{"id":"https://openalex.org/W4225533639","doi":"https://doi.org/10.1109/access.2022.3157610","title":"Control of Haptic Systems Based on Input-to-State Stability","display_name":"Control of Haptic Systems Based on Input-to-State Stability","publication_year":2022,"publication_date":"2022-01-01","ids":{"openalex":"https://openalex.org/W4225533639","doi":"https://doi.org/10.1109/access.2022.3157610"},"language":"en","primary_location":{"id":"doi:10.1109/access.2022.3157610","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2022.3157610","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9668973/09729839.pdf","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://ieeexplore.ieee.org/ielx7/6287639/9668973/09729839.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101628975","display_name":"Suyong Kim","orcid":"https://orcid.org/0000-0002-1655-3422"},"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"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Suyong Kim","raw_affiliation_strings":["Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, Daejeon, South Korea"],"raw_orcid":"https://orcid.org/0000-0002-1655-3422","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5007964198","display_name":"Doo Yong Lee","orcid":"https://orcid.org/0000-0003-4769-1331"},"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"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Doo Yong Lee","raw_affiliation_strings":["Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, Daejeon, South Korea"],"raw_orcid":"https://orcid.org/0000-0003-4769-1331","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.4976,"has_fulltext":true,"cited_by_count":5,"citation_normalized_percentile":{"value":0.56820711,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"10","issue":null,"first_page":"27242","last_page":"27254"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9624999761581421,"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/T10648","display_name":"Virtual Reality Applications and Impacts","score":0.9422000050544739,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/passivity","display_name":"Passivity","score":0.9096634387969971},{"id":"https://openalex.org/keywords/dissipative-system","display_name":"Dissipative system","score":0.747603178024292},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7249330282211304},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.6388854384422302},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5658280849456787},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.5475141406059265},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.44993260502815247},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4345693290233612},{"id":"https://openalex.org/keywords/energy","display_name":"Energy (signal processing)","score":0.4222203195095062},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.36558854579925537},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.19905105233192444},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19890132546424866},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.17756298184394836},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12353816628456116},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10492503643035889}],"concepts":[{"id":"https://openalex.org/C2778809601","wikidata":"https://www.wikidata.org/wiki/Q1045736","display_name":"Passivity","level":2,"score":0.9096634387969971},{"id":"https://openalex.org/C99692599","wikidata":"https://www.wikidata.org/wiki/Q596577","display_name":"Dissipative system","level":2,"score":0.747603178024292},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7249330282211304},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.6388854384422302},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5658280849456787},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.5475141406059265},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.44993260502815247},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4345693290233612},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.4222203195095062},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.36558854579925537},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.19905105233192444},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19890132546424866},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.17756298184394836},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12353816628456116},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10492503643035889},{"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"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/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2022.3157610","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2022.3157610","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9668973/09729839.pdf","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:6195f230fb6e4b6bb484fe85299c3e93","is_oa":true,"landing_page_url":"https://doaj.org/article/6195f230fb6e4b6bb484fe85299c3e93","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"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 10, Pp 