{"id":"https://openalex.org/W2755567983","doi":"https://doi.org/10.1109/embc.2017.8037715","title":"Development and control of a magnetorheological haptic device for robot assisted surgery","display_name":"Development and control of a magnetorheological haptic device for robot assisted surgery","publication_year":2017,"publication_date":"2017-07-01","ids":{"openalex":"https://openalex.org/W2755567983","doi":"https://doi.org/10.1109/embc.2017.8037715","mag":"2755567983","pmid":"https://pubmed.ncbi.nlm.nih.gov/29060756"},"language":"en","primary_location":{"id":"doi:10.1109/embc.2017.8037715","is_oa":false,"landing_page_url":"https://doi.org/10.1109/embc.2017.8037715","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 39th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref","pubmed"],"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/A5110611623","display_name":"Elnaz Shokrollahi","orcid":null},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]},{"id":"https://openalex.org/I2801317318","display_name":"Hospital for Sick Children","ror":"https://ror.org/057q4rt57","country_code":"CA","type":"healthcare","lineage":["https://openalex.org/I2801317318"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Elnaz Shokrollahi","raw_affiliation_strings":["The Hospital for Sick Children, Toronto, Canada","University of Toronto, Toronto, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Hospital for Sick Children, Toronto, Canada","institution_ids":["https://openalex.org/I2801317318"]},{"raw_affiliation_string":"University of Toronto, Toronto, Canada","institution_ids":["https://openalex.org/I185261750"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069757661","display_name":"A.A. Goldenberg","orcid":null},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Andrew A. Goldenberg","raw_affiliation_strings":["University of Toronto, Toronto, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Toronto, Toronto, Canada","institution_ids":["https://openalex.org/I185261750"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002892990","display_name":"James M. Drake","orcid":"https://orcid.org/0000-0001-6841-9025"},"institutions":[{"id":"https://openalex.org/I2801317318","display_name":"Hospital for Sick Children","ror":"https://ror.org/057q4rt57","country_code":"CA","type":"healthcare","lineage":["https://openalex.org/I2801317318"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"James M. Drake","raw_affiliation_strings":["The Hospital for Sick Children, Toronto, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Hospital for Sick Children, Toronto, Canada","institution_ids":["https://openalex.org/I2801317318"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062544491","display_name":"Kyle W. Eastwood","orcid":"https://orcid.org/0000-0002-2601-9960"},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]},{"id":"https://openalex.org/I2801317318","display_name":"Hospital for Sick Children","ror":"https://ror.org/057q4rt57","country_code":"CA","type":"healthcare","lineage":["https://openalex.org/I2801317318"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Kyle W. Eastwood","raw_affiliation_strings":["The Hospital for Sick Children, Toronto, Canada","University of Toronto, Toronto, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Hospital for Sick Children, Toronto, Canada","institution_ids":["https://openalex.org/I2801317318"]},{"raw_affiliation_string":"University of Toronto, Toronto, Canada","institution_ids":["https://openalex.org/I185261750"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5051415797","display_name":"Matthew Kang","orcid":null},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]},{"id":"https://openalex.org/I2801317318","display_name":"Hospital for Sick Children","ror":"https://ror.org/057q4rt57","country_code":"CA","type":"healthcare","lineage":["https://openalex.org/I2801317318"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Matthew Kang","raw_affiliation_strings":["The Hospital for Sick Children, Toronto, Canada","University of Toronto, Toronto, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Hospital for Sick Children, Toronto, Canada","institution_ids":["https://openalex.org/I2801317318"]},{"raw_affiliation_string":"University of Toronto, Toronto, Canada","institution_ids":["https://openalex.org/I185261750"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.8735,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.76600079,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"245","issue":null,"first_page":"3926","last_page":"3929"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10690","display_name":"Vibration Control and Rheological Fluids","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/T10690","display_name":"Vibration Control and Rheological Fluids","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/T10114","display_name":"Balance, Gait, and Falls