{"id":"https://openalex.org/W2026398988","doi":"https://doi.org/10.1109/haptics.2008.4479955","title":"Telemanipulators with Sensor/Actuator Asymmetries Fail the Robustness Criterion","display_name":"Telemanipulators with Sensor/Actuator Asymmetries Fail the Robustness Criterion","publication_year":2008,"publication_date":"2008-03-01","ids":{"openalex":"https://openalex.org/W2026398988","doi":"https://doi.org/10.1109/haptics.2008.4479955","mag":"2026398988"},"language":"en","primary_location":{"id":"doi:10.1109/haptics.2008.4479955","is_oa":false,"landing_page_url":"https://doi.org/10.1109/haptics.2008.4479955","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems","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/A5025946641","display_name":"Lawton N. Verner","orcid":null},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Lawton N. Verner","raw_affiliation_strings":["Department of Mechanical Engineering Laboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD, USA","Johns Hopkins Univ, Baltimore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering Laboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD, USA","institution_ids":["https://openalex.org/I145311948"]},{"raw_affiliation_string":"Johns Hopkins Univ, Baltimore","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067958710","display_name":"Allison M. Okamura","orcid":"https://orcid.org/0000-0002-6912-1666"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Allison M. Okamura","raw_affiliation_strings":["Department of Mechanical Engineering Laboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD, USA","Johns Hopkins Univ, Baltimore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering Laboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD, USA","institution_ids":["https://openalex.org/I145311948"]},{"raw_affiliation_string":"Johns Hopkins Univ, Baltimore","institution_ids":["https://openalex.org/I145311948"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.8701,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.85244253,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"267","last_page":"271"},"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/T13885","display_name":"Geophysics and Sensor Technology","score":0.9706000089645386,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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":0.9358000159263611,"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/actuator","display_name":"Actuator","score":0.9173160791397095},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.8641277551651001},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7485569715499878},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5717299580574036},{"id":"https://openalex.org/keywords/passivity","display_name":"Passivity","score":0.48883122205734253},{"id":"https://openalex.org/keywords/asymmetry","display_name":"Asymmetry","score":0.484901487827301},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4339383840560913},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.25561070442199707},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14290618896484375},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.07572343945503235},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.06152266263961792}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.9173160791397095},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.8641277551651001},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7485569715499878},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5717299580574036},{"id":"https://openalex.org/C2778809601","wikidata":"https://www.wikidata.org/wiki/Q1045736","display_name":"Passivity","level":2,"score":0.48883122205734253},{"id":"https://openalex.org/C38976095","wikidata":"https://www.wikidata.org/wiki/Q752641","display_name":"Asymmetry","level":2,"score":0.484901487827301},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4339383840560913},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25561070442199707},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14290618896484375},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.07572343945503235},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.06152266263961792},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/haptics.2008.4479955","is_oa":false,"landing_page_url":"https://doi.org/10.1109/haptics.2008.4479955","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems","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":12,"referenced_works":["https://openalex.org/W1976809014","https://openalex.org/W1994576715","https://openalex.org/W2001852229","https://openalex.org/W2115512523","https://openalex.org/W2124034026","https://openalex.org/W2127249762","https://openalex.org/W2129669049","https://openalex.org/W2130693052","https://openalex.org/W2134927525","https://openalex.org/W2136919126","https://openalex.org/W2561111412","https://openalex.org/W4254885007"],"related_works":["https://openalex.org/W4233304828","https://openalex.org/W4239268637","https://openalex.org/W2952841825","https://openalex.org/W1977819874","https://openalex.org/W2051296765","https://openalex.org/W2960878236","https://openalex.org/W153449849","https://openalex.org/W2473698078","https://openalex.org/W2085176909","https://openalex.org/W2792365087"],"abstract_inverted_index":{"Force":[0],"reflection":[1],"in":[2,21,51],"telemanipulators":[3,69,99],"can":[4,36],"be":[5,37],"challenging":[6],"and":[7,18,24,33,76],"costly,":[8],"often":[9],"prohibitively":[10],"so.":[11],"By":[12],"reducing":[13],"the":[14,22,26,52,80,92],"number":[15],"of":[16],"sensors":[17],"actuators":[19],"used":[20],"telemanipulator":[23],"providing":[25],"user":[27],"only":[28],"partial":[29,40],"force":[30,41],"feedback,":[31],"cost":[32],"performance":[34],"concerns":[35],"optimized.":[38],"While":[39],"feedback":[42],"is":[43],"beneficial":[44],"practically,":[45],"it":[46],"creates":[47],"a":[48],"sensor/actuator":[49,59,71],"asymmetry":[50],"device.":[53],"Robust":[54],"stability":[55,82,96],"for":[56,94,98],"systems":[57],"with":[58,70],"asymmetries":[60,72],"has":[61],"not":[62,74,78,102],"been":[63],"examined":[64],"previously.":[65],"We":[66],"show":[67],"that":[68,100],"are":[73,86,101],"passive":[75],"do":[77],"satisfy":[79],"robustness":[81],"criterion.":[83],"Thus,":[84],"they":[85],"potentially":[87],"unstable.":[88],"Further,":[89],"we":[90],"motivate":[91],"need":[93],"additional":[95],"criterion":[97],"passivity-based.":[103]},"counts_by_year":[{"year":2014,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}