{"id":"https://openalex.org/W4205543241","doi":"https://doi.org/10.1109/icar53236.2021.9659430","title":"Independently Commanding Size, Shape and Orientation of Robot Endpoint Stiffness in Tele-Impedance by Virtual Ellipsoid Interface","display_name":"Independently Commanding Size, Shape and Orientation of Robot Endpoint Stiffness in Tele-Impedance by Virtual Ellipsoid Interface","publication_year":2021,"publication_date":"2021-12-06","ids":{"openalex":"https://openalex.org/W4205543241","doi":"https://doi.org/10.1109/icar53236.2021.9659430"},"language":"en","primary_location":{"id":"doi:10.1109/icar53236.2021.9659430","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icar53236.2021.9659430","pdf_url":null,"source":{"id":"https://openalex.org/S4363608199","display_name":"2021 20th International Conference on Advanced Robotics (ICAR)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 20th International Conference on Advanced Robotics (ICAR)","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/A5042113474","display_name":"Luka Peternel","orcid":"https://orcid.org/0000-0002-8696-3689"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Luka Peternel","raw_affiliation_strings":["Delft Haptics Lab, Cognitive Robotics, Delft University of Technology, The Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Delft Haptics Lab, Cognitive Robotics, Delft University of Technology, The Netherlands","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045824422","display_name":"Niek Beckers","orcid":"https://orcid.org/0000-0001-7077-9812"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Niek Beckers","raw_affiliation_strings":["Delft Haptics Lab, Cognitive Robotics, Delft University of Technology, The Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Delft Haptics Lab, Cognitive Robotics, Delft University of Technology, The Netherlands","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5058571219","display_name":"David A. Abbink","orcid":"https://orcid.org/0000-0001-7778-0090"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"David A. Abbink","raw_affiliation_strings":["Delft Haptics Lab, Cognitive Robotics, Delft University of Technology, The Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Delft Haptics Lab, Cognitive Robotics, Delft University of Technology, The Netherlands","institution_ids":["https://openalex.org/I98358874"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":4.0313,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.95426195,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"99","last_page":"106"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9983999729156494,"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/T10868","display_name":"Soft Robotics and Applications","score":0.996999979019165,"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/ellipsoid","display_name":"Ellipsoid","score":0.771071195602417},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.6982725858688354},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.6862622499465942},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.6316526532173157},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5646218061447144},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5544636249542236},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.4943420886993408},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.40156084299087524},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.35058289766311646},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.31447309255599976},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.279411643743515},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1438797116279602},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.10722234845161438},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.08793395757675171},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07060649991035461}],"concepts":[{"id":"https://openalex.org/C57489055","wikidata":"https://www.wikidata.org/wiki/Q190046","display_name":"Ellipsoid","level":2,"score":0.771071195602417},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.6982725858688354},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.6862622499465942},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.6316526532173157},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5646218061447144},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5544636249542236},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.4943420886993408},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.40156084299087524},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.35058289766311646},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.31447309255599976},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.279411643743515},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1438797116279602},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.10722234845161438},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.08793395757675171},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07060649991035461},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icar53236.2021.9659430","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icar53236.2021.9659430","pdf_url":null,"source":{"id":"https://openalex.org/S4363608199","display_name":"2021 