{"id":"https://openalex.org/W3038614281","doi":"https://doi.org/10.1109/access.2020.3006715","title":"Experimental Results for Haptic Interaction With Virtual Holonomic and Nonholonomic Constraints","display_name":"Experimental Results for Haptic Interaction With Virtual Holonomic and Nonholonomic Constraints","publication_year":2020,"publication_date":"2020-01-01","ids":{"openalex":"https://openalex.org/W3038614281","doi":"https://doi.org/10.1109/access.2020.3006715","mag":"3038614281"},"language":"en","primary_location":{"id":"doi:10.1109/access.2020.3006715","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3006715","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.1109/access.2020.3006715","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5047807424","display_name":"Jos\u00e9 Daniel Castro-D\u00edaz","orcid":"https://orcid.org/0000-0002-4831-9630"},"institutions":[{"id":"https://openalex.org/I8961855","display_name":"Universidad Nacional Aut\u00f3noma de M\u00e9xico","ror":"https://ror.org/01tmp8f25","country_code":"MX","type":"education","lineage":["https://openalex.org/I8961855"]}],"countries":["MX"],"is_corresponding":true,"raw_author_name":"Jose Daniel Castro-Diaz","raw_affiliation_strings":["Control and Robotics Department, Electrical Engineering Division, School of Engineering, UNAM, Mexico City, Mexico","ORCiD"],"affiliations":[{"raw_affiliation_string":"Control and Robotics Department, Electrical Engineering Division, School of Engineering, UNAM, Mexico City, Mexico","institution_ids":["https://openalex.org/I8961855"]},{"raw_affiliation_string":"ORCiD","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063063484","display_name":"Pablo S\u00e1nchez\u2010S\u00e1nchez","orcid":"https://orcid.org/0000-0002-5990-6726"},"institutions":[{"id":"https://openalex.org/I721619","display_name":"Benem\u00e9rita Universidad Aut\u00f3noma de Puebla","ror":"https://ror.org/03p2z7827","country_code":"MX","type":"education","lineage":["https://openalex.org/I721619"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Pablo Sanchez-Sanchez","raw_affiliation_strings":["Robotics and Control Department, School of Electronic Sciences, BUAP, Puebla, Mexico","ORCiD"],"affiliations":[{"raw_affiliation_string":"Robotics and Control Department, School of Electronic Sciences, BUAP, Puebla, Mexico","institution_ids":["https://openalex.org/I721619"]},{"raw_affiliation_string":"ORCiD","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069779574","display_name":"Alejandro Guti\u00e9rrez\u2013Giles","orcid":"https://orcid.org/0000-0002-2166-2463"},"institutions":[{"id":"https://openalex.org/I68368234","display_name":"Centro de Investigaci\u00f3n y de Estudios Avanzados del Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/009eqmr18","country_code":"MX","type":"facility","lineage":["https://openalex.org/I59361560","https://openalex.org/I68368234"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Alejandro Gutierrez-Giles","raw_affiliation_strings":["Electrical Engineering Department, Mechatronics Section, CINVESTAV\u2013IPN, Mexico City, Mexico","Electrical Engineering Department, Mechatronics Section, CINVESTAV&#x2013;IPN, Mexico City, Mexico"],"affiliations":[{"raw_affiliation_string":"Electrical Engineering Department, Mechatronics Section, CINVESTAV\u2013IPN, Mexico City, Mexico","institution_ids":["https://openalex.org/I68368234"]},{"raw_affiliation_string":"Electrical Engineering Department, Mechatronics Section, CINVESTAV&#x2013;IPN, Mexico City, Mexico","institution_ids":["https://openalex.org/I68368234"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004349915","display_name":"Marco A. Arteaga","orcid":"https://orcid.org/0000-0002-1785-8973"},"institutions":[{"id":"https://openalex.org/I8961855","display_name":"Universidad Nacional Aut\u00f3noma de M\u00e9xico","ror":"https://ror.org/01tmp8f25","country_code":"MX","type":"education","lineage":["https://openalex.org/I8961855"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Marco A. Arteaga-Perez","raw_affiliation_strings":["Control and Robotics Department, Electrical Engineering Division, School of Engineering, UNAM, Mexico City, Mexico","ORCiD"],"affiliations":[{"raw_affiliation_string":"Control and Robotics Department, Electrical Engineering Division, School of Engineering, UNAM, Mexico City, Mexico","institution_ids":["https://openalex.org/I8961855"]},{"raw_affiliation_string":"ORCiD","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5020893740","display_name":"Javier Pliego\u2010Jim\u00e9nez","orcid":"https://orcid.org/0000-0002-5897-8963"},"institutions":[{"id":"https://openalex.org/I4210163111","display_name":"Secretar\u00eda de Ciencia, Humanidades, Tecnolog\u00eda e Innovaci\u00f3n","ror":"https://ror.org/059ex5q34","country_code":"MX","type":"government","lineage":["https://openalex.org/I4210163111"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Javier Pliego-Jimenez","raw_affiliation_strings":["Electronics and Telecommunications Department, Applied Physics Division, CISESE\u2013CONACYT, Ensenada, Mexico","Electronics and Telecommunications Department, Applied Physics Division, CISESE&#x2013;CONACYT, Ensenada, Mexico"],"affiliations":[{"raw_affiliation_string":"Electronics and Telecommunications Department, Applied