{"id":"https://openalex.org/W2980794011","doi":"https://doi.org/10.1109/aim.2019.8868591","title":"Design of a Novel Haptic Device for Bilateral Teleoperations Requiring Accurate Force Interaction","display_name":"Design of a Novel Haptic Device for Bilateral Teleoperations Requiring Accurate Force Interaction","publication_year":2019,"publication_date":"2019-07-01","ids":{"openalex":"https://openalex.org/W2980794011","doi":"https://doi.org/10.1109/aim.2019.8868591","mag":"2980794011"},"language":"en","primary_location":{"id":"doi:10.1109/aim.2019.8868591","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim.2019.8868591","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-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/A5030136781","display_name":"Meng-Kuan Cho","orcid":null},"institutions":[{"id":"https://openalex.org/I91807558","display_name":"National Cheng Kung University","ror":"https://ror.org/01b8kcc49","country_code":"TW","type":"education","lineage":["https://openalex.org/I91807558"]}],"countries":["TW"],"is_corresponding":true,"raw_author_name":"Meng-Kuan Cho","raw_affiliation_strings":["Department of Mechanical Engineering, National Cheng Kung University, Taiwan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, National Cheng Kung University, Taiwan","institution_ids":["https://openalex.org/I91807558"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026491247","display_name":"Sheng-Yuan Huang","orcid":null},"institutions":[{"id":"https://openalex.org/I91807558","display_name":"National Cheng Kung University","ror":"https://ror.org/01b8kcc49","country_code":"TW","type":"education","lineage":["https://openalex.org/I91807558"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Sheng-Yuan Huang","raw_affiliation_strings":["Department of Mechanical Engineering, National Cheng Kung University, Taiwan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, National Cheng Kung University, Taiwan","institution_ids":["https://openalex.org/I91807558"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5000335005","display_name":"Chao-Chieh Lan","orcid":"https://orcid.org/0000-0001-8158-9846"},"institutions":[{"id":"https://openalex.org/I91807558","display_name":"National Cheng Kung University","ror":"https://ror.org/01b8kcc49","country_code":"TW","type":"education","lineage":["https://openalex.org/I91807558"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Chao-Chieh Lan","raw_affiliation_strings":["Department of Mechanical Engineering, National Cheng Kung University, Taiwan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, National Cheng Kung University, Taiwan","institution_ids":["https://openalex.org/I91807558"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5030136781"],"corresponding_institution_ids":["https://openalex.org/I91807558"],"apc_list":null,"apc_paid":null,"fwci":0.1457,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.48150682,"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":"74","last_page":"79"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9994999766349792,"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":0.9994999766349792,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9847999811172485,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9825000166893005,"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/haptic-technology","display_name":"Haptic technology","score":0.9157650470733643},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6110109686851501},{"id":"https://openalex.org/keywords/jacobian-matrix-and-determinant","display_name":"Jacobian matrix and determinant","score":0.6066493391990662},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6014509201049805},{"id":"https://openalex.org/keywords/inertia","display_name":"Inertia","score":0.5497758984565735},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.5346628427505493},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4684087634086609},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4665716886520386},{"id":"https://openalex.org/keywords/screw-theory","display_name":"Screw