{"id":"https://openalex.org/W2967896911","doi":"https://doi.org/10.1109/icra.2019.8794196","title":"Control of Delayed Bilateral Teleoperation System for Robotic Tele-Echography","display_name":"Control of Delayed Bilateral Teleoperation System for Robotic Tele-Echography","publication_year":2019,"publication_date":"2019-05-01","ids":{"openalex":"https://openalex.org/W2967896911","doi":"https://doi.org/10.1109/icra.2019.8794196","mag":"2967896911"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2019.8794196","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8794196","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 International Conference on Robotics and Automation (ICRA)","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/A5058103274","display_name":"Jang Ho Cho","orcid":"https://orcid.org/0000-0003-3268-960X"},"institutions":[{"id":"https://openalex.org/I4210111434","display_name":"Korea Institute of Machinery & Materials","ror":"https://ror.org/01qcq9d74","country_code":"KR","type":"facility","lineage":["https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210111434","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jang Ho Cho","raw_affiliation_strings":["Department of Medical Assistive Robotics, Korea Institute of Machinery & Materials, Dalseong-gun Daegu, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Medical Assistive Robotics, Korea Institute of Machinery & Materials, Dalseong-gun Daegu, South Korea","institution_ids":["https://openalex.org/I4210111434"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022005236","display_name":"Maxim Kristalny","orcid":null},"institutions":[{"id":"https://openalex.org/I174306211","display_name":"Technion \u2013 Israel Institute of Technology","ror":"https://ror.org/03qryx823","country_code":"IL","type":"education","lineage":["https://openalex.org/I174306211"]}],"countries":["IL"],"is_corresponding":false,"raw_author_name":"Maxim Kristalny","raw_affiliation_strings":["Faculty of Mechanical Engineering at the Technion-IIT, Haifa, Israel"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Mechanical Engineering at the Technion-IIT, Haifa, Israel","institution_ids":["https://openalex.org/I174306211"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110262118","display_name":"Joonho Seo","orcid":"https://orcid.org/0009-0007-9467-5146"},"institutions":[{"id":"https://openalex.org/I4210111434","display_name":"Korea Institute of Machinery & Materials","ror":"https://ror.org/01qcq9d74","country_code":"KR","type":"facility","lineage":["https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210111434","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Joonho Seo","raw_affiliation_strings":["Department of Medical Assistive Robotics, Korea Institute of Machinery & Materials, Dalseong-gun Daegu, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Medical Assistive Robotics, Korea Institute of Machinery & Materials, Dalseong-gun Daegu, South Korea","institution_ids":["https://openalex.org/I4210111434"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103101190","display_name":"Hyuk Jin Lee","orcid":"https://orcid.org/0000-0002-2613-116X"},"institutions":[{"id":"https://openalex.org/I4210111434","display_name":"Korea Institute of Machinery & Materials","ror":"https://ror.org/01qcq9d74","country_code":"KR","type":"facility","lineage":["https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210111434","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hyuk Jin Lee","raw_affiliation_strings":["Department of Medical Assistive Robotics, Korea Institute of Machinery & Materials, Dalseong-gun Daegu, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Medical Assistive Robotics, Korea Institute of Machinery & Materials, Dalseong-gun Daegu, South Korea","institution_ids":["https://openalex.org/I4210111434"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100719851","display_name":"Kiyoung Kim","orcid":"https://orcid.org/0000-0003-3700-6599"},"institutions":[{"id":"https://openalex.org/I4210111434","display_name":"Korea Institute of Machinery & Materials","ror":"https://ror.org/01qcq9d74","country_code":"KR","type":"facility","lineage":["https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210111434","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Kiyoung Kim","raw_affiliation_strings":["Department of Medical Assistive Robotics, Korea Institute of Machinery & Materials, Dalseong-gun Daegu, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Medical Assistive Robotics, Korea Institute of Machinery & Materials, Dalseong-gun Daegu, South Korea","institution_ids":["https://openalex.org/I4210111434"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5055761024","display_name":"Hyun Soo Woo","orcid":"https://orcid.org/0000-0002-9796-9074"},"institutions":[{"id":"https://openalex.org/I4210111434","display_name":"Korea Institute of Machinery & Materials","ror":"https://ror.org/01qcq9d74","country_code":"KR","type":"facility","lineage":["https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210111434","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hyun Soo Woo","raw_affiliation_strings":["Department of Medical Assistive Robotics, Korea Institute of Machinery & Materials, Dalseong-gun Daegu, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Medical Assistive Robotics, Korea Institute of Machinery & Materials, Dalseong-gun Daegu, South