Physics Division, CISESE\u2013CONACYT, Ensenada, Mexico","institution_ids":["https://openalex.org/I4210163111"]},{"raw_affiliation_string":"Electronics and Telecommunications Department, Applied Physics Division, CISESE&#x2013;CONACYT, Ensenada, Mexico","institution_ids":["https://openalex.org/I4210163111"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5047807424"],"corresponding_institution_ids":["https://openalex.org/I8961855"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.7287,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.6699387,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"8","issue":null,"first_page":"120959","last_page":"120973"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9998999834060669,"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":0.9998999834060669,"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/T10648","display_name":"Virtual Reality Applications and Impacts","score":0.991599977016449,"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"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9864000082015991,"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/haptic-technology","display_name":"Haptic technology","score":0.7774657011032104},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7267262935638428},{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.7159667611122131},{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.6515713930130005},{"id":"https://openalex.org/keywords/rendering","display_name":"Rendering (computer graphics)","score":0.6491833925247192},{"id":"https://openalex.org/keywords/holonomic","display_name":"Holonomic","score":0.5837964415550232},{"id":"https://openalex.org/keywords/holonomic-constraints","display_name":"Holonomic constraints","score":0.5761465430259705},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5106845498085022},{"id":"https://openalex.org/keywords/virtual-reality","display_name":"Virtual reality","score":0.472561776638031},{"id":"https://openalex.org/keywords/virtual-work","display_name":"Virtual work","score":0.4309879541397095},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.40231162309646606},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.37730738520622253},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.37502962350845337},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.33478355407714844},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3318837881088257},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.22043487429618835},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1258777379989624},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.09726676344871521},{"id":"https://openalex.org/keywords/finite-element-method","display_name":"Finite element method","score":0.08042562007904053}],"concepts":[{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.7774657011032104},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7267262935638428},{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.7159667611122131},{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.6515713930130005},{"id":"https://openalex.org/C205711294","wikidata":"https://www.wikidata.org/wiki/Q176953","display_name":"Rendering (computer graphics)","level":2,"score":0.6491833925247192},{"id":"https://openalex.org/C2777964439","wikidata":"https://www.wikidata.org/wiki/Q5884201","display_name":"Holonomic","level":2,"score":0.5837964415550232},{"id":"https://openalex.org/C116721078","wikidata":"https://www.wikidata.org/wiki/Q1048005","display_name":"Holonomic constraints","level":2,"score":0.5761465430259705},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5106845498085022},{"id":"https://openalex.org/C194969405","wikidata":"https://www.wikidata.org/wiki/Q170519","display_name":"Virtual reality","level":2,"score":0.472561776638031},{"id":"https://openalex.org/C136560751","wikidata":"https://www.wikidata.org/wiki/Q1144923","display_name":"Virtual work","level":3,"score":0.4309879541397095},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.40231162309646606},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.37730738520622253},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.37502962350845337},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.33478355407714844},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3318837881088257},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.22043487429618835},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1258777379989624},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.09726676344871521},{"id":"https://openalex.org/C135628077","wikidata":"https://www.wikidata.org/wiki/Q220184","display_name":"Finite element method","level":2,"score":0.08042562007904053},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2020.3006715","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3006715","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:adc516aec8064eb388dce29a7551741f","is_oa":true,"landing_page_url":"https://doaj.org/article/adc516aec8064eb388dce29a7551741f","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 8, Pp 120959-120973 (2020)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2020.3006715","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3006715","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.6100000143051147,"id":"https://metadata.un.org/sdg/16"}],"awards":[{"id":"https://openalex.org/G2325490630","display_name":null,"funder_award_id":"IN117820","funder_id":"https://openalex.org/F4320335100","funder_display_name":"Direcci\u00f3n General de Asuntos del Personal Acad\u00e9mico, Universidad Nacional Aut\u00f3noma de M\u00e9xico"}],"funders":[{"id":"https://openalex.org/F4320335100","display_name":"Direcci\u00f3n General de Asuntos del Personal Acad\u00e9mico, Universidad Nacional Aut\u00f3noma de M\u00e9xico","ror":"https://ror.org/01tmp8f25"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":46,"referenced_works":["https://openalex.org/W183122886","https://openalex.org/W202623882","https://openalex.org/W289820477","https://openalex.org/W1491867217","https://openalex.org/W1559242836","https://openalex.org/W1564897360","https://openalex.org/W1566463023","https://openalex.org/W1964511224","https://openalex.org/W1968439442","https://openalex.org/W1985291317","https://openalex.org/W2017743654","https://openalex.org/W2045971162","https://openalex.org/W2081391299","https://openalex.org/W2089640842","https://openalex.org/W2093664976","https://openalex.org/W2096147331","https://openalex.org/W2107550832","https://openalex.org/W2113265921","https://openalex.org/W2115512523","https://openalex.org/W2120506783","https://openalex.org/W2121124865","https://openalex.org/W2121272278","https://openalex.org/W2121824852","https://openalex.org/W2146990154","https://openalex.org/W2147484417","https://openalex.org/W2151296230","https://openalex.org/W2152715074","https://openalex.org/W2156438071","https://openalex.org/W2158860748","https://openalex.org/W2158944513","https://openalex.org/W2161919100","https://openalex.org/W2180065899","https://openalex.org/W2342610385","https://openalex.org/W2397302187","https://openalex.org/W2509792696","https://openalex.org/W2599872305","https://openalex.org/W2746798342","https://openalex.org/W2754300823","https://openalex.org/W2790268363","https://openalex.org/W2790777513","https://openalex.org/W2900362482","https://openalex.org/W2900620875","https://openalex.org/W2996200817","https://openalex.org/W2997683045","https://openalex.org/W3101713387","https://openalex.org/W4237905247"],"related_works":["https://openalex.org/W2154502479","https://openalex.org/W2127776540","https://openalex.org/W76235543","https://openalex.org/W45593259","https://openalex.org/W641237144","https://openalex.org/W1973747674","https://openalex.org/W4378942199","https://openalex.org/W2074786897","https://openalex.org/W2018918536","https://openalex.org/W2183446508"],"abstract_inverted_index":{"Force-feedback":[0],"rendering":[1,57],"of":[2,159,192],"virtual":[3,8,73,82,109,181],"tools":[4],"in":[5,179,231],"contact":[6],"with":[7],"surfaces":[9,43,178],"is":[10,18,78,139,164,215],"an":[11,21],"open":[12],"research":[13],"problem.":[14],"A":[15],"common":[16],"strategy":[17],"to":[19,30,35,86,94,174,197,225],"define":[20,95],"integrable":[22],"implicit":[23],"equation":[24],"that":[25,168],"represents":[26],"the":[27,32,38,69,101,108,112,117,125,132,135,143,147,153,157,160,165,199,204],"surface":[28,77],"and":[29,75,88,111,210],"use":[31],"penalty":[33],"method":[34],"haptically":[36,176],"render":[37],"corresponding":[39],"force.":[40],"Nevertheless,":[41],"some":[42,227],"cannot":[44],"be":[45,223],"described":[46],"this":[47,60,163],"way,":[48],"e.":[49],"g.,":[50],"soft":[51],"tissues,":[52],"thus":[53],"making":[54],"real-time":[55],"force":[56,138,205],"inaccurate.":[58],"In":[59],"work,":[61],"we":[62],"propose":[63],"a":[64,72,76,81,96,121,180,190],"bilateral":[65],"teleoperation":[66],"scheme":[67],"where":[68],"interaction":[70],"between":[71,107],"tool":[74,110],"represented":[79],"by":[80,115,141,146,202],"slave":[83],"robot":[84,113,149],"subject":[85],"holonomic":[87,209],"nonholonomic":[89,169,211],"constraints.":[90,212],"This":[91],"approach":[92,201],"allows":[93],"position-force":[97],"controller":[98],"that,":[99],"on":[100,120,131,217],"one":[102],"hand,":[103],"guarantees":[104],"position":[105],"tracking":[106],"end-effector":[114],"projecting":[116],"operator's":[118],"movements":[119],"computer":[122],"screen":[123],"via":[124],"simulated":[126],"robotic":[127],"dynamic":[128],"model,":[129],"while":[130],"other":[133],"hand":[134],"felt":[136],"reaction":[137],"rendered":[140],"considering":[142],"forces":[144],"generated":[145],"master":[148],"as":[150],"references":[151],"for":[152],"control":[154],"system.":[155,183],"To":[156],"best":[158],"authors'":[161],"knowledge":[162],"first":[166],"time":[167],"constraints":[170],"have":[171],"been":[172],"used":[173,224],"reproduce":[175,226],"deformable":[177],"reality":[182],"Since":[184],"such":[185],"tactile":[186,228],"sensations":[187],"are":[188,194],"subjective,":[189],"set":[191],"experiments":[193],"carried":[195],"out":[196],"validate":[198],"proposed":[200],"comparing":[203],"responses":[206],"when":[207],"using":[208],"Special":[213],"emphasis":[214],"made":[216],"describing":[218],"how":[219],"both":[220],"representations":[221],"can":[222],"phenomena":[229],"presented":[230],"medical":[232],"training":[233],"simulators.":[234]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