27242-27254 (2022)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2022.3157610","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2022.3157610","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9668973/09729839.pdf","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":[{"score":0.8999999761581421,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[{"id":"https://openalex.org/G1047382781","display_name":null,"funder_award_id":"1711111113","funder_id":"https://openalex.org/F4320322120","funder_display_name":"National Research Foundation of Korea"}],"funders":[{"id":"https://openalex.org/F4320320671","display_name":"National Research Foundation","ror":"https://ror.org/05s0g1g46"},{"id":"https://openalex.org/F4320322120","display_name":"National Research Foundation of Korea","ror":"https://ror.org/013aysd81"},{"id":"https://openalex.org/F4320328359","display_name":"Ministry of Science and ICT, South Korea","ror":"https://ror.org/01wpjm123"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4225533639.pdf","grobid_xml":"https://content.openalex.org/works/W4225533639.grobid-xml"},"referenced_works_count":31,"referenced_works":["https://openalex.org/W55814457","https://openalex.org/W1538797301","https://openalex.org/W1545137321","https://openalex.org/W2028720893","https://openalex.org/W2031111552","https://openalex.org/W2113661693","https://openalex.org/W2124628366","https://openalex.org/W2144415816","https://openalex.org/W2153631465","https://openalex.org/W2170926050","https://openalex.org/W2199828999","https://openalex.org/W2338554806","https://openalex.org/W2343251674","https://openalex.org/W2520572434","https://openalex.org/W2523702564","https://openalex.org/W2600314761","https://openalex.org/W2624573824","https://openalex.org/W2740167173","https://openalex.org/W2771430690","https://openalex.org/W2784191215","https://openalex.org/W2793197352","https://openalex.org/W2793379827","https://openalex.org/W2800217391","https://openalex.org/W2889216914","https://openalex.org/W2900674470","https://openalex.org/W2915026042","https://openalex.org/W2947540134","https://openalex.org/W2967696401","https://openalex.org/W3006892992","https://openalex.org/W3027095990","https://openalex.org/W3083613402"],"related_works":["https://openalex.org/W4233304828","https://openalex.org/W4239268637","https://openalex.org/W1977819874","https://openalex.org/W2952841825","https://openalex.org/W2085176909","https://openalex.org/W2051296765","https://openalex.org/W2960878236","https://openalex.org/W153449849","https://openalex.org/W2792365087","https://openalex.org/W4288558741"],"abstract_inverted_index":{"Discretization":[0],"of":[1,31,57,71,74,124,146,162,233],"signals":[2],"often":[3,51],"generates":[4],"additional":[5],"energy":[6,39,123,184,199,212,225],"in":[7],"the":[8,21,24,28,32,37,41,55,68,72,79,84,97,103,117,125,139,147,150,158,163,170,174,187,190,197,201,216,234],"haptic":[9,33,58,80],"systems,":[10],"and":[11,53,91,173,230,245],"makes":[12],"them":[13],"unstable.":[14],"The":[15,46,93,110,120,183],"currently":[16],"popular":[17],"controls":[18],"based":[19],"on":[20],"passivity":[22],"stabilize":[23],"systems":[25,34,81,98,111],"by":[26,101,240],"limiting":[27],"rendered":[29,235],"force":[30],"so":[35],"that":[36,177,210],"generated":[38,121,185,198],"from":[40,186],"system":[42,104,127,141,188],"stays":[43],"below":[44],"zero.":[45,207],"passivity-based":[47,159,181,202],"methods":[48],"are,":[49,237],"however,":[50],"conservative":[52,156],"sacrifice":[54],"performance":[56],"rendering.":[59],"This":[60,208],"paper":[61],"proposes":[62],"a":[63,106,131,143],"control":[64,153,165],"method":[65,176,192],"to":[66,78,82,215,221],"adjust":[67],"change":[69],"rate":[70],"stiffness":[73,219],"virtual":[75,171],"environment":[76],"connected":[77],"satisfy":[83,116],"input-to-state":[85],"stability":[86,90],"(ISS)":[87],"for":[88,96],"better":[89],"transparency.":[92],"ISS":[94,118],"conditions":[95],"are":[99,178],"derived":[100],"modeling":[102],"as":[105],"linear":[107],"time-varying":[108],"system.":[109],"become":[112],"dissipative":[113,126,148],"if":[114],"they":[115],"conditions.":[119],"surplus":[122],"is":[128,142,154,166,193,204,213],"less":[129,155,205],"than":[130,157,206],"positive":[132,194],"finite":[133,195],"value":[134],"while":[135],"maintaining":[136],"stability.":[137],"Since":[138],"passive":[140],"special":[144],"case":[145],"system,":[149],"proposed":[151,164,191],"ISS-based":[152],"approaches.":[160,182],"Performance":[161],"experimentally":[167],"compared":[168],"with":[169],"coupling":[172],"force-bounding":[175],"widely":[179],"used":[180],"using":[189,200],"whereas":[196],"approaches":[203],"means":[209],"more":[211],"transferred":[214,224],"operator.":[217],"Increased":[218],"corresponding":[220],"this":[222],"additionally":[223],"can":[226],"be":[227],"rendered.":[228],"Root-mean-square":[229],"maximum":[231],"errors":[232],"forces":[236],"therefore,":[238],"reduced":[239],"at":[241],"least":[242],"86":[243],"&#x0025;":[244],"50":[246],"&#x0025;,":[247],"respectively.":[248]},"counts_by_year":[{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
