{"id":"https://openalex.org/W2142458607","doi":"https://doi.org/10.1109/cdc.2007.4434677","title":"Stability and transparency analysis of a haptic feedback controller for medical applications","display_name":"Stability and transparency analysis of a haptic feedback controller for medical applications","publication_year":2007,"publication_date":"2007-01-01","ids":{"openalex":"https://openalex.org/W2142458607","doi":"https://doi.org/10.1109/cdc.2007.4434677","mag":"2142458607"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2007.4434677","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2007.4434677","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 46th IEEE Conference on Decision and Control","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/A5069754431","display_name":"Walid Zarrad","orcid":null},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I19894307","display_name":"Universit\u00e9 de Montpellier","ror":"https://ror.org/051escj72","country_code":"FR","type":"education","lineage":["https://openalex.org/I19894307"]},{"id":"https://openalex.org/I4210101743","display_name":"Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier","ror":"https://ror.org/013yean28","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I151295451","https://openalex.org/I19894307","https://openalex.org/I4210101743","https://openalex.org/I4210159245","https://openalex.org/I4405261681"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"Walid Zarrad","raw_affiliation_strings":["LIRMM-UMR CNRS, University of Montpellier 2, Montpellier, France"],"affiliations":[{"raw_affiliation_string":"LIRMM-UMR CNRS, University of Montpellier 2, Montpellier, France","institution_ids":["https://openalex.org/I19894307","https://openalex.org/I4210101743","https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064237897","display_name":"Philippe Poignet","orcid":"https://orcid.org/0000-0003-3574-4387"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I19894307","display_name":"Universit\u00e9 de Montpellier","ror":"https://ror.org/051escj72","country_code":"FR","type":"education","lineage":["https://openalex.org/I19894307"]},{"id":"https://openalex.org/I4210101743","display_name":"Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier","ror":"https://ror.org/013yean28","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I151295451","https://openalex.org/I19894307","https://openalex.org/I4210101743","https://openalex.org/I4210159245","https://openalex.org/I4405261681"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Philippe Poignet","raw_affiliation_strings":["LIRMM-UMR CNRS, University of Montpellier 2, Montpellier, France"],"affiliations":[{"raw_affiliation_string":"LIRMM-UMR CNRS, University of Montpellier 2, Montpellier, France","institution_ids":["https://openalex.org/I19894307","https://openalex.org/I4210101743","https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007227002","display_name":"Rui Cortes\u00e3o","orcid":"https://orcid.org/0000-0003-1338-3138"},"institutions":[{"id":"https://openalex.org/I4210125590","display_name":"Institute for Systems Engineering and Computers","ror":"https://ror.org/033wn8m60","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590"]},{"id":"https://openalex.org/I76903346","display_name":"University of Coimbra","ror":"https://ror.org/04z8k9a98","country_code":"PT","type":"education","lineage":["https://openalex.org/I76903346"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Rui Cortesao","raw_affiliation_strings":["Institute of Systems and Robotics, University of Coimbra, Coimbra, Portugal"],"affiliations":[{"raw_affiliation_string":"Institute of Systems and Robotics, University of Coimbra, Coimbra, Portugal","institution_ids":["https://openalex.org/I4210125590","https://openalex.org/I76903346"]}]},{"author_position":"last","author":{"id":null,"display_name":"Olivier Company","orcid":null},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I19894307","display_name":"Universit\u00e9 de Montpellier","ror":"https://ror.org/051escj72","country_code":"FR","type":"education","lineage":["https://openalex.org/I19894307"]},{"id":"https://openalex.org/I4210101743","display_name":"Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier","ror":"https://ror.org/013yean28","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I151295451","https://openalex.org/I19894307","https://openalex.org/I4210101743","https://openalex.org/I4210159245","https://openalex.org/I4405261681"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Olivier Company","raw_affiliation_strings":["LIRMM-UMR CNRS, University of Montpellier 2, Montpellier, France"],"affiliations":[{"raw_affiliation_string":"LIRMM-UMR CNRS, University of Montpellier 2, Montpellier, France","institution_ids":["https://openalex.org/I19894307","https://openalex.org/I4210101743","https://openalex.org/I1294671590"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5069754431"],"corresponding_institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I19894307","https://openalex.org/I4210101743"],"apc_list":null,"apc_paid":null,"fwci":1.3631,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.8351333,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"5767","last_page":"5772"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9998000264167786,"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":0.9998000264167786,"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/T10916","display_name":"Surgical Simulation and Training","score":0.925599992275238,"subfield":{"id":"https://openalex.org/subfields/2746","display_name":"Surgery"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.9487996697425842},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.9160902500152588},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.6548341512680054},{"id":"https://openalex.org/keywords/transparency","display_name":"Transparency (behavior)","score":0.6437810063362122},{"id":"https://openalex.org/keywords/telerobotics","display_name":"Telerobotics","score":0.588272750377655},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5583540201187134},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5541290640830994},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5189689993858337},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5105019807815552},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.472678005695343},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.45680564641952515},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3847726285457611},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2627936005592346},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.16015464067459106},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.15838080644607544}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.9487996697425842},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.9160902500152588},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.6548341512680054},{"id":"https://openalex.org/C2780233690","wikidata":"https://www.wikidata.org/wiki/Q535347","display_name":"Transparency (behavior)","level":2,"score":0.6437810063362122},{"id":"https://openalex.org/C196467688","wikidata":"https://www.wikidata.org/wiki/Q1851985","display_name":"Telerobotics","level":4,"score":0.588272750377655},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5583540201187134},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5541290640830994},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5189689993858337},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5105019807815552},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.472678005695343},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.45680564641952515},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3847726285457611},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2627936005592346},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.16015464067459106},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.15838080644607544},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","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/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","level":1,"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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/cdc.2007.4434677","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2007.4434677","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 46th IEEE Conference on Decision and Control","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:lirmm-00202630v1","is_oa":false,"landing_page_url":"https://hal-lirmm.ccsd.cnrs.fr/lirmm-00202630","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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"CDC 2007 - 46th IEEE Conference on Decision and Control, Dec 2007, New Orleans, LA, United States. pp.5767-5772, ⟨10.1109/CDC.2007.4434677⟩","raw_type":"Conference papers"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1536598072","https://openalex.org/W1540723801","https://openalex.org/W2020131132","https://openalex.org/W2076420009","https://openalex.org/W2105853760","https://openalex.org/W2107949070","https://openalex.org/W2108406310","https://openalex.org/W2114364992","https://openalex.org/W2118405462","https://openalex.org/W2121407927","https://openalex.org/W2135464393","https://openalex.org/W2163616414","https://openalex.org/W2504848383","https://openalex.org/W2561111412","https://openalex.org/W3081268655","https://openalex.org/W6639072894"],"related_works":["https://openalex.org/W2094105667","https://openalex.org/W2097347938","https://openalex.org/W2164858976","https://openalex.org/W2970545857","https://openalex.org/W2046710269","https://openalex.org/W2097059456","https://openalex.org/W817518365","https://openalex.org/W2141648055","https://openalex.org/W2145103607","https://openalex.org/W4367662652"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"the":[3,19,22,42,45,48,75,81,90,96,103,115,118],"performance":[4],"analysis":[5],"of":[6,47,80,117],"a":[7,16,27],"haptic":[8,17,119],"feedback":[9,120],"teleoperation":[10,104,121],"system":[11],"for":[12],"robotic-assisted":[13],"surgery.":[14],"Through":[15],"device,":[18],"surgeon":[20,43],"tele-operates":[21],"medical":[23],"instrument,":[24],"fixed":[25],"on":[26,85,89,114],"remote":[28],"robot":[29,68],"that":[30],"may":[31],"evolve":[32],"in":[33,37,125],"free":[34,40],"space":[35],"or":[36],"contact.":[38],"In":[39],"space,":[41],"feels":[44],"motion":[46],"robot.":[49],"When":[50],"contact":[51,76],"with":[52,67],"tissues":[53],"occurs,":[54],"an":[55,63],"on-line":[56],"environment":[57],"stiffness":[58],"estimation":[59],"is":[60,99,112],"performed":[61],"using":[62],"extended":[64],"Kalman":[65],"filter":[66],"modeling":[69],"error":[70],"compensation":[71],"and":[72,92,106,131],"without":[73],"considering":[74],"position.":[77],"The":[78,110],"quality":[79],"telepresence":[82],"will":[83],"depend":[84],"this":[86],"estimation.":[87],"Based":[88],"stability":[91,116],"transparency":[93],"frequency":[94],"analysis,":[95],"estimated":[97],"parameter":[98],"used":[100],"to":[101,107],"tune":[102],"scheme":[105,122],"improve":[108],"telepresence.":[109],"improvement":[111],"based":[113],"new":[123],"rearrangement":[124],"which":[126],"we":[127],"distinguish":[128],"between":[129],"voluntary":[130],"involuntary":[132],"operator":[133],"positions.":[134]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2013,"cited_by_count":4},{"year":2012,"cited_by_count":1}],"updated_date":"2026-04-16T08:26:57.006410","created_date":"2025-10-10T00:00:00"}