20th International Conference on Advanced Robotics (ICAR)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 20th International Conference on Advanced Robotics (ICAR)","raw_type":"proceedings-article"},{"id":"pmh:oai:tudelft.nl:uuid:666d5c0c-90c3-4482-aeea-02ed6ef32364","is_oa":false,"landing_page_url":"http://resolver.tudelft.nl/uuid:666d5c0c-90c3-4482-aeea-02ed6ef32364","pdf_url":null,"source":{"id":"https://openalex.org/S4306400906","display_name":"Research Repository (Delft University of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I98358874","host_organization_name":"Delft University of Technology","host_organization_lineage":["https://openalex.org/I98358874"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"conference paper"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1517823811","https://openalex.org/W1860620008","https://openalex.org/W1969976050","https://openalex.org/W1979117064","https://openalex.org/W1984002649","https://openalex.org/W2080487795","https://openalex.org/W2111173435","https://openalex.org/W2111528514","https://openalex.org/W2115730616","https://openalex.org/W2122139236","https://openalex.org/W2122570643","https://openalex.org/W2131666656","https://openalex.org/W2133932631","https://openalex.org/W2135464393","https://openalex.org/W2144527755","https://openalex.org/W2146892985","https://openalex.org/W2157289187","https://openalex.org/W2605902560","https://openalex.org/W2606499982","https://openalex.org/W2624869465","https://openalex.org/W2754133402","https://openalex.org/W2770423878","https://openalex.org/W2885414200","https://openalex.org/W2920873029","https://openalex.org/W2997671979","https://openalex.org/W3108940487","https://openalex.org/W3120305639","https://openalex.org/W6786398753"],"related_works":["https://openalex.org/W156716224","https://openalex.org/W2111871955","https://openalex.org/W3175380930","https://openalex.org/W2005485125","https://openalex.org/W1989694608","https://openalex.org/W2139876914","https://openalex.org/W2390718407","https://openalex.org/W1986738380","https://openalex.org/W2642061445","https://openalex.org/W4233260495"],"abstract_inverted_index":{"The":[0,72,111,231],"existing":[1],"state-of-the-art":[2,130,263],"interfaces":[3],"for":[4,218],"commanding":[5,256],"a":[6,49,63,69,105,167,183,187,194],"remote":[7,106,124,214],"robot's":[8],"endpoint":[9,45,108,162],"stiffness":[10,65,102,136,163,210,259],"ellipsoid":[11,66,83,95,103],"in":[12,109,137,207,255],"tele-impedance":[13,184],"lack":[14],"the":[15,34,44,81,100,115,120,123,129,134,139,143,160,171,175,213,250,257],"ability":[16,152],"to":[17,30,33,42,99,118,128,132,261],"independently":[18,59],"control":[19,43,119,133,155],"its":[20,147],"size,":[21,55,76],"shape":[22,56,77],"and":[23,57,60,78,87,151,169,193,225],"orientation":[24,58,79],"or":[25],"they":[26],"are":[27,146],"not":[28],"easily":[29],"implement":[31],"due":[32],"use":[35],"of":[36,80,90,104,122,142,153,159,174,205,212],"physiological":[37],"signals,":[38],"such":[39],"as":[40],"electromyography,":[41],"stiffness.":[46],"We":[47,200],"propose":[48],"novel":[50],"method":[51,145],"that":[52,234,249],"can":[53,238],"command":[54],"simultaneously":[61],"through":[62],"virtual":[64,82,94],"generated":[67],"on":[68,182],"touchscreen":[70,251],"device.":[71,199],"human":[73,245],"operator":[74],"controls":[75],"using":[84],"his/her":[85],"index":[86],"thumb":[88],"fingers":[89],"one":[91],"hand.":[92],"This":[93],"is":[96,216,253],"then":[97],"mapped":[98],"Cartesian":[101],"robot":[107,135,161,215],"real-time.":[110],"other":[112],"hand":[113],"holds":[114],"haptic":[116,198],"device":[117],"pose":[121],"robotic":[125,191],"arm.":[126],"Compared":[127],"methods":[131],"tele-impedance,":[138],"main":[140,172],"advantages":[141],"proposed":[144,176,236],"relatively":[148],"simple":[149],"implementation":[150],"independent":[154],"over":[156],"various":[157],"aspects":[158],"ellipsoid.":[164],"To":[165],"provide":[166],"proof-of-concept":[168],"demonstrate":[170],"features":[173],"approach,":[177],"we":[178],"performed":[179],"several":[180],"experiments":[181],"setup":[185],"with":[186,228,241],"Kuka":[188],"LBR":[189],"iiwa":[190],"arm":[192],"Force":[195],"Dimension":[196],"Sigma7":[197],"examined":[201],"two":[202],"principal":[203],"types":[204],"tasks,":[206],"which":[208],"changing":[209],"parameters":[211],"important":[217],"successful":[219],"task":[220],"execution:":[221],"counteracting":[222],"external":[223],"perturbations":[224],"establishing":[226],"contact":[227],"unknown":[229],"objects.":[230],"results":[232],"indicate":[233],"our":[235],"approach":[237],"successfully":[239],"deal":[240],"these":[242],"tasks.":[243],"A":[244],"subject":[246],"study":[247],"showed":[248],"interface":[252],"faster":[254],"desired":[258],"compared":[260],"another":[262],"input":[264],"method,":[265],"while":[266],"showing":[267],"similar":[268],"workload":[269],"ratings.":[270]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}