{"id":"https://openalex.org/W1996540695","doi":"https://doi.org/10.1109/amc.2012.6197134","title":"Function separation for 2-DOF haptic surgical forceps robots driven by multi drive linear motors","display_name":"Function separation for 2-DOF haptic surgical forceps robots driven by multi drive linear motors","publication_year":2012,"publication_date":"2012-03-01","ids":{"openalex":"https://openalex.org/W1996540695","doi":"https://doi.org/10.1109/amc.2012.6197134","mag":"1996540695"},"language":"en","primary_location":{"id":"doi:10.1109/amc.2012.6197134","is_oa":false,"landing_page_url":"https://doi.org/10.1109/amc.2012.6197134","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":"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/A5045667969","display_name":"Kazuki Tanida","orcid":null},"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":true,"raw_author_name":"Kazuki Tanida","raw_affiliation_strings":["Graduate School of Science and Technology, Keio University, Yokohama, Japan","Graduate School of Science and Technology, Keio University, Yokohana, Japan"],"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/A5101631760","display_name":"Takahiro Mizoguchi","orcid":null},"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"],"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/A5070713268","display_name":"Fumiya Mitome","orcid":null},"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":"Fumiya Mitome","raw_affiliation_strings":["Graduate School of Science and Technology, Keio University, Yokohama, Japan","Graduate School of Science and Technology, Keio University, Yokohana, Japan"],"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"],"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":4,"corresponding_author_ids":["https://openalex.org/A5045667969"],"corresponding_institution_ids":["https://openalex.org/I203951103"],"apc_list":null,"apc_paid":null,"fwci":0.4421,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.66862144,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"8","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/T10868","display_name":"Soft Robotics and Applications","score":0.9914000034332275,"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":0.9764000177383423,"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/grasp","display_name":"GRASP","score":0.8253606557846069},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.6699936985969543},{"id":"https://openalex.org/keywords/forceps","display_name":"Forceps","score":0.6326321959495544},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6038583517074585},{"id":"https://openalex.org/keywords/transformation-matrix","display_name":"Transformation matrix","score":0.5693069696426392},{"id":"https://openalex.org/keywords/modal","display_name":"Modal","score":0.5199607610702515},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5028111338615417},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49277785420417786},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.47644856572151184},{"id":"https://openalex.org/keywords/transformation","display_name":"Transformation (genetics)","score":0.47212108969688416},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.41824111342430115},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.349809467792511},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.32471033930778503},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3214437961578369},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3177311420440674},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.30658748745918274},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.16039621829986572},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.0791519284248352}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.8253606557846069},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.6699936985969543},{"id":"https://openalex.org/C2776914593","wikidata":"https://www.wikidata.org/wiki/Q1378235","display_name":"Forceps","level":2,"score":0.6326321959495544},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6038583517074585},{"id":"https://openalex.org/C165443888","wikidata":"https://www.wikidata.org/wiki/Q1482183","display_name":"Transformation matrix","level":3,"score":0.5693069696426392},{"id":"https://openalex.org/C71139939","wikidata":"https://www.wikidata.org/wiki/Q910194","display_name":"Modal","level":2,"score":0.5199607610702515},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5028111338615417},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49277785420417786},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.47644856572151184},{"id":"https://openalex.org/C204241405","wikidata":"https://www.wikidata.org/wiki/Q461499","display_name":"Transformation (genetics)","level":3,"score":0.47212108969688416},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.41824111342430115},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.349809467792511},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.32471033930778503},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3214437961578369},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3177311420440674},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.30658748745918274},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.16039621829986572},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0791519284248352},{"id":"https://openalex.org/C188027245","wikidata":"https://www.wikidata.org/wiki/Q750446","display_name":"Polymer chemistry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/amc.2012.6197134","is_oa":false,"landing_page_url":"https://doi.org/10.1109/amc.2012.6197134","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":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.550000011920929}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W1990577054","https://openalex.org/W2102279668","https://openalex.org/W2117464517","https://openalex.org/W2127550858","https://openalex.org/W2138430286","https://openalex.org/W2153646384","https://openalex.org/W2171649388","https://openalex.org/W2517291573","https://openalex.org/W2541443325","https://openalex.org/W6680525419"],"related_works":["https://openalex.org/W2163296013","https://openalex.org/W165915117","https://openalex.org/W2326995835","https://openalex.org/W2743859443","https://openalex.org/W2059402478","https://openalex.org/W2123347777","https://openalex.org/W4387804363","https://openalex.org/W2477150073","https://openalex.org/W2019547100","https://openalex.org/W4387947522"],"abstract_inverted_index":{"2-DOF":[0],"haptic":[1],"surgical":[2],"multi":[3,9],"drive":[4,10,47],"robot":[5],"is":[6,125],"driven":[7],"by":[8,127],"linear":[11],"motors,":[12],"and":[13,21,58,99],"does":[14],"not":[15],"separate":[16],"hand":[17],"function":[18,23,65],"(manipulating":[19],"mode)":[20,25],"arm":[22],"(grasping":[24],"of":[26,66,71,121],"the":[27,37,106,122],"human":[28],"motion":[29],"mechanically.":[30],"Conventional":[31,70],"method":[32,62,92,108,124],"has":[33],"one":[34],"problem.":[35],"When":[36],"operator":[38,52],"want":[39],"to":[40,46,54,83,111],"grasp":[41],"an":[42],"object,":[43],"he":[44],"have":[45],"forceps":[48,56,115],"open.":[49],"This":[50],"make":[51],"difficult":[53],"use":[55,93],"finely":[57],"powerfully.":[59],"A":[60],"proposed":[61,91,107,123],"separates":[63],"two":[64],"position":[67],"in":[68],"control.":[69],"grasping/manipulating":[72],"control":[73,86],"uses":[74],"modal":[75,94],"transformation":[76,95],"matrix":[77,96],"for":[78],"master":[79,98],"or":[80],"slave":[81,100],"robots":[82,101],"achive":[84],"bilateral":[85],"between":[87,102],"different":[88],"structural.":[89],"The":[90,119],"both":[97],"same":[103],"structure.":[104],"Moreover,":[105],"enables":[109],"us":[110],"operate":[112],"like":[113],"actual":[114],"than":[116],"conventional":[117],"method.":[118],"validity":[120],"varified":[126],"experiments.":[128]},"counts_by_year":[{"year":2018,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}