Prevention","score":0.9656999707221985,"subfield":{"id":"https://openalex.org/subfields/3612","display_name":"Physical Therapy, Sports Therapy and Rehabilitation"},"field":{"id":"https://openalex.org/fields/36","display_name":"Health Professions"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T12269","display_name":"Effects of Vibration on Health","score":0.9634000062942505,"subfield":{"id":"https://openalex.org/subfields/2732","display_name":"Orthopedics and Sports Medicine"},"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/magnetorheological-fluid","display_name":"Magnetorheological fluid","score":0.8129333257675171},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6679760217666626},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.6196268200874329},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5699012875556946},{"id":"https://openalex.org/keywords/hall-effect-sensor","display_name":"Hall effect sensor","score":0.5541055202484131},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5278468132019043},{"id":"https://openalex.org/keywords/pid-controller","display_name":"PID controller","score":0.49990344047546387},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.47215795516967773},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.46497488021850586},{"id":"https://openalex.org/keywords/joystick","display_name":"Joystick","score":0.4594991207122803},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4537419080734253},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.43515267968177795},{"id":"https://openalex.org/keywords/hysteresis","display_name":"Hysteresis","score":0.4209394156932831},{"id":"https://openalex.org/keywords/sigmoid-function","display_name":"Sigmoid function","score":0.4207327663898468},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3290465474128723},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.29139184951782227},{"id":"https://openalex.org/keywords/magnet","display_name":"Magnet","score":0.23611536622047424},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.22095906734466553},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.1859789490699768},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.16579139232635498},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15246453881263733},{"id":"https://openalex.org/keywords/temperature-control","display_name":"Temperature control","score":0.1040160059928894},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07861784100532532}],"concepts":[{"id":"https://openalex.org/C108619579","wikidata":"https://www.wikidata.org/wiki/Q902419","display_name":"Magnetorheological fluid","level":3,"score":0.8129333257675171},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6679760217666626},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.6196268200874329},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5699012875556946},{"id":"https://openalex.org/C107637996","wikidata":"https://www.wikidata.org/wiki/Q1431247","display_name":"Hall effect sensor","level":3,"score":0.5541055202484131},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5278468132019043},{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.49990344047546387},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.47215795516967773},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.46497488021850586},{"id":"https://openalex.org/C96439379","wikidata":"https://www.wikidata.org/wiki/Q178805","display_name":"Joystick","level":2,"score":0.4594991207122803},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4537419080734253},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.43515267968177795},{"id":"https://openalex.org/C123299182","wikidata":"https://www.wikidata.org/wiki/Q190837","display_name":"Hysteresis","level":2,"score":0.4209394156932831},{"id":"https://openalex.org/C81388566","wikidata":"https://www.wikidata.org/wiki/Q526668","display_name":"Sigmoid function","level":3,"score":0.4207327663898468},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3290465474128723},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.29139184951782227},{"id":"https://openalex.org/C16389437","wikidata":"https://www.wikidata.org/wiki/Q11421","display_name":"Magnet","level":2,"score":0.23611536622047424},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.22095906734466553},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.1859789490699768},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.16579139232635498},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15246453881263733},{"id":"https://openalex.org/C536315585","wikidata":"https://www.wikidata.org/wiki/Q7698332","display_name":"Temperature