theory","score":0.4313315451145172},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.42490947246551514},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.42344918847084045},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3962876498699188},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3195531964302063},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23439964652061462},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.18108364939689636},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15327176451683044}],"concepts":[{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.9157650470733643},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6110109686851501},{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.6066493391990662},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6014509201049805},{"id":"https://openalex.org/C110407247","wikidata":"https://www.wikidata.org/wiki/Q122508","display_name":"Inertia","level":2,"score":0.5497758984565735},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.5346628427505493},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4684087634086609},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4665716886520386},{"id":"https://openalex.org/C18788176","wikidata":"https://www.wikidata.org/wiki/Q7891441","display_name":"Screw theory","level":3,"score":0.4313315451145172},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.42490947246551514},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.42344918847084045},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3962876498699188},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3195531964302063},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23439964652061462},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.18108364939689636},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15327176451683044},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/aim.2019.8868591","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim.2019.8868591","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.75,"id":"https://metadata.un.org/sdg/14","display_name":"Life below water"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1970918002","https://openalex.org/W1972048929","https://openalex.org/W1984343324","https://openalex.org/W2013113574","https://openalex.org/W2013905571","https://openalex.org/W2020157793","https://openalex.org/W2106885928","https://openalex.org/W2121554556","https://openalex.org/W2133913941","https://openalex.org/W2142999592","https://openalex.org/W2144890264","https://openalex.org/W2149768445","https://openalex.org/W2292604198","https://openalex.org/W2345097151","https://openalex.org/W2515753009","https://openalex.org/W2596301803","https://openalex.org/W2658102606","https://openalex.org/W2751591061","https://openalex.org/W2836867330","https://openalex.org/W2890241456","https://openalex.org/W2897594903","https://openalex.org/W2905063168","https://openalex.org/W6696812530","https://openalex.org/W6743907360"],"related_works":["https://openalex.org/W2371787712","https://openalex.org/W2392252176","https://openalex.org/W2384277607","https://openalex.org/W2560208745","https://openalex.org/W2131255803","https://openalex.org/W2980434008","https://openalex.org/W2095968807","https://openalex.org/W2348486094","https://openalex.org/W2360956111","https://openalex.org/W1984986068"],"abstract_inverted_index":{"Haptic":[0],"devices":[1,27],"need":[2],"to":[3,7,13,31,74,98,139],"render":[4,105],"accurate":[5,56,107,176],"force":[6,33,58,77,86,101,109,148,158,177],"a":[8,15,19,63,70,120],"human":[9],"operator":[10],"in":[11,35,49],"order":[12],"create":[14,47],"virtual":[16],"environment":[17],"from":[18],"remote":[20],"real":[21],"environment.":[22],"Existing":[23],"end-effector":[24],"type":[25],"haptic":[26,57,135,165],"employ":[28],"parallel":[29,40,66],"mechanisms":[30,41],"achieve":[32],"interaction":[34],"multiple":[36],"degrees-of-freedom":[37],"(DoF).":[38],"Those":[39],"have":[42],"non-constant":[43],"Jacobian":[44,72],"matrices":[45],"that":[46,162],"difficulties":[48],"the":[50,76,95,100,113,128,134,141,144,152],"actuator":[51],"and":[52,78,110,115,131,154,179],"controller":[53,80],"design":[54],"for":[55,94,172],"interaction.":[59],"This":[60],"paper":[61],"presents":[62],"3-DoF":[64],"translational":[65],"manipulator":[67],"(TPM)":[68],"with":[69],"constant":[71],"matrix":[73],"facilitate":[75],"impedance":[79],"design.":[81],"Instead":[82],"of":[83,118,133,143,156],"using":[84,119],"external":[85],"sensors,":[87],"series":[88],"elastic":[89],"actuators":[90],"(SEAs)":[91],"are":[92,137],"used":[93],"proposed":[96,145],"device":[97,136,166],"realize":[99],"rendering.":[102],"SEAs":[103],"can":[104,122,167],"more":[106],"output":[108],"stiffness":[111],"while":[112],"inertia":[114],"friction":[116],"problems":[117],"gearhead":[121],"be":[123],"ignored.":[124],"In":[125],"this":[126,163],"paper,":[127],"modeling,":[129],"design,":[130],"control":[132,149],"established":[138],"show":[140],"merits":[142],"TPM.":[146],"Initial":[147],"experiments":[150],"demonstrate":[151],"accuracy":[153],"speed":[155],"SEA-based":[157],"control.":[159,180],"We":[160],"expect":[161],"novel":[164],"serve":[168],"as":[169],"an":[170],"alternative":[171],"robotic":[173],"teleoperations":[174],"requiring":[175],"sensing":[178]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
