{"id":"https://openalex.org/W1968126699","doi":"https://doi.org/10.1109/humanoids.2012.6651531","title":"Dexterous telemanipulation with a multi-touch interface","display_name":"Dexterous telemanipulation with a multi-touch interface","publication_year":2012,"publication_date":"2012-11-01","ids":{"openalex":"https://openalex.org/W1968126699","doi":"https://doi.org/10.1109/humanoids.2012.6651531","mag":"1968126699"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids.2012.6651531","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2012.6651531","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://figshare.com/articles/journal_contribution/Dexterous_TeleManipulation_with_A_Multi-Touch_Interface/6552629","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5041145823","display_name":"Yue Peng Toh","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Yue Peng Toh","raw_affiliation_strings":["Department of Computer Science, Carnegie Mellon University","Dept. of Comput. Sci., Carnegie-Mellon Univ., Pittsburgh, PA, USA#TAB#"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Carnegie Mellon University","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Dept. of Comput. Sci., Carnegie-Mellon Univ., Pittsburgh, PA, USA#TAB#","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102725956","display_name":"Shan Huang","orcid":"https://orcid.org/0000-0002-4926-4109"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Shan Huang","raw_affiliation_strings":["Department of Computer Science, Carnegie Mellon University","Dept. of Comput. Sci., Carnegie-Mellon Univ., Pittsburgh, PA, USA#TAB#"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Carnegie Mellon University","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Dept. of Comput. Sci., Carnegie-Mellon Univ., Pittsburgh, PA, USA#TAB#","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000936581","display_name":"Joy Lin","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Joy Lin","raw_affiliation_strings":["Department of Computer Science, Carnegie Mellon University","Dept. of Comput. Sci., Carnegie-Mellon Univ., Pittsburgh, PA, USA#TAB#"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Carnegie Mellon University","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Dept. of Comput. Sci., Carnegie-Mellon Univ., Pittsburgh, PA, USA#TAB#","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091313803","display_name":"Maria Bajzek","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Maria Bajzek","raw_affiliation_strings":["Department of Computer Science, Carnegie Mellon University","Dept. of Comput. Sci., Carnegie-Mellon Univ., Pittsburgh, PA, USA#TAB#"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Carnegie Mellon University","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Dept. of Comput. Sci., Carnegie-Mellon Univ., Pittsburgh, PA, USA#TAB#","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068614605","display_name":"Garth Zeglin","orcid":"https://orcid.org/0000-0002-6680-4787"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Garth Zeglin","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University","[Robot. Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA]"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"[Robot. Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA]","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5011046225","display_name":"Nancy S. Pollard","orcid":"https://orcid.org/0000-0001-6464-839X"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nancy S. Pollard","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University","[Robot. Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA]"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"[Robot. Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA]","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5041145823"],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":1.813,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.84239986,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9995999932289124,"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":0.9995999932289124,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9993000030517578,"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"}},{"id":"https://openalex.org/T10914","display_name":"Tactile and Sensory Interactions","score":0.9927999973297119,"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":0.8907186985015869},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.6956381797790527},{"id":"https://openalex.org/keywords/interface","display_name":"Interface (matter)","score":0.646971583366394},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6443127393722534},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.5957798957824707},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5897530317306519},{"id":"https://openalex.org/keywords/telerobotics","display_name":"Telerobotics","score":0.5631046295166016},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.516800045967102},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.5157271027565002},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4892292022705078},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.41389769315719604},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.36227887868881226},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.35045960545539856},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.15429681539535522}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.8907186985015869},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.6956381797790527},{"id":"https://openalex.org/C113843644","wikidata":"https://www.wikidata.org/wiki/Q901882","display_name":"Interface (matter)","level":4,"score":0.646971583366394},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6443127393722534},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5957798957824707},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5897530317306519},{"id":"https://openalex.org/C196467688","wikidata":"https://www.wikidata.org/wiki/Q1851985","display_name":"Telerobotics","level":4,"score":0.5631046295166016},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.516800045967102},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.5157271027565002},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4892292022705078},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.41389769315719604},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.36227887868881226},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.35045960545539856},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.15429681539535522},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C173608175","wikidata":"https://www.wikidata.org/wiki/Q232661","display_name":"Parallel computing","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C157915830","wikidata":"https://www.wikidata.org/wiki/Q2928001","display_name":"Bubble","level":2,"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/C129307140","wikidata":"https://www.wikidata.org/wiki/Q6795880","display_name":"Maximum