{"id":"https://openalex.org/W2113873545","doi":"https://doi.org/10.1109/icra.2011.5979610","title":"Sliding mode control of a pneumatic haptic teleoperation system with on/off solenoid valves","display_name":"Sliding mode control of a pneumatic haptic teleoperation system with on/off solenoid valves","publication_year":2011,"publication_date":"2011-05-01","ids":{"openalex":"https://openalex.org/W2113873545","doi":"https://doi.org/10.1109/icra.2011.5979610","mag":"2113873545"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2011.5979610","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5979610","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hal.science/hal-00597445/document","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5044123689","display_name":"Minh\u2010Quyen Le","orcid":"https://orcid.org/0000-0001-5907-159X"},"institutions":[{"id":"https://openalex.org/I100532134","display_name":"Universit\u00e9 Claude Bernard Lyon 1","ror":"https://ror.org/029brtt94","country_code":"FR","type":"education","lineage":["https://openalex.org/I100532134","https://openalex.org/I203339264"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210145913","display_name":"Laboratoire Amp\u00e8re","ror":"https://ror.org/04xbczw40","country_code":"FR","type":"facility","lineage":["https://openalex.org/I100532134","https://openalex.org/I112936343","https://openalex.org/I1294671590","https://openalex.org/I203339264","https://openalex.org/I203339264","https://openalex.org/I203339264","https://openalex.org/I4210145913","https://openalex.org/I48430043"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"M.Q. Le","raw_affiliation_strings":["Laboratoire Amp\u00e8re, UMR CNRS 5005, Universit\u00e9 de Lyon, INSA-Lyon, France","[Laboratoire Amp\u00e8re, UMR CNRS 5005, Universit\u00e9 de Lyon, INSA-Lyon, France]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratoire Amp\u00e8re, UMR CNRS 5005, Universit\u00e9 de Lyon, INSA-Lyon, France","institution_ids":["https://openalex.org/I100532134","https://openalex.org/I1294671590","https://openalex.org/I4210145913"]},{"raw_affiliation_string":"[Laboratoire Amp\u00e8re, UMR CNRS 5005, Universit\u00e9 de Lyon, INSA-Lyon, France]","institution_ids":["https://openalex.org/I100532134","https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084059847","display_name":"Minh Tu Pham","orcid":"https://orcid.org/0000-0001-6799-5899"},"institutions":[{"id":"https://openalex.org/I100532134","display_name":"Universit\u00e9 Claude Bernard Lyon 1","ror":"https://ror.org/029brtt94","country_code":"FR","type":"education","lineage":["https://openalex.org/I100532134","https://openalex.org/I203339264"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210145913","display_name":"Laboratoire Amp\u00e8re","ror":"https://ror.org/04xbczw40","country_code":"FR","type":"facility","lineage":["https://openalex.org/I100532134","https://openalex.org/I112936343","https://openalex.org/I1294671590","https://openalex.org/I203339264","https://openalex.org/I203339264","https://openalex.org/I203339264","https://openalex.org/I4210145913","https://openalex.org/I48430043"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"M.T. Pham","raw_affiliation_strings":["Laboratoire Amp\u00e8re, UMR CNRS 5005, Universit\u00e9 de Lyon, INSA-Lyon, France","[Laboratoire Amp\u00e8re, UMR CNRS 5005, Universit\u00e9 de Lyon, INSA-Lyon, France]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratoire Amp\u00e8re, UMR CNRS 5005, Universit\u00e9 de Lyon, INSA-Lyon, France","institution_ids":["https://openalex.org/I100532134","https://openalex.org/I1294671590","https://openalex.org/I4210145913"]},{"raw_affiliation_string":"[Laboratoire Amp\u00e8re, UMR CNRS 5005, Universit\u00e9 de Lyon, INSA-Lyon, France]","institution_ids":["https://openalex.org/I100532134","https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018636421","display_name":"Mahdi Tavakoli","orcid":"https://orcid.org/0000-0002-7427-6961"},"institutions":[{"id":"https://openalex.org/I154425047","display_name":"University of Alberta","ror":"https://ror.org/0160cpw27","country_code":"CA","type":"education","lineage":["https://openalex.org/I154425047"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"M. Tavakoli","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Alberta, Canada","Department of Electrical & Computer Engineering, University of Alberta, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Alberta, Canada","institution_ids":["https://openalex.org/I154425047"]},{"raw_affiliation_string":"Department of Electrical & Computer Engineering, University of Alberta, Canada","institution_ids":["https://openalex.org/I154425047"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101501194","display_name":"Richard Moreau","orcid":"https://orcid.org/0000-0003-4885-5107"},"institutions":[{"id":"https://openalex.org/I100532134","display_name":"Universit\u00e9 Claude Bernard Lyon 1","ror":"https://ror.org/029brtt94","country_code":"FR","type":"education","lineage":["https://openalex.org/I100532134","https://openalex.org/I203339264"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210145913","display_name":"Laboratoire Amp\u00e8re","ror":"https://ror.org/04xbczw40","country_code":"FR","type":"facility","lineage":["https://openalex.org/I100532134","https://openalex.org/I112936343","https://openalex.org/I1294671590","https://openalex.org/I203339264","https://openalex.org/I203339264","https://openalex.org/I203339264","https://openalex.org/I4210145913","https://openalex.org/I48430043"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"R. Moreau","raw_affiliation_strings":["Laboratoire Amp\u00e8re, UMR CNRS 5005, Universit\u00e9 de Lyon, INSA-Lyon, France","[Laboratoire Amp\u00e8re, UMR CNRS 5005, Universit\u00e9 de Lyon, INSA-Lyon, France]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratoire Amp\u00e8re, UMR CNRS 5005, Universit\u00e9 de Lyon, INSA-Lyon, France","institution_ids":["https://openalex.org/I100532134","https://openalex.org/I1294671590","https://openalex.org/I4210145913"]},{"raw_affiliation_string":"[Laboratoire Amp\u00e8re, UMR CNRS 5005, Universit\u00e9 de Lyon, INSA-Lyon, France]","institution_ids":["https://openalex.org/I100532134","https://openalex.org/I1294671590"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":11.5832,"has_fulltext":true,"cited_by_count":30,"citation_normalized_percentile":{"value":0.99031209,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"874","last_page":"879"},"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/T14011","display_name":"Elevator Systems and