{"id":"https://openalex.org/W1541567375","doi":"https://doi.org/10.1109/aim.2015.7222588","title":"Optimizing transparency of haptic device through velocity estimation","display_name":"Optimizing transparency of haptic device through velocity estimation","publication_year":2015,"publication_date":"2015-07-01","ids":{"openalex":"https://openalex.org/W1541567375","doi":"https://doi.org/10.1109/aim.2015.7222588","mag":"1541567375"},"language":"en","primary_location":{"id":"doi:10.1109/aim.2015.7222588","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim.2015.7222588","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hal.science/hal-03190973","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5035670000","display_name":"Antoine Weill\u2013Duflos","orcid":"https://orcid.org/0000-0002-2782-3678"},"institutions":[{"id":"https://openalex.org/I204730241","display_name":"Universit\u00e9 Paris Cit\u00e9","ror":"https://ror.org/05f82e368","country_code":"FR","type":"education","lineage":["https://openalex.org/I204730241"]},{"id":"https://openalex.org/I39804081","display_name":"Sorbonne Universit\u00e9","ror":"https://ror.org/02en5vm52","country_code":"FR","type":"education","lineage":["https://openalex.org/I39804081"]},{"id":"https://openalex.org/I4210150358","display_name":"Institut Syst\u00e8mes Intelligents et de Robotique","ror":"https://ror.org/05neq8668","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I154526488","https://openalex.org/I39804081","https://openalex.org/I4210150358","https://openalex.org/I4210159245"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Antoine Weill-Duflos","raw_affiliation_strings":["Sorbonne Universit\u00e9s, Paris, France","Sorbonne Universit\u00e9s, UPMC Univ Paris 06, UMR 7222, ISIR, F-75005, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sorbonne Universit\u00e9s, Paris, France","institution_ids":["https://openalex.org/I39804081"]},{"raw_affiliation_string":"Sorbonne Universit\u00e9s, UPMC Univ Paris 06, UMR 7222, ISIR, F-75005, France","institution_ids":["https://openalex.org/I204730241","https://openalex.org/I4210150358","https://openalex.org/I39804081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005885258","display_name":"Abdenbi Mohand-Ousaid","orcid":"https://orcid.org/0000-0002-5213-4874"},"institutions":[{"id":"https://openalex.org/I195731000","display_name":"Universit\u00e9 de Versailles Saint-Quentin-en-Yvelines","ror":"https://ror.org/03mkjjy25","country_code":"FR","type":"education","lineage":["https://openalex.org/I195731000","https://openalex.org/I277688954"]},{"id":"https://openalex.org/I39804081","display_name":"Sorbonne Universit\u00e9","ror":"https://ror.org/02en5vm52","country_code":"FR","type":"education","lineage":["https://openalex.org/I39804081"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Abdenbi Mohand-Ousaid","raw_affiliation_strings":["Sorbonne Universit\u00e9s, Paris, France","Universit\u00e9 de Versailles Saint-Quentin, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sorbonne Universit\u00e9s, Paris, France","institution_ids":["https://openalex.org/I39804081"]},{"raw_affiliation_string":"Universit\u00e9 de Versailles Saint-Quentin, France","institution_ids":["https://openalex.org/I195731000"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016542830","display_name":"Sinan Haliyo","orcid":"https://orcid.org/0000-0003-4587-381X"},"institutions":[{"id":"https://openalex.org/I204730241","display_name":"Universit\u00e9 Paris Cit\u00e9","ror":"https://ror.org/05f82e368","country_code":"FR","type":"education","lineage":["https://openalex.org/I204730241"]},{"id":"https://openalex.org/I39804081","display_name":"Sorbonne Universit\u00e9","ror":"https://ror.org/02en5vm52","country_code":"FR","type":"education","lineage":["https://openalex.org/I39804081"]},{"id":"https://openalex.org/I4210150358","display_name":"Institut Syst\u00e8mes Intelligents et de Robotique","ror":"https://ror.org/05neq8668","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I154526488","https://openalex.org/I39804081","https://openalex.org/I4210150358","https://openalex.org/I4210159245"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Sinan Haliyo","raw_affiliation_strings":["Sorbonne Universit\u00e9s, Paris, France","Sorbonne Universit\u00e9s, UPMC Univ Paris 06, UMR 7222, ISIR, F-75005, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sorbonne Universit\u00e9s, Paris, France","institution_ids":["https://openalex.org/I39804081"]},{"raw_affiliation_string":"Sorbonne Universit\u00e9s, UPMC Univ Paris 06, UMR 7222, ISIR, F-75005, France","institution_ids":["https://openalex.org/I204730241","https://openalex.org/I4210150358","https://openalex.org/I39804081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081525094","display_name":"Jean-Claude