{"id":"https://openalex.org/W2020783763","doi":"https://doi.org/10.1109/amc.2012.6197044","title":"Scaling bilateral controls with impedance transmission using transfer admittance","display_name":"Scaling bilateral controls with impedance transmission using transfer admittance","publication_year":2012,"publication_date":"2012-03-01","ids":{"openalex":"https://openalex.org/W2020783763","doi":"https://doi.org/10.1109/amc.2012.6197044","mag":"2020783763"},"language":"en","primary_location":{"id":"doi:10.1109/amc.2012.6197044","is_oa":false,"landing_page_url":"https://doi.org/10.1109/amc.2012.6197044","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 12th IEEE International Workshop on Advanced Motion Control (AMC)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5101631760","display_name":"Takahiro Mizoguchi","orcid":"https://orcid.org/0000-0001-7563-8293"},"institutions":[{"id":"https://openalex.org/I203951103","display_name":"Keio University","ror":"https://ror.org/02kn6nx58","country_code":"JP","type":"education","lineage":["https://openalex.org/I203951103"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Takahiro Mizoguchi","raw_affiliation_strings":["Graduate School of Science and Technology, Keio University, Yokohama, Japan","Graduate School of Science and Technology, Keio University, Yokohana, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Science and Technology, Keio University, Yokohama, Japan","institution_ids":["https://openalex.org/I203951103"]},{"raw_affiliation_string":"Graduate School of Science and Technology, Keio University, Yokohana, Japan","institution_ids":["https://openalex.org/I203951103"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022585140","display_name":"Takahiro Nozaki","orcid":"https://orcid.org/0000-0002-2558-9822"},"institutions":[{"id":"https://openalex.org/I203951103","display_name":"Keio University","ror":"https://ror.org/02kn6nx58","country_code":"JP","type":"education","lineage":["https://openalex.org/I203951103"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Takahiro Nozaki","raw_affiliation_strings":["Graduate School of Science and Technology, Keio University, Yokohama, Japan","Graduate School of Science and Technology, Keio University, Yokohana, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Science and Technology, Keio University, Yokohama, Japan","institution_ids":["https://openalex.org/I203951103"]},{"raw_affiliation_string":"Graduate School of Science and Technology, Keio University, Yokohana, Japan","institution_ids":["https://openalex.org/I203951103"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5041501484","display_name":"Kouhei Ohnishi","orcid":"https://orcid.org/0000-0002-0785-3992"},"institutions":[{"id":"https://openalex.org/I203951103","display_name":"Keio University","ror":"https://ror.org/02kn6nx58","country_code":"JP","type":"education","lineage":["https://openalex.org/I203951103"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kouhei Ohnishi","raw_affiliation_strings":["Department of System Design Engineering, Keio University, Yokohama, Japan","Department of System Design Engineering, Keio University, Yokohana, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of System Design Engineering, Keio University, Yokohama, Japan","institution_ids":["https://openalex.org/I203951103"]},{"raw_affiliation_string":"Department of System Design Engineering, Keio University, Yokohana, Japan","institution_ids":["https://openalex.org/I203951103"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I203951103"],"apc_list":null,"apc_paid":null,"fwci":1.6033,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.80012979,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"15","issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9997000098228455,"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":0.9997000098228455,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9904000163078308,"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"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9735999703407288,"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/scaling","display_name":"Scaling","score":0.8348828554153442},{"id":"https://openalex.org/keywords/admittance","display_name":"Admittance","score":0.6401917934417725},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.6141530871391296},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.6067745089530945},{"id":"https://openalex.org/keywords/transmission","display_name":"Transmission (telecommunications)","score":0.5740886330604553},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5423763990402222},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.5321029424667358},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.501603364944458},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4386936128139496},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.33467480540275574},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.27104121446609497},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.23550152778625488},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.18477097153663635},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16209539771080017},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.09569349884986877},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.08574628829956055},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.07166951894760132}],"concepts":[{"id":"https://openalex.org/C99844830","wikidata":"https://www.wikidata.org/wiki/Q102441924","display_name":"Scaling","level":2,"score":0.8348828554153442},{"id":"https://openalex.org/C108811297","wikidata":"https://www.wikidata.org/wiki/Q214518","display_name":"Admittance","level":3,"score":0.6401917934417725},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.6141530871391296},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.6067745089530945},{"id":"https://openalex.org/C761482","wikidata":"https://www.wikidata.org/wiki/Q118093","display_name":"Transmission (telecommunications)","level":2,"score":0.5740886330604553},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5423763990402222},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.5321029424667358},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.501603364944458},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4386936128139496},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.33467480540275574},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.27104121446609497},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.23550152778625488},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.18477097153663635},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16209539771080017},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.09569349884986877},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.08574628829956055},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.07166951894760132},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/amc.2012.6197044","is_oa":false,"landing_page_url":"https://doi.org/10.1109/amc.2012.6197044","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 12th IEEE International Workshop on Advanced Motion Control (AMC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W1973783050","https://openalex.org/W1990577054","https://openalex.org/W2019263893","https://openalex.org/W2045495841","https://openalex.org/W2092972148","https://openalex.org/W2102279668","https://openalex.org/W2126590051","https://openalex.org/W2148574067","https://openalex.org/W2169900819","https://openalex.org/W2171649388","https://openalex.org/W2517291573","https://openalex.org/W2540893129","https://openalex.org/W6655570996"],"related_works":["https://openalex.org/W2162207896","https://openalex.org/W4313421420","https://openalex.org/W2365529104","https://openalex.org/W2133851415","https://openalex.org/W2319640990","https://openalex.org/W1548357495","https://openalex.org/W2314048082","https://openalex.org/W2976589093","https://openalex.org/W1968487248","https://openalex.org/W2097006611"],"abstract_inverted_index":{"Scaling":[0],"bilateral":[1,64,78,94,117,153,196,209,214],"control":[2,65,95,210,215],"is":[3,31,37,84,121,224],"a":[4,68,108],"method":[5,109,173],"to":[6,67,102,149,177,204,211],"extend":[7],"human":[8],"ability":[9,203],"by":[10,190],"using":[11,191],"master":[12,44,143],"and":[13,73,159,186,228],"slave":[14,35,134],"robots.":[15],"Position":[16,119],"scaling":[17,24,63,72,75,93,116,120,155,160,180],"extends":[18,25],"working":[19,128,138],"space":[20,129,139],"of":[21,27,56,70,99,110,126,130,166,193,221],"human;":[22],"force":[23,71],"sensitivity":[26],"human.":[28],"This":[29,105],"technology":[30],"useful":[32],"when":[33,132],"the":[34,43,57,77,87,92,97,124,133,142,183,207,222],"robot":[36,100,135],"larger":[38,137],"in":[39,62,76,91,114,152],"size":[40],"compared":[41,140],"with":[42,141,156,161,182],"robot.":[45,144],"In":[46],"general,":[47],"correct":[48,81,169],"environmental":[49,82,112],"impedance,":[50],"such":[51],"as":[52],"softness":[53],"or":[54],"hardness":[55],"object,":[58],"cannot":[59],"be":[60,175],"transmitted":[61],"due":[66],"mismatch":[69],"position":[74,115,151,179],"control.":[79,118,197],"However,":[80],"impedance":[83,113,170,188],"necessary":[85],"for":[86,123],"safe":[88],"operation,":[89],"especially":[90],"where":[96],"mass":[98],"tends":[101],"become":[103],"large.":[104],"paper":[106],"proposes":[107],"transmitting":[111],"focused":[122],"sake":[125],"extending":[127],"operator":[131],"has":[136,201],"There":[145],"exist":[146],"two":[147],"methods":[148,181],"scale":[150],"control;":[154],"constant":[157],"coefficient":[158],"dimension":[162],"variation.":[163],"Conventionally,":[164],"neither":[165],"these":[167],"achieves":[168,187],"transmission.":[171],"Proposed":[172],"can":[174],"applied":[176],"both":[178],"same":[184],"procedure":[185],"transmission":[189],"property":[192],"gyrator":[194],"type":[195],"The":[198,219],"transfer":[199],"admittance":[200],"an":[202],"bring":[205],"back":[206],"scaled":[208,213],"non":[212],"during":[216],"contact":[217],"motion.":[218],"effect":[220],"proposal":[223],"verified":[225],"through":[226],"simulation":[227],"experiment.":[229]},"counts_by_year":[{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}