control","level":2,"score":0.1040160059928894},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07861784100532532},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C140096630","wikidata":"https://www.wikidata.org/wiki/Q3423628","display_name":"Damper","level":2,"score":0.0}],"mesh":[{"descriptor_ui":"D005246","descriptor_name":"Feedback","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D005246","descriptor_name":"Feedback","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D005246","descriptor_name":"Feedback","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D060526","descriptor_name":"Magnetic Fields","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D060526","descriptor_name":"Magnetic Fields","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D060526","descriptor_name":"Magnetic Fields","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D065287","descriptor_name":"Robotic Surgical Procedures","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D065287","descriptor_name":"Robotic Surgical Procedures","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D065287","descriptor_name":"Robotic Surgical Procedures","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true}],"locations_count":2,"locations":[{"id":"doi:10.1109/embc.2017.8037715","is_oa":false,"landing_page_url":"https://doi.org/10.1109/embc.2017.8037715","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 39th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)","raw_type":"proceedings-article"},{"id":"pmid:29060756","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/29060756","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320313340","display_name":"Ontario Research Foundation","ror":null},{"id":"https://openalex.org/F4320323654","display_name":"Hospital for Sick Children","ror":"https://ror.org/057q4rt57"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1491867217","https://openalex.org/W1994708391","https://openalex.org/W2005959209","https://openalex.org/W2020275220","https://openalex.org/W2031514116","https://openalex.org/W2048017978","https://openalex.org/W2048740071","https://openalex.org/W2049602982","https://openalex.org/W2058400497","https://openalex.org/W2065750417","https://openalex.org/W2071223490","https://openalex.org/W2122812193","https://openalex.org/W2175315453","https://openalex.org/W2291328783","https://openalex.org/W2296137710"],"related_works":["https://openalex.org/W2202624226","https://openalex.org/W2354349721","https://openalex.org/W4383954884","https://openalex.org/W2055780310","https://openalex.org/W4385957115","https://openalex.org/W2366870538","https://openalex.org/W4238343869","https://openalex.org/W2011842837","https://openalex.org/W2788189673","https://openalex.org/W2110495735"],"abstract_inverted_index":{"A":[0,118],"prototype":[1],"magnetorheological":[2],"(MR)":[3],"fluid-based":[4],"actuator":[5],"has":[6],"been":[7],"designed":[8],"for":[9],"tele-robotic":[10],"surgical":[11],"applications.":[12],"This":[13],"device":[14,83],"is":[15,66,110,168],"capable":[16],"of":[17,40,50,74,127,194],"generating":[18],"forces":[19],"up":[20],"to":[21,30,68,84,90,103,123,135,145,189,202],"47":[22],"N,":[23],"with":[24],"input":[25],"currents":[26],"ranging":[27],"from":[28],"0":[29],"1.5":[31],"A.":[32],"We":[33],"begin":[34],"by":[35],"outlining":[36],"the":[37,41,51,59,71,75,82,92,105,147,152,166,172,181,203],"physical":[38],"design":[39],"device,":[42],"and":[43,65,87,94,107,115,165,197],"then":[44,133],"discuss":[45],"a":[46,125,137,159,176],"novel":[47],"nonlinear":[48,62],"model":[49,55,93,130],"device's":[52],"behavior.":[53],"The":[54,129,183],"was":[56,121,132,187],"developed":[57],"using":[58,175],"Hammerstein-Wiener":[60],"(H-W)":[61],"black-box":[63],"technique":[64],"intended":[67],"accurately":[69],"capture":[70],"hysteresis":[72,148],"behavior":[73,149],"MR-fluid.":[76],"Several":[77],"experiments":[78],"were":[79,101,143],"conducted":[80],"on":[81,113,170],"collect":[85],"estimation":[86],"validation":[88],"datasets":[89],"construct":[91,104],"assess":[95],"its":[96],"performance.":[97],"Different":[98],"estimating":[99],"functions":[100],"used":[102,134],"model,":[106],"their":[108],"effectiveness":[109],"assessed":[111],"based":[112,169],"goodness-of-fit":[114,126],"final-prediction-error":[116],"measurements.":[117],"sigmoid":[119],"network":[120],"found":[122,188],"have":[124],"95%.":[128],"estimate":[131],"tune":[136],"PID":[138],"controller.":[139],"Two":[140],"control":[141,163,199,205],"schemes":[142],"proposed":[144],"eliminate":[146],"present":[150],"in":[151,192],"MR":[153],"fluid":[154],"device.":[155,182],"One":[156],"method":[157],"uses":[158],"traditional":[160],"force":[161,204],"feedback":[162],"loop":[164],"other":[167],"measuring":[171],"magnetic":[173],"field":[174],"Hall-effect":[177,184],"sensor":[178,185],"embedded":[179],"within":[180],"scheme":[186],"be":[190],"superior":[191],"terms":[193],"cost,":[195],"simplicity":[196],"real-time":[198],"performance":[200],"compared":[201],"strategy.":[206]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2018,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}