bubble pressure method","level":3,"score":0.0}],"mesh":[],"locations_count":7,"locations":[{"id":"doi:10.1109/humanoids.2012.6651531","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2012.6651531","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012)","raw_type":"proceedings-article"},{"id":"pmh:oai:repository.cmu.edu:robotics-1860","is_oa":false,"landing_page_url":"http://repository.cmu.edu/cgi/viewcontent.cgi?article=1860&context=robotics","pdf_url":null,"source":{"id":"https://openalex.org/S4306400668","display_name":"Research Showcase @ Carnegie Mellon University (Carnegie Mellon University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I74973139","host_organization_name":"Carnegie Mellon University","host_organization_lineage":["https://openalex.org/I74973139"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics Institute","raw_type":"text"},{"id":"pmh:doi:10.1184/r1/6552629","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Journal contribution"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.303.6984","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.303.6984","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://graphics.cs.cmu.edu/nsp/papers/Humanoids2012.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.361.3435","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.361.3435","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://graphics.cs.cmu.edu/projects/multitouch/ICHR12_Multitouch.pdf","raw_type":"text"},{"id":"pmh:oai:figshare.com:article/6552629","is_oa":true,"landing_page_url":"https://figshare.com/articles/journal_contribution/Dexterous_TeleManipulation_with_A_Multi-Touch_Interface/6552629","pdf_url":null,"source":{"id":"https://openalex.org/S4377196282","display_name":"Figshare","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210132348","host_organization_name":"Figshare (United Kingdom)","host_organization_lineage":["https://openalex.org/I4210132348"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},{"id":"doi:10.1184/r1/6552629.v1","is_oa":true,"landing_page_url":"https://doi.org/10.1184/r1/6552629.v1","pdf_url":null,"source":{"id":"https://openalex.org/S7407050927","display_name":"KiltHub Repository","issn_l":null,"issn":[],"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article-journal"}],"best_oa_location":{"id":"pmh:oai:figshare.com:article/6552629","is_oa":true,"landing_page_url":"https://figshare.com/articles/journal_contribution/Dexterous_TeleManipulation_with_A_Multi-Touch_Interface/6552629","pdf_url":null,"source":{"id":"https://openalex.org/S4377196282","display_name":"Figshare","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210132348","host_organization_name":"Figshare (United Kingdom)","host_organization_lineage":["https://openalex.org/I4210132348"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},"sustainable_development_goals":[{"display_name":"Decent work and economic growth","id":"https://metadata.un.org/sdg/8","score":0.5199999809265137}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":43,"referenced_works":["https://openalex.org/W810953713","https://openalex.org/W1249953932","https://openalex.org/W1552815313","https://openalex.org/W1581095231","https://openalex.org/W1848216964","https://openalex.org/W1967390389","https://openalex.org/W1982442957","https://openalex.org/W1992177162","https://openalex.org/W2037003830","https://openalex.org/W2037686413","https://openalex.org/W2042680753","https://openalex.org/W2043066056","https://openalex.org/W2049617391","https://openalex.org/W2050708324","https://openalex.org/W2084486945","https://openalex.org/W2116233534","https://openalex.org/W2126210515","https://openalex.org/W2126852197","https://openalex.org/W2128082316","https://openalex.org/W2134060734","https://openalex.org/W2134447392","https://openalex.org/W2140134638","https://openalex.org/W2140190783","https://openalex.org/W2141618988","https://openalex.org/W2145357800","https://openalex.org/W2157501229","https://openalex.org/W2170738433","https://openalex.org/W2171192772","https://openalex.org/W2540258482","https://openalex.org/W2547559307","https://openalex.org/W3088063282","https://openalex.org/W3211840301","https://openalex.org/W3213213778","https://openalex.org/W3214483539","https://openalex.org/W4240202985","https://openalex.org/W6623011851","https://openalex.org/W6627909153","https://openalex.org/W6678924577","https://openalex.org/W6680693636","https://openalex.org/W6684863507","https://openalex.org/W6685175695","https://openalex.org/W6803660933","https://openalex.org/W6804005807"],"related_works":["https://openalex.org/W2559957734","https://openalex.org/W2046710269","https://openalex.org/W2097059456","https://openalex.org/W817518365","https://openalex.org/W2141648055","https://openalex.org/W2145103607","https://openalex.org/W4367662652","https://openalex.org/W2145960295","https://openalex.org/W2013463538","https://openalex.org/W2078176643"],"abstract_inverted_index":{"Robust":[0],"manipulation":[1,81],"with":[2],"a":[3,8,27,44,61,92,128,144,149],"dexterous":[4,68,78],"robot":[5,41,69],"hand":[6],"is":[7,76],"grand":[9],"challenge":[10],"of":[11,15,64,88,105],"robotics.":[12],"Impressive":[13],"levels":[14],"dexterity":[16],"can":[17,34,38,56],"be":[18,35],"achieved":[19],"through":[20],"teleoperation.":[21],"However,":[22],"teleoperation":[23],"devices":[24],"such":[25,113],"as":[26,114,121,123],"glove":[28],"or":[29],"force":[30],"reflecting":[31],"master-slave":[32],"system":[33],"expensive":[36],"and":[37,51,80,119,133,136],"tie":[39],"the":[40,89,125],"down":[42],"to":[43,143],"restricted":[45],"workspace.":[46],"We":[47,131],"observe":[48],"that":[49,77],"inexpensive":[50],"widely":[52],"available":[53],"multi-touch":[54,99,129],"interfaces":[55],"achieve":[57],"excellent":[58],"performance":[59],"for":[60],"large":[62],"range":[63],"telemanipulation":[65,70],"tasks,":[66],"making":[67,109],"broadly":[71],"accessible.":[72],"Our":[73],"key":[74],"insight":[75],"grasping":[79],"interactions":[82,138],"frequently":[83],"focus":[84],"on":[85,102,127,148],"precise":[86],"control":[87],"fingertips":[90],"in":[91],"plane.":[93],"Following":[94],"this":[95],"observation,":[96],"our":[97],"novel":[98],"interface":[100,142],"focuses":[101],"reliable":[103],"replication":[104],"planar":[106],"fingertip":[107],"trajectories,":[108],"previously":[110],"difficult":[111],"actions":[112],"grasping,":[115],"dragging,":[116],"reorienting,":[117],"rolling,":[118],"smoothing":[120],"intuitive":[122],"miming":[124],"action":[126],"surface.":[130],"demonstrate":[132],"evaluate":[134],"these":[135],"other":[137],"using":[139],"an":[140],"iPad":[141],"Shadow":[145],"Hand":[146],"mounted":[147],"Motoman":[150],"SDA10":[151],"robot.":[152]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":2}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}