R\u00e9gnier","orcid":"https://orcid.org/0000-0001-6992-9027"},"institutions":[{"id":"https://openalex.org/I204730241","display_name":"Universit\u00e9 Paris Cit\u00e9","ror":"https://ror.org/05f82e368","country_code":"FR","type":"education","lineage":["https://openalex.org/I204730241"]},{"id":"https://openalex.org/I39804081","display_name":"Sorbonne Universit\u00e9","ror":"https://ror.org/02en5vm52","country_code":"FR","type":"education","lineage":["https://openalex.org/I39804081"]},{"id":"https://openalex.org/I4210150358","display_name":"Institut Syst\u00e8mes Intelligents et de Robotique","ror":"https://ror.org/05neq8668","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I154526488","https://openalex.org/I39804081","https://openalex.org/I4210150358","https://openalex.org/I4210159245"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Stephane Regnier","raw_affiliation_strings":["Sorbonne Universit\u00e9s, Paris, France","Sorbonne Universit\u00e9s, UPMC Univ Paris 06, UMR 7222, ISIR, F-75005, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sorbonne Universit\u00e9s, Paris, France","institution_ids":["https://openalex.org/I39804081"]},{"raw_affiliation_string":"Sorbonne Universit\u00e9s, UPMC Univ Paris 06, UMR 7222, ISIR, F-75005, France","institution_ids":["https://openalex.org/I204730241","https://openalex.org/I4210150358","https://openalex.org/I39804081"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5011595733","display_name":"Vincent Hayward","orcid":"https://orcid.org/0000-0002-2102-1965"},"institutions":[{"id":"https://openalex.org/I204730241","display_name":"Universit\u00e9 Paris Cit\u00e9","ror":"https://ror.org/05f82e368","country_code":"FR","type":"education","lineage":["https://openalex.org/I204730241"]},{"id":"https://openalex.org/I39804081","display_name":"Sorbonne Universit\u00e9","ror":"https://ror.org/02en5vm52","country_code":"FR","type":"education","lineage":["https://openalex.org/I39804081"]},{"id":"https://openalex.org/I4210150358","display_name":"Institut Syst\u00e8mes Intelligents et de Robotique","ror":"https://ror.org/05neq8668","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I154526488","https://openalex.org/I39804081","https://openalex.org/I4210150358","https://openalex.org/I4210159245"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Vincent Hayward","raw_affiliation_strings":["Sorbonne Universit\u00e9s, Paris, France","Sorbonne Universit\u00e9s, UPMC Univ Paris 06, UMR 7222, ISIR, F-75005, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sorbonne Universit\u00e9s, Paris, France","institution_ids":["https://openalex.org/I39804081"]},{"raw_affiliation_string":"Sorbonne Universit\u00e9s, UPMC Univ Paris 06, UMR 7222, ISIR, F-75005, France","institution_ids":["https://openalex.org/I204730241","https://openalex.org/I4210150358","https://openalex.org/I39804081"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.0262542,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"529","last_page":"534"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9980000257492065,"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":0.9980000257492065,"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":0.968500018119812,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.7874503135681152},{"id":"https://openalex.org/keywords/encoder","display_name":"Encoder","score":0.6715462803840637},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.6656050086021423},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6610795855522156},{"id":"https://openalex.org/keywords/transparency","display_name":"Transparency (behavior)","score":0.5580454468727112},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.5189699530601501},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.49455592036247253},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.49283742904663086},{"id":"https://openalex.org/keywords/adaptive-filter","display_name":"Adaptive filter","score":0.45102259516716003},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.40115252137184143},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.34104031324386597},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.2956688404083252},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.12388187646865845}],"concepts":[{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.7874503135681152},{"id":"https://openalex.org/C118505674","wikidata":"https://www.wikidata.org/wiki/Q42586063","display_name":"Encoder","level":2,"score":0.6715462803840637},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.6656050086021423},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6610795855522156},{"id":"https://openalex.org/C2780233690","wikidata":"https://www.wikidata.org/wiki/Q535347","display_name":"Transparency (behavior)","level":2,"score":0.5580454468727112},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.5189699530601501},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.49455592036247253},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.49283742904663086},{"id":"https://openalex.org/C102248274","wikidata":"https://www.wikidata.org/wiki/Q168388","display_name":"Adaptive filter","level":2,"score":0.45102259516716003},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.40115252137184143},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.34104031324386597},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2956688404083252},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.12388187646865845},{"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/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/aim.2015.7222588","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim.2015.7222588","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-03190973v1","is_oa":true,"landing_page_url":"https://hal.science/hal-03190973","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2015 IEEE International Conference on Advanced Intelligent Mechatronics, 2015, Busan, South Korea. pp.529-534, ⟨10.1109/AIM.2015.7222588⟩","raw_type":"Conference papers"},{"id":"pmh:oai:oskar-bordeaux.fr:20.500.12278/37288","is_oa":true,"landing_page_url":"https://oskar-bordeaux.fr/handle/20.500.12278/37288","pdf_url":null,"source":{"id":"https://openalex.org/S4306402569","display_name":"Oskar-Bordeaux (Universite de Bordeaux)","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","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"Communication dans un congr\u00e8s avec actes"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-03190973v1","is_oa":true,"landing_page_url":"https://hal.science/hal-03190973","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2015 IEEE International Conference on Advanced Intelligent Mechatronics, 2015, Busan, South Korea. pp.529-534, ⟨10.1109/AIM.2015.7222588⟩","raw_type":"Conference papers"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W1490889509","https://openalex.org/W1573926582","https://openalex.org/W1835947927","https://openalex.org/W1975731523","https://openalex.org/W2028034366","https://openalex.org/W2081501953","https://openalex.org/W2097358202","https://openalex.org/W2099772906","https://openalex.org/W2105934661","https://openalex.org/W2136348177","https://openalex.org/W2147618425","https://openalex.org/W2156120767","https://openalex.org/W2168181402","https://openalex.org/W2170031322"],"related_works":["https://openalex.org/W156716224","https://openalex.org/W2111871955","https://openalex.org/W3175380930","https://openalex.org/W1989694608","https://openalex.org/W2139876914","https://openalex.org/W2108167108","https://openalex.org/W4233260495","https://openalex.org/W3094485622","https://openalex.org/W2519742261","https://openalex.org/W2642061445"],"abstract_inverted_index":{"In":[0],"this":[1,39,68,80],"paper,":[2],"the":[3,21,42,45,71,74],"conception":[4],"and":[5,113,128,139],"optimization":[6],"of":[7,23,44,66,73,108],"a":[8,89,117,134],"new":[9],"dual-stage":[10],"haptic":[11,64],"device":[12],"is":[13,18,41,52],"described.":[14],"A":[15],"particular":[16],"attention":[17],"given":[19],"to":[20,87,116],"choice":[22],"encoder.":[24],"Compact,":[25],"consumer":[26],"grade,":[27],"but":[28],"low":[29],"resolution":[30,57],"encoders":[31,56],"are":[32,105,111],"particularly":[33],"used.":[34,53],"An":[35],"issue":[36],"arising":[37],"from":[38],"particularity":[40],"deterioration":[43],"velocity":[46,59],"measurement":[47],"when":[48,55],"Finite":[49],"Difference":[50],"method":[51],"Moreover,":[54],"decreases,":[58],"estimation":[60,138],"becomes":[61],"noisy.":[62],"From":[63],"point":[65],"view,":[67],"noise":[69,140],"destroys":[70],"realism":[72],"rendered":[75],"force.":[76],"To":[77],"deal":[78],"with":[79],"problem,":[81],"numerous":[82],"methods":[83,94,110],"have":[84],"been":[85],"proposed":[86],"offer":[88],"noiseless":[90],"estimation.":[91],"Here,":[92,122],"advanced":[93],"such":[95],"as":[96],"Low-Pass":[97],"Filter,":[98],"First":[99,129],"Order":[100,130],"Adaptive":[101,131],"Windowing,":[102],"Kalman":[103,126],"Filter":[104],"proposed.":[106],"Performances":[107],"theses":[109],"verified":[112],"experimentally":[114],"compared":[115],"conventional":[118],"finite":[119],"difference":[120],"method.":[121],"we":[123],"show":[124],"that":[125],"filter":[127],"Windowing":[132],"offers":[133],"good":[135],"trade-off":[136],"between":[137],"rejection.":[141]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}