{"id":"https://openalex.org/W3090415619","doi":"https://doi.org/10.1109/icra40945.2020.9197079","title":"Evaluation of an Exoskeleton-based Bimanual Teleoperation Architecture with Independently Passivated Slave Devices","display_name":"Evaluation of an Exoskeleton-based Bimanual Teleoperation Architecture with Independently Passivated Slave Devices","publication_year":2020,"publication_date":"2020-05-01","ids":{"openalex":"https://openalex.org/W3090415619","doi":"https://doi.org/10.1109/icra40945.2020.9197079","mag":"3090415619"},"language":"en","primary_location":{"id":"doi:10.1109/icra40945.2020.9197079","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197079","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE 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/A5056421977","display_name":"Francesco Porcini","orcid":"https://orcid.org/0000-0001-9263-9423"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Francesco Porcini","raw_affiliation_strings":["Scuola Superiore Sant\u2019Anna, TeCIP Institute, Pisa, Italy","Scuola Superiore Sant'Anna, TeCIP Institute, Pisa, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Scuola Superiore Sant\u2019Anna, TeCIP Institute, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"Scuola Superiore Sant'Anna, TeCIP Institute, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073326156","display_name":"Domenico Chiaradia","orcid":"https://orcid.org/0000-0002-6183-0804"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Domenico Chiaradia","raw_affiliation_strings":["Scuola Superiore Sant\u2019Anna, TeCIP Institute, Pisa, Italy","Scuola Superiore Sant'Anna, TeCIP Institute, Pisa, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Scuola Superiore Sant\u2019Anna, TeCIP Institute, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"Scuola Superiore Sant'Anna, TeCIP Institute, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062838851","display_name":"Simone Marcheschi","orcid":"https://orcid.org/0000-0003-0331-7006"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Simone Marcheschi","raw_affiliation_strings":["Scuola Superiore Sant\u2019Anna, TeCIP Institute, Pisa, Italy","Scuola Superiore Sant'Anna, TeCIP Institute, Pisa, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Scuola Superiore Sant\u2019Anna, TeCIP Institute, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"Scuola Superiore Sant'Anna, TeCIP Institute, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089138290","display_name":"Massimiliano Solazzi","orcid":"https://orcid.org/0000-0002-9053-2814"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Massimiliano Solazzi","raw_affiliation_strings":["Scuola Superiore Sant\u2019Anna, TeCIP Institute, Pisa, Italy","Scuola Superiore Sant'Anna, TeCIP Institute, Pisa, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Scuola Superiore Sant\u2019Anna, TeCIP Institute, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"Scuola Superiore Sant'Anna, TeCIP Institute, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5090204404","display_name":"Antonio Frisoli","orcid":"https://orcid.org/0000-0002-7126-4113"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Antonio Frisoli","raw_affiliation_strings":["Scuola Superiore Sant\u2019Anna, TeCIP Institute, Pisa, Italy","Scuola Superiore Sant'Anna, TeCIP Institute, Pisa, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Scuola Superiore Sant\u2019Anna, TeCIP Institute, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"Scuola Superiore Sant'Anna, TeCIP Institute, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I162290304"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"10205","last_page":"10211"},"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":0.9570000171661377,"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":0.9211000204086304,"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":0.9709060192108154},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6389657258987427},{"id":"https://openalex.org/keywords/exoskeleton","display_name":"Exoskeleton","score":0.6255897879600525},{"id":"https://openalex.org/keywords/passivity","display_name":"Passivity","score":0.6017515063285828},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.5854610800743103},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.5328600406646729},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4811369478702545},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4808672070503235},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.47821757197380066},{"id":"https://openalex.org/keywords/remote-operation","display_name":"Remote operation","score":0.46064215898513794},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4412144720554352},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3470068573951721},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.32405805587768555},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.24408629536628723},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24407660961151123},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22359752655029297}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.9709060192108154},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6389657258987427},{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.6255897879600525},{"id":"https://openalex.org/C2778809601","wikidata":"https://www.wikidata.org/wiki/Q1045736","display_name":"Passivity","level":2,"score":0.6017515063285828},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.5854610800743103},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.5328600406646729},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4811369478702545},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4808672070503235},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.47821757197380066},{"id":"https://openalex.org/C2778697102","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Remote