{"id":"https://openalex.org/W4229080266","doi":"https://doi.org/10.1109/haptics52432.2022.9765604","title":"Analysis of Effect of Model Mismatch on Stability of Model-Mediated Teleoperation","display_name":"Analysis of Effect of Model Mismatch on Stability of Model-Mediated Teleoperation","publication_year":2022,"publication_date":"2022-03-21","ids":{"openalex":"https://openalex.org/W4229080266","doi":"https://doi.org/10.1109/haptics52432.2022.9765604"},"language":"en","primary_location":{"id":"doi:10.1109/haptics52432.2022.9765604","is_oa":false,"landing_page_url":"https://doi.org/10.1109/haptics52432.2022.9765604","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE Haptics Symposium (HAPTICS)","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/A5016592569","display_name":"Cheongjun Kim","orcid":"https://orcid.org/0000-0002-9776-5573"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Cheongjun Kim","raw_affiliation_strings":["Korea Advanced Institute of Science and Technology,Department of Mechanical Engineering,Daejeon,Republic of Korea,34141"],"affiliations":[{"raw_affiliation_string":"Korea Advanced Institute of Science and Technology,Department of Mechanical Engineering,Daejeon,Republic of Korea,34141","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5074913658","display_name":"Doo Yong","orcid":null},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Doo Yong","raw_affiliation_strings":["Korea Advanced Institute of Science and Technology,Department of Mechanical Engineering,Daejeon,Republic of Korea,34141"],"affiliations":[{"raw_affiliation_string":"Korea Advanced Institute of Science and Technology,Department of Mechanical Engineering,Daejeon,Republic of Korea,34141","institution_ids":["https://openalex.org/I157485424"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5016592569"],"corresponding_institution_ids":["https://openalex.org/I157485424"],"apc_list":null,"apc_paid":null,"fwci":0.3915,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.52352479,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"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":0.9998000264167786,"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":0.9815999865531921,"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/T10914","display_name":"Tactile and Sensory Interactions","score":0.9800000190734863,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.8692777156829834},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.7098288536071777},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6617183685302734},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.6205072999000549},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6174578666687012},{"id":"https://openalex.org/keywords/instability","display_name":"Instability","score":0.5505436658859253},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49648958444595337},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4793206453323364},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4261086583137512},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.4193311929702759},{"id":"https://openalex.org/keywords/linear-model","display_name":"Linear model","score":0.4153311550617218},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3650282025337219},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2627655267715454},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.2227732539176941},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.20221921801567078},{"id":"https://openalex.org/keywords/mechanics","display_name":"Mechanics","score":0.20115312933921814},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15785524249076843},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.09863123297691345}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.8692777156829834},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.7098288536071777},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6617183685302734},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.6205072999000549},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6174578666687012},{"id":"https://openalex.org/C207821765","wikidata":"https://www.wikidata.org/wiki/Q405372","display_name":"Instability","level":2,"score":0.5505436658859253},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49648958444595337},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4793206453323364},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4261086583137512},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.4193311929702759},{"id":"https://openalex.org/C163175372","wikidata":"https://www.wikidata.org/wiki/Q3339222","display_name":"Linear model","level":2,"score":0.4153311550617218},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3650282025337219},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2627655267715454},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.2227732539176941},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.20221921801567078},{"id":"https://openalex.org/C57879066","wikidata":"https://www.wikidata.org/wiki/Q41217","display_name":"Mechanics","level":1,"score":0.20115312933921814},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15785524249076843},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.09863123297691345},{"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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/haptics52432.2022.9765604","is_oa":false,"landing_page_url":"https://doi.org/10.1109/haptics52432.2022.9765604","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE Haptics Symposium (HAPTICS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6800000071525574,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320322120","display_name":"National Research Foundation of Korea","ror":"https://ror.org/013aysd81"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W1981212189","https://openalex.org/W2017280345","https://openalex.org/W2084497846","https://openalex.org/W2098027861","https://openalex.org/W2106021820","https://openalex.org/W2153681681","https://openalex.org/W2295130924","https://openalex.org/W2296377172","https://openalex.org/W2793807452","https://openalex.org/W2906717157","https://openalex.org/W3199912730","https://openalex.org/W6675172812"],"related_works":["https://openalex.org/W1923069992","https://openalex.org/W2160982102","https://openalex.org/W2048862765","https://openalex.org/W2770942502","https://openalex.org/W4281943815","https://openalex.org/W2094105667","https://openalex.org/W2097347938","https://openalex.org/W2164858976","https://openalex.org/W2970545857","https://openalex.org/W4311378573"],"abstract_inverted_index":{"Model-mediated":[0],"teleoperation":[1],"(MMT)":[2],"is":[3,84,124,128],"intended":[4],"to":[5,169],"improve":[6],"system":[7,69,121],"stability":[8,52],"and":[9,21,101],"transparency":[10],"in":[11,66,87],"the":[12,18,22,45,51,54,60,67,71,75,79,115,120,141,148,160,166],"presence":[13],"of":[14,47,53,74,111],"time":[15,125],"delay":[16],"between":[17],"haptic":[19,68],"device":[20],"robot.":[23],"Previous":[24],"experimental":[25],"researches,":[26],"however,":[27],"report":[28],"that":[29,59,114,130,159],"systems":[30],"mediated":[31,132],"using":[32],"linear":[33,96,135,145],"models":[34],"become":[35],"unstable":[36,138],"when":[37,70,122,140],"contacting":[38],"nonlinear":[39,103],"objects.":[40],"This":[41],"paper":[42],"analytically":[43],"shows":[44,58,158],"effect":[46],"model":[48,136,157,170],"mismatch":[49,61],"on":[50],"system.":[55],"The":[56,82,153],"analysis":[57,83],"can":[62],"generate":[63],"surplus":[64],"energy":[65,118],"stiffness":[72,93,146,149],"coefficient":[73],"environment":[76,89],"increases":[77],"with":[78,90,98,155],"deformed":[80],"depth.":[81],"verified":[85],"experimentally":[86],"virtual":[88],"second-order":[91],"polynomial":[92],"object,":[94],"a":[95,102,134],"object":[97,105,142],"varying":[99],"stiffness,":[100],"viscoelastic":[104],"described":[106],"by":[107,133],"Hunt-Crossley":[108,156],"model.":[109],"Results":[110],"experiments":[112,154],"show":[113],"additionally":[116],"generated":[117],"destabilizes":[119],"there":[123],"delay.":[126],"It":[127],"observed":[129],"MMT":[131],"becomes":[137],"even":[139,151],"also":[143],"has":[144],"if":[147],"changes":[150],"once.":[152],"damping":[161],"element":[162],"may":[163],"not":[164],"prevent":[165],"instability":[167],"due":[168],"mismatch.":[171]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}