{"id":"https://openalex.org/W3091673536","doi":"https://doi.org/10.1109/icra40945.2020.9197507","title":"Asynchronous and decoupled control of the position and the stiffness of a spatial RCM tensegrity mechanism for needle manipulation","display_name":"Asynchronous and decoupled control of the position and the stiffness of a spatial RCM tensegrity mechanism for needle manipulation","publication_year":2020,"publication_date":"2020-05-01","ids":{"openalex":"https://openalex.org/W3091673536","doi":"https://doi.org/10.1109/icra40945.2020.9197507","mag":"3091673536"},"language":"en","primary_location":{"id":"doi:10.1109/icra40945.2020.9197507","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197507","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":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hal-lirmm.ccsd.cnrs.fr/lirmm-03140522","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5113918891","display_name":"J.R. Jurado Realpe","orcid":null},"institutions":[{"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/I19894307","display_name":"Universit\u00e9 de Montpellier","ror":"https://ror.org/051escj72","country_code":"FR","type":"education","lineage":["https://openalex.org/I19894307"]},{"id":"https://openalex.org/I4210101743","display_name":"Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier","ror":"https://ror.org/013yean28","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I151295451","https://openalex.org/I19894307","https://openalex.org/I4210101743","https://openalex.org/I4210159245","https://openalex.org/I4405261681"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"J.R. Jurado Realpe","raw_affiliation_strings":["LIRMM, University of Montpellier, CNRS, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LIRMM, University of Montpellier, CNRS, France","institution_ids":["https://openalex.org/I4210101743","https://openalex.org/I19894307","https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024042522","display_name":"Guillaume Aiche","orcid":null},"institutions":[{"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/I19894307","display_name":"Universit\u00e9 de Montpellier","ror":"https://ror.org/051escj72","country_code":"FR","type":"education","lineage":["https://openalex.org/I19894307"]},{"id":"https://openalex.org/I4210101743","display_name":"Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier","ror":"https://ror.org/013yean28","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I151295451","https://openalex.org/I19894307","https://openalex.org/I4210101743","https://openalex.org/I4210159245","https://openalex.org/I4405261681"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"G. Aiche","raw_affiliation_strings":["LIRMM, University of Montpellier, CNRS, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LIRMM, University of Montpellier, CNRS, France","institution_ids":["https://openalex.org/I4210101743","https://openalex.org/I19894307","https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063109546","display_name":"Salih Abdelaziz","orcid":"https://orcid.org/0000-0002-5814-3018"},"institutions":[{"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/I19894307","display_name":"Universit\u00e9 de Montpellier","ror":"https://ror.org/051escj72","country_code":"FR","type":"education","lineage":["https://openalex.org/I19894307"]},{"id":"https://openalex.org/I4210101743","display_name":"Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier","ror":"https://ror.org/013yean28","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I151295451","https://openalex.org/I19894307","https://openalex.org/I4210101743","https://openalex.org/I4210159245","https://openalex.org/I4405261681"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"S. Abdelaziz","raw_affiliation_strings":["LIRMM, University of Montpellier, CNRS, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LIRMM, University of Montpellier, CNRS, France","institution_ids":["https://openalex.org/I4210101743","https://openalex.org/I19894307","https://openalex.org/I1294671590"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5064237897","display_name":"Philippe Poignet","orcid":"https://orcid.org/0000-0003-3574-4387"},"institutions":[{"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/I19894307","display_name":"Universit\u00e9 de Montpellier","ror":"https://ror.org/051escj72","country_code":"FR","type":"education","lineage":["https://openalex.org/I19894307"]},{"id":"https://openalex.org/I4210101743","display_name":"Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier","ror":"https://ror.org/013yean28","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I151295451","https://openalex.org/I19894307","https://openalex.org/I4210101743","https://openalex.org/I4210159245","https://openalex.org/I4405261681"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"P. Poignet","raw_affiliation_strings":["LIRMM, University of Montpellier, CNRS, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LIRMM, University of Montpellier, CNRS, France","institution_ids":["https://openalex.org/I4210101743","https://openalex.org/I19894307","https://openalex.org/I1294671590"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.1434,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.48877916,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"3882","last_page":"3888"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11870","display_name":"Structural Analysis and Optimization","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/T11870","display_name":"Structural Analysis and Optimization","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9868000149726868,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9786999821662903,"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/tensegrity","display_name":"Tensegrity","score":0.8681493997573853},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.6726717352867126},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.5954523682594299},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5735235214233398},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5683144927024841},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5599706768989563},{"id":"https://openalex.org/keywords/parallelogram","display_name":"Parallelogram","score":0.538709282875061},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5123025178909302},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.47021201252937317},{"id":"https://openalex.org/keywords/interfacing","display_name":"Interfacing","score":0.4237963557243347},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3951948285102844},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2924044728279114},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.23034659028053284},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21944889426231384},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.15652886033058167},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.15539899468421936},{"id":"https://openalex.org/keywords/computer-hardware","display_name":"Computer