Control","score":0.9718999862670898,"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":0.9700999855995178,"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/teleoperation","display_name":"Teleoperation","score":0.9753730297088623},{"id":"https://openalex.org/keywords/pneumatic-actuator","display_name":"Pneumatic actuator","score":0.6806340217590332},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.6699672937393188},{"id":"https://openalex.org/keywords/solenoid","display_name":"Solenoid","score":0.6109375357627869},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5685569047927856},{"id":"https://openalex.org/keywords/position-tracking","display_name":"Position tracking","score":0.5424005389213562},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.49924445152282715},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4415692985057831},{"id":"https://openalex.org/keywords/telerobotics","display_name":"Telerobotics","score":0.43067947030067444},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.412118136882782},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4075908362865448},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.38643577694892883},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3569353222846985},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.24504569172859192},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1622621715068817},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.1277729868888855},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.08877319097518921},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.0681990385055542}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.9753730297088623},{"id":"https://openalex.org/C170401851","wikidata":"https://www.wikidata.org/wiki/Q1965061","display_name":"Pneumatic actuator","level":3,"score":0.6806340217590332},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.6699672937393188},{"id":"https://openalex.org/C192144188","wikidata":"https://www.wikidata.org/wiki/Q245739","display_name":"Solenoid","level":2,"score":0.6109375357627869},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5685569047927856},{"id":"https://openalex.org/C3017729373","wikidata":"https://www.wikidata.org/wiki/Q30324728","display_name":"Position tracking","level":3,"score":0.5424005389213562},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.49924445152282715},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4415692985057831},{"id":"https://openalex.org/C196467688","wikidata":"https://www.wikidata.org/wiki/Q1851985","display_name":"Telerobotics","level":4,"score":0.43067947030067444},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.412118136882782},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4075908362865448},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.38643577694892883},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3569353222846985},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.24504569172859192},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1622621715068817},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.1277729868888855},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.08877319097518921},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.0681990385055542},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/icra.2011.5979610","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5979610","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-00597445v1","is_oa":true,"landing_page_url":"https://hal.science/hal-00597445","pdf_url":"https://hal.science/hal-00597445/document","source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"ICRA, May 2011, Shanghai, China. pp.874-879, ⟨10.1109/ICRA.2011.5979610⟩","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.417.276","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.417.276","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.ece.ualberta.ca/~tbs/ICRA2011-Quyen.pdf","raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-00597445v1","is_oa":true,"landing_page_url":"https://hal.science/hal-00597445","pdf_url":"https://hal.science/hal-00597445/document","source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"ICRA, May 2011, Shanghai, China. pp.874-879, ⟨10.1109/ICRA.2011.5979610⟩","raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[{"score":0.7699999809265137,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2113873545.pdf","grobid_xml":"https://content.openalex.org/works/W2113873545.grobid-xml"},"referenced_works_count":15,"referenced_works":["https://openalex.org/W341380584","https://openalex.org/W1560373200","https://openalex.org/W1938835349","https://openalex.org/W1967390389","https://openalex.org/W1970338963","https://openalex.org/W1986261026","https://openalex.org/W1987242616","https://openalex.org/W2001473273","https://openalex.org/W2092135655","https://openalex.org/W2126674548","https://openalex.org/W2170931259","https://openalex.org/W2600100091","https://openalex.org/W4252366120","https://openalex.org/W4285719527","https://openalex.org/W6647180768"],"related_works":["https://openalex.org/W2046710269","https://openalex.org/W2097059456","https://openalex.org/W817518365","https://openalex.org/W2145103607","https://openalex.org/W2141648055","https://openalex.org/W4367662652","https://openalex.org/W2145960295","https://openalex.org/W2078176643","https://openalex.org/W2067221866","https://openalex.org/W2013463538"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,27,59],"novel":[4],"bilateral":[5,29],"control":[6,23,54],"scheme":[7],"for":[8],"pneumatic":[9,61],"teleoperation":[10,30,47,62,84],"systems":[11],"that":[12],"are":[13],"actuated":[14],"by":[15],"low":[16],"cost":[17],"solenoid":[18,67],"valves.":[19,68],"A":[20],"sliding":[21],"mode":[22],"is":[24,49,56],"incorporated":[25],"into":[26],"two-channel,":[28],"architecture":[31],"involving":[32],"position-position,":[33],"force-force,":[34],"or":[35],"force-position":[36],"schemes.":[37],"An":[38],"analysis":[39],"of":[40,44,77],"stability":[41],"and":[42,79],"transparency":[43],"the":[45,83],"closed-loop":[46],"system":[48,63],"carried":[50],"out.":[51],"The":[52],"proposed":[53],"design":[55],"verified":[57],"on":[58],"single-degree-of-freedom":[60],"with":[64],"four":[65],"on/off":[66],"Moreover,":[69],"simulation":[70],"results":[71],"demonstrate":[72],"high":[73],"accuracies":[74],"in":[75,82],"terms":[76],"position":[78],"force":[80],"tracking":[81],"system.":[85]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":4},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":4}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}