,278],"verified":[168],"corresponding":[170],"simulation":[171],"experiments.":[172],"Manual":[173],"adjustment":[174],"experiments":[175,178],"animal":[177],"validate":[179],"effectiveness":[181],"algorithm.":[187],"Research":[188],"limitations/implications":[189],"presented":[194],"universal":[200],"method":[201],"operation":[206],"robots,":[209],"which":[210],"used":[213],"not":[214],"only":[215],"medical":[218],"manipulation":[222],"but":[223],"also":[224],"haptic":[227],"interaction,":[228],"industrial":[229],"direct":[231],"teaching":[232],"active":[234],"rehabilitation":[235,238],"training":[236],"on.":[242],"Originality/value":[243],"Compared":[244],"with":[245,280],"other":[246],"design":[248],"methods,":[249],"achieves":[253],"good":[254],"without":[259],"using":[260],"force":[261],"sensors":[262],"accelerometers.":[264],"In":[265],"addition,":[266],"presents":[269],"new":[271],"static":[272],"compensation":[274],"approach":[275],"moving":[279],"very":[281],"low":[282],"velocity.":[283]},"counts_by_year":[{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":2}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}