Korea","institution_ids":["https://openalex.org/I4210111434"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.318,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.76490473,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":96},"biblio":{"volume":"15","issue":null,"first_page":"2714","last_page":"2720"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9998000264167786,"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":0.9998000264167786,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9681000113487244,"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/T13885","display_name":"Geophysics and Sensor Technology","score":0.9484000205993652,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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":0.96424400806427},{"id":"https://openalex.org/keywords/telerobotics","display_name":"Telerobotics","score":0.6310195922851562},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.554713785648346},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.4299360513687134},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.38964203000068665},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.33423519134521484},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2886478304862976},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.26426658034324646},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19763463735580444},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.15190333127975464}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.96424400806427},{"id":"https://openalex.org/C196467688","wikidata":"https://www.wikidata.org/wiki/Q1851985","display_name":"Telerobotics","level":4,"score":0.6310195922851562},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.554713785648346},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.4299360513687134},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.38964203000068665},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.33423519134521484},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2886478304862976},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.26426658034324646},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19763463735580444},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.15190333127975464},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2019.8794196","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8794196","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7400000095367432,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1134107867","https://openalex.org/W1965361141","https://openalex.org/W1967390389","https://openalex.org/W1973113634","https://openalex.org/W1991609752","https://openalex.org/W2037619756","https://openalex.org/W2049665714","https://openalex.org/W2062234424","https://openalex.org/W2064071544","https://openalex.org/W2090972408","https://openalex.org/W2099221299","https://openalex.org/W2117083995","https://openalex.org/W2118166401","https://openalex.org/W2124237013","https://openalex.org/W2131155826","https://openalex.org/W2134927525","https://openalex.org/W2142161411","https://openalex.org/W2147063321","https://openalex.org/W2154400847","https://openalex.org/W2218056889","https://openalex.org/W2245135923","https://openalex.org/W2561111412","https://openalex.org/W2565340000","https://openalex.org/W2772705200","https://openalex.org/W2783767127","https://openalex.org/W2888498207","https://openalex.org/W6690827143"],"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/W2013463538","https://openalex.org/W2067221866"],"abstract_inverted_index":{"This":[0],"paper":[1],"describes":[2],"development":[3],"of":[4,34,45,73,111,128,133],"a":[5,43,99,108],"controllerfor":[6],"bilateral":[7,103],"robotic":[8,21],"system":[9,16],"for":[10,31],"tele-echography":[11],"with":[12,140],"delayed":[13],"communications.":[14],"The":[15,92,131],"comprises":[17],"two":[18],"identical":[19,57],"6DOF":[20],"devices":[22,55],"based":[23,106],"on":[24,107],"Stewart-Gough":[25],"mechanisms,":[26],"which":[27,50],"were":[28],"developed":[29],"especially":[30],"the":[32,35,46,51,66,84,129,134],"sake":[33],"considered":[36],"application.":[37],"Controller":[38],"design":[39],"is":[40,138],"facilitated":[41],"by":[42],"symmetry":[44],"teleoperation":[47,104],"setup,":[48],"in":[49],"master":[52],"and":[53,60,78,124],"slave":[54],"have":[56],"geometry,":[58],"actuation":[59],"measurement":[61],"arrays.":[62],"To":[63],"further":[64],"simplify":[65],"analysis,":[67],"we":[68],"treat":[69],"coupling":[70],"between":[71],"degrees":[72],"freedom":[74],"as":[75],"exogenous":[76],"disturbances":[77],"this":[79],"allows":[80,115],"us":[81],"to":[82,102,116],"split":[83],"control":[85,136],"problem":[86],"into":[87],"six":[88],"independent":[89],"IDOF":[90,93],"settings.":[91],"problems":[94],"are":[95],"addressed":[96],"then":[97],"using":[98],"novel":[100],"approach":[101],"control,":[105],"complete":[109],"parameterization":[110],"feasible":[112],"teleoperators.":[113],"It":[114],"intuitively":[117],"shape":[118],"teleoperator":[119],"performance":[120],"while":[121],"guaranteeing":[122],"passivity":[123],"thus":[125],"coupled":[126],"stability":[127],"system.":[130],"potential":[132],"proposed":[135],"method":[137],"demonstrated":[139],"experimental":[141],"results.":[142]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2020,"cited_by_count":2}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}