operation","level":2,"score":0.46064215898513794},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4412144720554352},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3470068573951721},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.32405805587768555},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.24408629536628723},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24407660961151123},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22359752655029297},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra40945.2020.9197079","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197079","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:www.iris.sssup.it:11382/539932","is_oa":false,"landing_page_url":"http://hdl.handle.net/11382/539932","pdf_url":null,"source":{"id":"https://openalex.org/S4377196376","display_name":"CINECA IRIS Institutional Research Information System (Sant'Anna School of Advanced Studies)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I162290304","host_organization_name":"Scuola Superiore Sant'Anna","host_organization_lineage":["https://openalex.org/I162290304"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Climate action","id":"https://metadata.un.org/sdg/13","score":0.6000000238418579}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W12304042","https://openalex.org/W1967390389","https://openalex.org/W2001852229","https://openalex.org/W2035767698","https://openalex.org/W2065644102","https://openalex.org/W2078480008","https://openalex.org/W2096488507","https://openalex.org/W2109322236","https://openalex.org/W2111221874","https://openalex.org/W2112904796","https://openalex.org/W2116376861","https://openalex.org/W2116822311","https://openalex.org/W2124237013","https://openalex.org/W2135464393","https://openalex.org/W2153631465","https://openalex.org/W2155588159","https://openalex.org/W2158101797","https://openalex.org/W2491495772","https://openalex.org/W2561111412","https://openalex.org/W2565340000","https://openalex.org/W2919988232","https://openalex.org/W2970424852","https://openalex.org/W3144507692","https://openalex.org/W3147033676","https://openalex.org/W6600514461","https://openalex.org/W6677459759"],"related_works":["https://openalex.org/W2090171584","https://openalex.org/W2141321389","https://openalex.org/W2126456812","https://openalex.org/W2099914424","https://openalex.org/W2063905323","https://openalex.org/W3207600904","https://openalex.org/W3080989239","https://openalex.org/W2914607567","https://openalex.org/W2017331141","https://openalex.org/W1969993920"],"abstract_inverted_index":{"Search":[0],"and":[1,13,20,55,76,111,128,174,188,198,243],"rescue":[2],"robotics":[3],"is":[4,23,45,79],"becoming":[5],"a":[6,39,46,97,224,247],"relevant":[7],"topic":[8],"in":[9,29,70,126,169,244],"the":[10,14,24,27,35,59,71,80,86,118,121,132,144,147,159,166,178,193,204,207,214,220,228,231,235],"last":[11],"years":[12],"growing":[15],"number":[16],"of":[17,26,61,73,82,108,146,171,195,206,230,246],"robotic":[18],"platforms":[19],"dedicated":[21],"projects":[22],"evidence":[25],"interest":[28],"this":[30,33,93],"area.":[31],"In":[32,92,117],"context,":[34],"possibility":[36],"to":[37,49,68,155,164,183],"drive":[38],"remote":[40],"robot":[41],"with":[42,227],"an":[43,103],"exoskeleton":[44],"promising":[47],"strategy":[48],"enhance":[50],"dexterity,":[51],"reduce":[52],"operator":[53],"effort":[54],"save":[56],"time.":[57],"However,":[58],"use":[60,229],"haptic":[62],"feedback":[63],"(bilateral":[64],"teleoperation)":[65],"may":[66],"lead":[67],"instability":[69],"presence":[72,245],"communication":[74],"delay":[75,197,242],"more":[77],"complex":[78],"case":[81,170],"bimanual":[83,98],"teleoperation":[84,99],"where":[85,106],"two":[87,122,151,236],"arms":[88],"can":[89],"exchange":[90],"energy.":[91],"work,":[94],"we":[95,149,191],"present":[96],"system":[100,167,208,222],"based":[101],"on":[102,203],"exoskeletal":[104],"master,":[105],"multi-degrees":[107],"freedom":[109],"(multi-DoFs)":[110],"kinematically":[112],"different":[113],"devices":[114],"are":[115,124],"involved.":[116],"implemented":[119],"architecture":[120,148],"slaves":[123,237],"managed":[125],"parallel":[127],"independently":[129],"passivated":[130],"using":[131],"Time":[133],"Domain":[134],"Passivity":[135],"Approach":[136],"(TDPA)":[137],"extended":[138],"for":[139],"multi-DoFs":[140],"devices.":[141],"To":[142],"investigate":[143],"stability":[145,205],"designed":[150,182],"tasks":[152],"highly":[153],"related":[154],"real":[156],"disaster":[157],"scenarios:":[158],"first":[160],"one":[161],"was":[162,181,211,217],"useful":[163],"verify":[165],"behavior":[168,226],"small":[172],"movements":[173],"constrained":[175],"configurations,":[176],"whereas":[177],"second":[179],"experiment":[180],"involve":[184],"larger":[185],"contact":[186],"forces":[187],"movements.":[189],"Moreover,":[190],"compared":[192],"effect":[194],"both":[196],"low":[199,248],"control":[200,249],"loop":[201,250],"frequency":[202],"when":[209],"TDPA":[210],"applied.":[212],"From":[213],"results,":[215],"it":[216],"evident":[218],"that":[219],"overall":[221],"exhibited":[223],"stable":[225],"TDPA,":[232],"even":[233],"passivating":[234],"independently,":[238],"under":[239],"simulated":[240],"time":[241],"frequency.":[251]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}