{"id":"https://openalex.org/W2025320693","doi":"https://doi.org/10.1109/icra.2013.6631238","title":"Disturbance attenuation of a handheld parallel robot","display_name":"Disturbance attenuation of a handheld parallel robot","publication_year":2013,"publication_date":"2013-05-01","ids":{"openalex":"https://openalex.org/W2025320693","doi":"https://doi.org/10.1109/icra.2013.6631238","mag":"2025320693"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2013.6631238","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2013.6631238","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},"type":"conference-paper","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/A5080286496","display_name":"Ahmed El-Shenawy","orcid":"https://orcid.org/0000-0003-1333-3659"},"institutions":[{"id":"https://openalex.org/I59272784","display_name":"Arab Academy for Science, Technology, and Maritime Transport","ror":"https://ror.org/0004vyj87","country_code":"EG","type":"education","lineage":["https://openalex.org/I59272784"]}],"countries":["EG"],"is_corresponding":false,"raw_author_name":"Ahmed El-Shenawy","raw_affiliation_strings":["Arab Academy for Science and Technology, Egypt","Arab Acad. for Sci. & Technol., Alexandria, Egypt"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Arab Academy for Science and Technology, Egypt","institution_ids":["https://openalex.org/I59272784"]},{"raw_affiliation_string":"Arab Acad. for Sci. & Technol., Alexandria, Egypt","institution_ids":["https://openalex.org/I59272784"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060935287","display_name":"Achim Wagner","orcid":"https://orcid.org/0000-0002-0966-2559"},"institutions":[{"id":"https://openalex.org/I223822909","display_name":"Heidelberg University","ror":"https://ror.org/038t36y30","country_code":"DE","type":"education","lineage":["https://openalex.org/I223822909"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Achim Wagner","raw_affiliation_strings":["Automation Laboratory, University of Heidelberg, Germany","Autom. Lab., Univ. of Heidelberg, Heidelberg, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Automation Laboratory, University of Heidelberg, Germany","institution_ids":["https://openalex.org/I223822909"]},{"raw_affiliation_string":"Autom. Lab., Univ. of Heidelberg, Heidelberg, Germany","institution_ids":["https://openalex.org/I223822909"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027334214","display_name":"Peter P. Pott","orcid":"https://orcid.org/0000-0001-6864-0993"},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technische Universit\u00e4t Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Peter Pott","raw_affiliation_strings":["Institut fr Elektromechanische Konstruktionen, Wissenschaftlicher Geschaeftsfhrer, Technische Universitaet Darmstadt, Germany","Inst. fr Elektromechanische Konstruktionen Wissenschaftlicher Geschaeftsfhrer Tech. Univ. Darmstadt, Darmstadt, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institut fr Elektromechanische Konstruktionen, Wissenschaftlicher Geschaeftsfhrer, Technische Universitaet Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]},{"raw_affiliation_string":"Inst. fr Elektromechanische Konstruktionen Wissenschaftlicher Geschaeftsfhrer Tech. Univ. Darmstadt, Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021408565","display_name":"Ralf Gundling","orcid":null},"institutions":[{"id":"https://openalex.org/I223822909","display_name":"Heidelberg University","ror":"https://ror.org/038t36y30","country_code":"DE","type":"education","lineage":["https://openalex.org/I223822909"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Ralf Gundling","raw_affiliation_strings":["Laboratory for Biomechanics and experimental Orthopaedics, Heidelberg University, Germany","Lab. for Biomech. & Exp. Orthopaedics, Heidelberg Univ., Heidelberg, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratory for Biomechanics and experimental Orthopaedics, Heidelberg University, Germany","institution_ids":["https://openalex.org/I223822909"]},{"raw_affiliation_string":"Lab. for Biomech. & Exp. Orthopaedics, Heidelberg Univ., Heidelberg, Germany","institution_ids":["https://openalex.org/I223822909"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101801061","display_name":"Markus Schwarz","orcid":"https://orcid.org/0000-0003-0209-922X"},"institutions":[{"id":"https://openalex.org/I223822909","display_name":"Heidelberg University","ror":"https://ror.org/038t36y30","country_code":"DE","type":"education","lineage":["https://openalex.org/I223822909"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"MarKus Schwarz","raw_affiliation_strings":["Laboratory for Biomechanics and experimental Orthopaedics, Heidelberg University, Germany","Lab. for Biomech. & Exp. Orthopaedics, Heidelberg Univ., Heidelberg, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratory for Biomechanics and experimental Orthopaedics, Heidelberg University, Germany","institution_ids":["https://openalex.org/I223822909"]},{"raw_affiliation_string":"Lab. for Biomech. & Exp. Orthopaedics, Heidelberg Univ., Heidelberg, Germany","institution_ids":["https://openalex.org/I223822909"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5110264921","display_name":"Essam Badreddin","orcid":null},"institutions":[{"id":"https://openalex.org/I223822909","display_name":"Heidelberg University","ror":"https://ror.org/038t36y30","country_code":"DE","type":"education","lineage":["https://openalex.org/I223822909"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Essam Badreddin","raw_affiliation_strings":["Automation Laboratory, University of Heidelberg, Germany","Autom. Lab., Univ. of Heidelberg, Heidelberg, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Automation Laboratory, University of Heidelberg, Germany","institution_ids":["https://openalex.org/I223822909"]},{"raw_affiliation_string":"Autom. Lab., Univ. of Heidelberg, Heidelberg, Germany","institution_ids":["https://openalex.org/I223822909"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"4647","last_page":"4652"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.998199999332428,"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"}},"topics":[{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.998199999332428,"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":0.9973999857902527,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9866999983787537,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.817308247089386},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6052680611610413},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5940309166908264},{"id":"https://openalex.org/keywords/cartesian-coordinate-system","display_name":"Cartesian