hardware","score":0.10170727968215942}],"concepts":[{"id":"https://openalex.org/C182950735","wikidata":"https://www.wikidata.org/wiki/Q1930978","display_name":"Tensegrity","level":2,"score":0.8681493997573853},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.6726717352867126},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.5954523682594299},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5735235214233398},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5683144927024841},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5599706768989563},{"id":"https://openalex.org/C53118041","wikidata":"https://www.wikidata.org/wiki/Q45867","display_name":"Parallelogram","level":3,"score":0.538709282875061},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5123025178909302},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.47021201252937317},{"id":"https://openalex.org/C2776303644","wikidata":"https://www.wikidata.org/wiki/Q1020499","display_name":"Interfacing","level":2,"score":0.4237963557243347},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3951948285102844},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2924044728279114},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.23034659028053284},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21944889426231384},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.15652886033058167},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.15539899468421936},{"id":"https://openalex.org/C9390403","wikidata":"https://www.wikidata.org/wiki/Q3966","display_name":"Computer hardware","level":1,"score":0.10170727968215942},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","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},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra40945.2020.9197507","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197507","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:HAL:lirmm-03140522v1","is_oa":true,"landing_page_url":"https://hal-lirmm.ccsd.cnrs.fr/lirmm-03140522","pdf_url":null,"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":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"ICRA 2020 - 37th IEEE International Conference on Robotics and Automation, May 2020, Paris (Virtual), France. pp.3882-3888, &#x27E8;10.1109/ICRA40945.2020.9197507&#x27E9;","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:HAL:lirmm-03140522v1","is_oa":true,"landing_page_url":"https://hal-lirmm.ccsd.cnrs.fr/lirmm-03140522","pdf_url":null,"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":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"ICRA 2020 - 37th IEEE International Conference on Robotics and Automation, May 2020, Paris (Virtual), France. pp.3882-3888, &#x27E8;10.1109/ICRA40945.2020.9197507&#x27E9;","raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1801824165","display_name":"Gestes M\u00e9dico-Chirurgicaux Assist\u00e9s par Ordinateur","funder_award_id":"ANR-11-LABX-0004","funder_id":"https://openalex.org/F4320320883","funder_display_name":"Agence Nationale de la Recherche"},{"id":"https://openalex.org/G4993965127","display_name":"R\u00e9seau national de plateformes robotiques d'excellence","funder_award_id":"ANR-10-EQPX-0044","funder_id":"https://openalex.org/F4320320883","funder_display_name":"Agence Nationale de la Recherche"}],"funders":[{"id":"https://openalex.org/F4320320883","display_name":"Agence Nationale de la Recherche","ror":"https://ror.org/00rbzpz17"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W7306514","https://openalex.org/W563320997","https://openalex.org/W1544096515","https://openalex.org/W1603801554","https://openalex.org/W1978580665","https://openalex.org/W1998299095","https://openalex.org/W1999511580","https://openalex.org/W2017467655","https://openalex.org/W2068591625","https://openalex.org/W2075056858","https://openalex.org/W2103888680","https://openalex.org/W2118631535","https://openalex.org/W2130127276","https://openalex.org/W2147604166","https://openalex.org/W2157247055","https://openalex.org/W2165530525","https://openalex.org/W2169466087","https://openalex.org/W2184517876","https://openalex.org/W2196789027","https://openalex.org/W2286314458","https://openalex.org/W2522129228","https://openalex.org/W2527579954","https://openalex.org/W2737834982","https://openalex.org/W3035656451","https://openalex.org/W4213021129","https://openalex.org/W6689625795"],"related_works":["https://openalex.org/W227057133","https://openalex.org/W2480265123","https://openalex.org/W2345199500","https://openalex.org/W2090167696","https://openalex.org/W3193882472","https://openalex.org/W2172924633","https://openalex.org/W2068591625","https://openalex.org/W2121468671","https://openalex.org/W2506822511","https://openalex.org/W2889941193"],"abstract_inverted_index":{"This":[0],"paper":[1],"introduces":[2],"a":[3,15,40,63,84,90],"2-DOF":[4],"spatial":[5],"remote":[6],"center":[7],"of":[8,26,43,57,70,101],"motion":[9],"(RCM)":[10],"tensegrity":[11],"mechanism,":[12],"based":[13],"on":[14],"double":[16],"parallelogram":[17],"system,":[18],"dedicated":[19],"for":[20],"percutaneous":[21],"needle":[22,103],"insertion.":[23],"The":[24,78],"originality":[25],"this":[27],"mechanism":[28],"is":[29,60,66,73,81],"its":[30,36,44],"ability":[31],"to":[32,38],"be":[33],"reconfigured":[34],"and":[35,62,75],"capacity":[37],"perform":[39],"decoupled":[41],"modulation":[42],"stiffness":[45,55],"in":[46,98],"an":[47,53],"asynchronous":[48],"way.":[49],"To":[50],"do":[51],"so,":[52],"analytical":[54],"model":[56],"the":[58,71,102],"robot":[59,72],"established,":[61],"control":[64],"methodology":[65],"proposed.":[67],"A":[68],"prototype":[69],"developed":[74],"assessed":[76],"experimentally.":[77],"position":[79],"tracking":[80],"evaluated":[82],"using":[83],"6-DOF":[85],"magnetic":[86],"tracker":[87],"sensor":[88],"showing":[89],"root":[91],"mean":[92],"square":[93],"error":[94],"less":[95],"than":[96],"0.8\u00b0":[97],"both":[99],"directions":[100],"guide.":[104]},"counts_by_year":[{"year":2024,"cited_by_count":3},{"year":2022,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
