{"id":"https://openalex.org/W2414419152","doi":"https://doi.org/10.1109/icra.2016.7487195","title":"A hybrid hydrostatic transmission and human-safe haptic telepresence robot","display_name":"A hybrid hydrostatic transmission and human-safe haptic telepresence robot","publication_year":2016,"publication_date":"2016-05-01","ids":{"openalex":"https://openalex.org/W2414419152","doi":"https://doi.org/10.1109/icra.2016.7487195","mag":"2414419152"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2016.7487195","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2016.7487195","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Robotics and Automation (ICRA)","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/A5066419167","display_name":"John P. Whitney","orcid":"https://orcid.org/0000-0002-5317-0228"},"institutions":[{"id":"https://openalex.org/I12912129","display_name":"Northeastern University","ror":"https://ror.org/04t5xt781","country_code":"US","type":"education","lineage":["https://openalex.org/I12912129"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"John P. Whitney","raw_affiliation_strings":["Department of Mechanical and Industrial Engineering, Northeastern University, Boston, MA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Industrial Engineering, Northeastern University, Boston, MA, USA","institution_ids":["https://openalex.org/I12912129"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029822666","display_name":"Tianyao Chen","orcid":"https://orcid.org/0000-0002-5832-6930"},"institutions":[{"id":"https://openalex.org/I168959743","display_name":"University of America","ror":"https://ror.org/03s0c9350","country_code":"US","type":"education","lineage":["https://openalex.org/I168959743"]},{"id":"https://openalex.org/I84470341","display_name":"Catholic University of America","ror":"https://ror.org/047yk3s18","country_code":"US","type":"education","lineage":["https://openalex.org/I84470341"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tianyao Chen","raw_affiliation_strings":["Biomedical Department, Catholic University of America, Washington, DC, USA"],"affiliations":[{"raw_affiliation_string":"Biomedical Department, Catholic University of America, Washington, DC, USA","institution_ids":["https://openalex.org/I168959743","https://openalex.org/I84470341"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042328687","display_name":"John Mars","orcid":null},"institutions":[{"id":"https://openalex.org/I4210142140","display_name":"Walt Disney (United States)","ror":"https://ror.org/04eg47h42","country_code":"US","type":"company","lineage":["https://openalex.org/I4210142140"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"John Mars","raw_affiliation_strings":["Disney Research, Pittsburgh, PA, USA"],"affiliations":[{"raw_affiliation_string":"Disney Research, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I4210142140"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5011498939","display_name":"Jessica K. Hodgins","orcid":"https://orcid.org/0000-0002-1778-883X"},"institutions":[{"id":"https://openalex.org/I4210142140","display_name":"Walt Disney (United States)","ror":"https://ror.org/04eg47h42","country_code":"US","type":"company","lineage":["https://openalex.org/I4210142140"]},{"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":"Jessica K. Hodgins","raw_affiliation_strings":["Disney Research, Carnegie Mellon University; both of Pittsburgh, PA, USA","both of Pittsburgh, PA, USA","Disney Research, Carnegie Mellon University"],"affiliations":[{"raw_affiliation_string":"Disney Research, Carnegie Mellon University; both of Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"both of Pittsburgh, PA, USA","institution_ids":[]},{"raw_affiliation_string":"Disney Research, Carnegie Mellon University","institution_ids":["https://openalex.org/I74973139","https://openalex.org/I4210142140"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5066419167"],"corresponding_institution_ids":["https://openalex.org/I12912129"],"apc_list":null,"apc_paid":null,"fwci":4.5585,"has_fulltext":false,"cited_by_count":70,"citation_normalized_percentile":{"value":0.94877261,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"690","last_page":"695"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9998000264167786,"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"}},"topics":[{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9998000264167786,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9994000196456909,"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":0.9980000257492065,"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/actuator","display_name":"Actuator","score":0.6536351442337036},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.6233041286468506},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5610200762748718},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.5458165407180786},{"id":"https://openalex.org/keywords/transmission","display_name":"Transmission (telecommunications)","score":0.4961770474910736},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4947819113731384},{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.49235498905181885},{"id":"https://openalex.org/keywords/servomotor","display_name":"Servomotor","score":0.4847528636455536},{"id":"https://openalex.org/keywords/servo","display_name":"Servo","score":0.4574822783470154},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4407355785369873},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4261765480041504},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3708050549030304},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.2690950632095337},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2069341242313385},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.13723012804985046}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6536351442337036},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.6233041286468506},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5610200762748718},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.5458165407180786},{"id":"https://openalex.org/C761482","wikidata":"https://www.wikidata.org/wiki/Q118093","display_name":"Transmission (telecommunications)","level":2,"score":0.4961770474910736},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4947819113731384},{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.49235498905181885},{"id":"https://openalex.org/C109441226","wikidata":"https://www.wikidata.org/wiki/Q1137255","display_name":"Servomotor","level":2,"score":0.4847528636455536},{"id":"https://openalex.org/C107354338","wikidata":"https://www.wikidata.org/wiki/Q1937153","display_name":"Servo","level":2,"score":0.4574822783470154},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4407355785369873},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4261765480041504},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3708050549030304},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.2690950632095337},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2069341242313385},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.13723012804985046},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2016.7487195","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2016.7487195","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W59441132","https://openalex.org/W1480220726","https://openalex.org/W1984929297","https://openalex.org/W2071998354","https://openalex.org/W2111253117","https://openalex.org/W2114428836","https://openalex.org/W2123864353","https://openalex.org/W2137011683","https://openalex.org/W2204738961","https://openalex.org/W2237197592","https://openalex.org/W6628564860","https://openalex.org/W6687740012","https://openalex.org/W6689908809"],"related_works":["https://openalex.org/W1578236746","https://openalex.org/W2101992288","https://openalex.org/W2989189115","https://openalex.org/W2033999223","https://openalex.org/W2202359667","https://openalex.org/W4312960827","https://openalex.org/W2052756439","https://openalex.org/W119504048","https://openalex.org/W4281381717","https://openalex.org/W2890657029"],"abstract_inverted_index":{"We":[0,70,184],"present":[1],"a":[2,10,28,59,85,89,104,124,199],"new":[3,86],"type":[4],"of":[5,33,49,58,66,76,143,169,189],"hydrostatic":[6,114,172],"transmission":[7,61,73,115],"that":[8],"uses":[9],"hybrid":[11],"air-water":[12],"configuration,":[13],"analogous":[14],"to":[15,79,102,116,131,147,201],"N+1":[16],"cable-tendon":[17],"transmissions,":[18],"using":[19,74],"N":[20,31],"hydraulic":[21,68,82],"lines":[22],"and":[23,164,181,196],"1":[24],"pneumatic":[25],"line":[26,39],"for":[27,192],"system":[29,191],"with":[30,62,84,107],"degrees":[32],"freedom":[34],"(DOFs).":[35],"The":[36,154],"common":[37],"air-filled":[38],"preloads":[40],"all":[41],"DOFs":[42],"in":[43,92,137,151,159],"the":[44,55,64,113,132,140,144,148,152,160,166,170,179,187],"system,":[45],"allowing":[46],"bidirectional":[47],"operation":[48],"every":[50],"joint.":[51],"This":[52],"configuration":[53],"achieves":[54],"high":[56],"stiffness":[57],"water-filled":[60],"half":[63],"number":[65],"bulky":[67],"lines.":[69],"implemented":[71],"this":[72,190],"pairs":[75],"rolling-diaphragm":[77],"cylinders":[78],"form":[80],"rotary":[81],"actuators,":[83],"design":[87],"achieving":[88],"600-percent":[90],"increase":[91],"specific":[93],"work":[94],"density":[95],"per":[96],"cycle.":[97],"These":[98],"actuators":[99],"were":[100],"used":[101],"build":[103],"humanoid":[105],"robot":[106,180],"two":[108],"4-DOF":[109],"arms,":[110],"connected":[111],"via":[112],"an":[117],"identical":[118],"master.":[119],"Stereo":[120],"cameras":[121],"mounted":[122],"on":[123],"2-DOF":[125],"servo-controlled":[126],"neck":[127,149],"stream":[128],"live":[129],"video":[130],"operator's":[133,145],"head-mounted":[134],"display,":[135],"which":[136],"turn":[138],"sends":[139],"real-time":[141],"attitude":[142],"head":[146],"servos":[150],"robot.":[153],"operator":[155],"is":[156],"visually":[157],"immersed":[158],"robot's":[161],"physical":[162,204],"workspace,":[163],"through":[165],"bilateral":[167],"coupling":[168],"low-impedance":[171],"transmission,":[173],"directly":[174],"feels":[175],"interaction":[176],"forces":[177],"between":[178],"external":[182],"environment.":[183],"qualitatively":[185],"assessed":[186],"performance":[188],"remote":[193],"object":[194],"manipulation":[195],"use":[197],"as":[198],"platform":[200],"safely":[202],"study":[203],"human-robot":[205],"interaction.":[206]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":9},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":10},{"year":2020,"cited_by_count":12},{"year":2019,"cited_by_count":9},{"year":2018,"cited_by_count":10},{"year":2017,"cited_by_count":6},{"year":2016,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
