{"id":"https://openalex.org/W7134913450","doi":"https://doi.org/10.1109/access.2026.3672494","title":"MR-UBi: Mixed Reality-Based Underwater Robot Arm Teleoperation System With Reaction Torque Indicator via Bilateral Control","display_name":"MR-UBi: Mixed Reality-Based Underwater Robot Arm Teleoperation System With Reaction Torque Indicator via Bilateral Control","publication_year":2026,"publication_date":"2026-01-01","ids":{"openalex":"https://openalex.org/W7134913450","doi":"https://doi.org/10.1109/access.2026.3672494"},"language":"en","primary_location":{"id":"doi:10.1109/access.2026.3672494","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2026.3672494","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.2026.3672494","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5128723062","display_name":"Kohei Nishi","orcid":null},"institutions":[{"id":"https://openalex.org/I14314212","display_name":"Osaka University of Economics","ror":"https://ror.org/04g11bp59","country_code":"JP","type":"education","lineage":["https://openalex.org/I14314212"]},{"id":"https://openalex.org/I98285908","display_name":"The University of Osaka","ror":"https://ror.org/035t8zc32","country_code":"JP","type":"education","lineage":["https://openalex.org/I98285908"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kohei Nishi","raw_affiliation_strings":["Graduate School of Information Science and Technology, The University of Osaka, Toyonaka, Osaka, Japan"],"raw_orcid":"https://orcid.org/0009-0009-6855-5663","affiliations":[{"raw_affiliation_string":"Graduate School of Information Science and Technology, The University of Osaka, Toyonaka, Osaka, Japan","institution_ids":["https://openalex.org/I14314212","https://openalex.org/I98285908"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022934757","display_name":"Masato Kobayashi","orcid":"https://orcid.org/0000-0001-9703-2858"},"institutions":[{"id":"https://openalex.org/I14314212","display_name":"Osaka University of Economics","ror":"https://ror.org/04g11bp59","country_code":"JP","type":"education","lineage":["https://openalex.org/I14314212"]},{"id":"https://openalex.org/I98285908","display_name":"The University of Osaka","ror":"https://ror.org/035t8zc32","country_code":"JP","type":"education","lineage":["https://openalex.org/I98285908"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masato Kobayashi","raw_affiliation_strings":["Graduate School of Information Science and Technology, The University of Osaka, Toyonaka, Osaka, Japan"],"raw_orcid":"https://orcid.org/0000-0001-9703-2858","affiliations":[{"raw_affiliation_string":"Graduate School of Information Science and Technology, The University of Osaka, Toyonaka, Osaka, Japan","institution_ids":["https://openalex.org/I14314212","https://openalex.org/I98285908"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5056350914","display_name":"Yuki Uranishi","orcid":"https://orcid.org/0000-0001-6027-0334"},"institutions":[{"id":"https://openalex.org/I14314212","display_name":"Osaka University of Economics","ror":"https://ror.org/04g11bp59","country_code":"JP","type":"education","lineage":["https://openalex.org/I14314212"]},{"id":"https://openalex.org/I98285908","display_name":"The University of Osaka","ror":"https://ror.org/035t8zc32","country_code":"JP","type":"education","lineage":["https://openalex.org/I98285908"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yuki Uranishi","raw_affiliation_strings":["Graduate School of Information Science and Technology, The University of Osaka, Toyonaka, Osaka, Japan"],"raw_orcid":"https://orcid.org/0000-0001-6027-0334","affiliations":[{"raw_affiliation_string":"Graduate School of Information Science and Technology, The University of Osaka, Toyonaka, Osaka, Japan","institution_ids":["https://openalex.org/I14314212","https://openalex.org/I98285908"]}]}],"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":4.3899,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.92565677,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"14","issue":null,"first_page":"40137","last_page":"40146"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9477999806404114,"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":0.9477999806404114,"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":0.010099999606609344,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.007600000128149986,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.9545999765396118},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.7832000255584717},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.633899986743927},{"id":"https://openalex.org/keywords/lift","display_name":"Lift (data mining)","score":0.5364000201225281},{"id":"https://openalex.org/keywords/usability","display_name":"Usability","score":0.5203999876976013},{"id":"https://openalex.org/keywords/overlay","display_name":"Overlay","score":0.37450000643730164},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.35109999775886536}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.9545999765396118},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.7832000255584717},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6625000238418579},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.633899986743927},{"id":"https://openalex.org/C139002025","wikidata":"https://www.wikidata.org/wiki/Q3001212","display_name":"Lift (data mining)","level":2,"score":0.5364000201225281},{"id":"https://openalex.org/C170130773","wikidata":"https://www.wikidata.org/wiki/Q216378","display_name":"Usability","level":2,"score":0.5203999876976013},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3968999981880188},{"id":"https://openalex.org/C136085584","wikidata":"https://www.wikidata.org/wiki/Q910289","display_name":"Overlay","level":2,"score":0.37450000643730164},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.35109999775886536},{"id":"https://openalex.org/C196467688","wikidata":"https://www.wikidata.org/wiki/Q1851985","display_name":"Telerobotics","level":4,"score":0.3327000141143799},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.32749998569488525},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.3043000102043152},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.27959999442100525},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.27570000290870667},{"id":"https://openalex.org/C188721877","wikidata":"https://www.wikidata.org/wiki/Q103510","display_name":"Bar (unit)","level":2,"score":0.25780001282691956},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.2526000142097473}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2026.3672494","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2026.3672494","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:3b0c046c54a347e6a32566f594a4ad98","is_oa":true,"landing_page_url":"https://doaj.org/article/3b0c046c54a347e6a32566f594a4ad98","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 14, Pp 40137-40146 (2026)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2026.3672494","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2026.3672494","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":[{"id":"https://metadata.un.org/sdg/14","display_name":"Life below water","score":0.7401752471923828}],"awards":[],"funders":[{"id":"https://openalex.org/F4320315966","display_name":"Tateisi Science and Technology Foundation","ror":null},{"id":"https://openalex.org/F4320327431","display_name":"Tateishi Science and Technology Foundation","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W2102279668","https://openalex.org/W2157289187","https://openalex.org/W2551865091","https://openalex.org/W2891405116","https://openalex.org/W2901319860","https://openalex.org/W3005507178","https://openalex.org/W3033809666","https://openalex.org/W3134170491","https://openalex.org/W4243354616","https://openalex.org/W4285611064","https://openalex.org/W4312316324","https://openalex.org/W4312525336","https://openalex.org/W4385430674","https://openalex.org/W4388543922","https://openalex.org/W4388758240","https://openalex.org/W4391678210","https://openalex.org/W4395017509","https://openalex.org/W4396736419","https://openalex.org/W4400137762","https://openalex.org/W4401019495","https://openalex.org/W4403022311","https://openalex.org/W4405560653","https://openalex.org/W4405844939","https://openalex.org/W4406189937","https://openalex.org/W4407449452","https://openalex.org/W4407868837","https://openalex.org/W4408442497","https://openalex.org/W4412567209","https://openalex.org/W4413852752","https://openalex.org/W4413917919","https://openalex.org/W4414229200","https://openalex.org/W4416728643"],"related_works":[],"abstract_inverted_index":{"Underwater":[0],"robot-arm":[1,33,122],"teleoperation":[2,34],"requires":[3],"stable":[4],"grasping,":[5],"yet":[6],"operators":[7],"often":[8],"struggle":[9],"to":[10],"accurately":[11],"perceive":[12],"and":[13,47,86,89,93,107,119],"regulate":[14],"reaction":[15,38],"torque":[16,39,49,84],"even":[17],"with":[18,36,61,66,96],"bilateral":[19],"control.":[20],"To":[21],"address":[22],"this":[23],"issue,":[24],"we":[25],"present":[26],"MR-UBi,":[27],"a":[28,37,45,67],"novel":[29],"mixed":[30],"reality-based":[31],"underwater":[32,121],"system":[35],"indicator":[40],"(RTI).":[41],"The":[42],"RTI":[43],"overlays":[44],"color-":[46],"length-coded":[48],"bar":[50],"on":[51],"the":[52,82],"MR-HMD,":[53],"enabling":[54],"seamless":[55],"visual\u2013haptic":[56],"integration.":[57],"A":[58],"user":[59],"study":[60],"sixteen":[62],"participants":[63],"compared":[64],"MR-UBi":[65,73,114],"bilateral-control":[68],"baseline.":[69],"Results":[70],"show":[71],"that":[72,113],"significantly":[74],"improves":[75],"grasping-torque":[76],"regulation":[77],"by":[78],"increasing":[79],"time":[80],"within":[81],"optimal":[83],"range":[85],"reducing":[87],"under-":[88],"over-grasping":[90],"during":[91],"lift":[92],"pick-and-place":[94],"tasks":[95],"objects":[97],"of":[98],"different":[99],"stiffness.":[100],"Subjective":[101],"evaluations":[102],"further":[103],"demonstrate":[104],"higher":[105],"usability":[106],"lower":[108],"workload.":[109],"These":[110],"findings":[111],"indicate":[112],"enables":[115],"more":[116],"stable,":[117],"accurate,":[118],"user-friendly":[120],"teleoperation.":[123],"Video":[124],"available":[125],"at:":[126],"https://mertcookimg.github.io/mr-ubi/.":[127]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-03-20T20:47:17.329874","created_date":"2026-03-12T00:00:00"}