coordinate system","score":0.5817431211471558},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5671988129615784},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5631150007247925},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5300151109695435},{"id":"https://openalex.org/keywords/cartesian-coordinate-robot","display_name":"Cartesian coordinate robot","score":0.5249947309494019},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.5201947689056396},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5186344981193542},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.4504450857639313},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.44957858324050903},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.4422036409378052},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.428548663854599},{"id":"https://openalex.org/keywords/bang-bang-robot","display_name":"Bang-bang robot","score":0.4122888743877411},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.39197084307670593},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.369101881980896},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.12185972929000854},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1089971661567688},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08485978841781616}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.817308247089386},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6052680611610413},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5940309166908264},{"id":"https://openalex.org/C16038011","wikidata":"https://www.wikidata.org/wiki/Q62912","display_name":"Cartesian coordinate system","level":2,"score":0.5817431211471558},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5671988129615784},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5631150007247925},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5300151109695435},{"id":"https://openalex.org/C118635694","wikidata":"https://www.wikidata.org/wiki/Q3268064","display_name":"Cartesian coordinate robot","level":5,"score":0.5249947309494019},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.5201947689056396},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5186344981193542},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.4504450857639313},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.44957858324050903},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.4422036409378052},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.428548663854599},{"id":"https://openalex.org/C584957","wikidata":"https://www.wikidata.org/wiki/Q4854909","display_name":"Bang-bang robot","level":5,"score":0.4122888743877411},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.39197084307670593},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.369101881980896},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.12185972929000854},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1089971661567688},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08485978841781616},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","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},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2013.6631238","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2013.6631238","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.8299999833106995}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":9,"referenced_works":["https://openalex.org/W1576959656","https://openalex.org/W2003380731","https://openalex.org/W2063234169","https://openalex.org/W2078695473","https://openalex.org/W2113355436","https://openalex.org/W2123491641","https://openalex.org/W2163854772","https://openalex.org/W6634566839","https://openalex.org/W6666122110"],"related_works":["https://openalex.org/W3044674998","https://openalex.org/W4312826882","https://openalex.org/W2160983430","https://openalex.org/W3004220142","https://openalex.org/W2139206564","https://openalex.org/W4231506980","https://openalex.org/W2237326111","https://openalex.org/W4388206266","https://openalex.org/W4242231179","https://openalex.org/W4285332827"],"abstract_inverted_index":{"Experimental":[0],"results":[1],"for":[2],"a":[3,29,42,71,81,101,135],"handheld":[4,107],"six":[5],"degrees":[6],"of":[7,113,123,154],"freedom":[8],"parallel":[9],"robot":[10,67,136],"with":[11,70,93,97,111],"realtime":[12,82],"position":[13,36,73,131],"control":[14,83],"and":[15,38,63,74,80,88,104,116],"disturbance":[16],"attenuation":[17],"are":[18,91,109],"presented.":[19],"The":[20,46,66,119],"robot's":[21],"base":[22],"is":[23,35,48,68],"freely":[24],"movable":[25],"in":[26,128],"space":[27],"by":[28,162],"human":[30],"operator,":[31],"while":[32],"the":[33,51,58,106,129,139,143,149,152,155,159,163],"tool":[34,52],"controlled":[37],"stabilized":[39],"relatively":[40],"to":[41,49,141,158],"reference":[43],"coordinate":[44],"system.":[45,84],"challenge":[47],"decouple":[50],"as":[53,55],"far":[54],"possible":[56],"from":[57],"user":[59,156],"involved":[60],"arm":[61],"tremor":[62],"unintended":[64],"motions.":[65],"equipped":[69],"camera-based":[72],"orientation":[75],"tracking":[76],"system,":[77],"linear":[78],"actuators,":[79],"Kinematics,":[85],"co-ordinate":[86],"transforms":[87],"workspace":[89,160],"limits":[90],"presented":[92],"its":[94],"specifications.":[95],"Experiments":[96],"sinusoidal":[98],"stimuli":[99],"on":[100],"test":[102],"stand":[103],"during":[105],"operation":[108],"discussed":[110],"respect":[112],"stabilizing":[114],"performance":[115],"work-space":[117],"violation.":[118],"resulting":[120],"error":[121],"bounds":[122],"less":[124],"than":[125],"0.5":[126],"mm":[127],"Cartesian":[130],"demonstrate":[132],"that":[133],"such":[134],"device":[137],"has":[138],"potential":[140],"improve":[142],"classical":[144],"manual":[145],"surgical":[146],"interventions.":[147],"Further,":[148],"paper":[150],"demonstrates":[151],"compliance":[153],"motion":[157],"provided":[161],"robot.":[164]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
