{"id":"https://openalex.org/W4383097615","doi":"https://doi.org/10.1109/icra48891.2023.10160368","title":"Foot gestures to control the grasping of a surgical robot","display_name":"Foot gestures to control the grasping of a surgical robot","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383097615","doi":"https://doi.org/10.1109/icra48891.2023.10160368"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10160368","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160368","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 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/A5100832035","display_name":"Yijun Cheng","orcid":null},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Yijun Cheng","raw_affiliation_strings":["Imperial College of Science, Technology and Medicine,Department of Bioengineering,London,UK","Department of Bioengineering, Imperial College of Science, Technology and Medicine, London, UK"],"affiliations":[{"raw_affiliation_string":"Imperial College of Science, Technology and Medicine,Department of Bioengineering,London,UK","institution_ids":["https://openalex.org/I47508984"]},{"raw_affiliation_string":"Department of Bioengineering, Imperial College of Science, Technology and Medicine, London, UK","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060700468","display_name":"Yanpei Huang","orcid":"https://orcid.org/0000-0003-1988-0266"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Yanpei Huang","raw_affiliation_strings":["Imperial College of Science, Technology and Medicine,Department of Bioengineering,London,UK","Department of Bioengineering, Imperial College of Science, Technology and Medicine, London, UK"],"affiliations":[{"raw_affiliation_string":"Imperial College of Science, Technology and Medicine,Department of Bioengineering,London,UK","institution_ids":["https://openalex.org/I47508984"]},{"raw_affiliation_string":"Department of Bioengineering, Imperial College of Science, Technology and Medicine, London, UK","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100389387","display_name":"Ziwei Wang","orcid":"https://orcid.org/0000-0003-4588-8501"},"institutions":[{"id":"https://openalex.org/I67415387","display_name":"Lancaster University","ror":"https://ror.org/04f2nsd36","country_code":"GB","type":"education","lineage":["https://openalex.org/I67415387"]},{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Ziwei Wang","raw_affiliation_strings":["Imperial College of Science, Technology and Medicine,Department of Bioengineering,London,UK","Department of Bioengineering, Imperial College of Science, Technology and Medicine, London, UK","School of Engineering, Lancaster University, Lancaster, UK"],"affiliations":[{"raw_affiliation_string":"Imperial College of Science, Technology and Medicine,Department of Bioengineering,London,UK","institution_ids":["https://openalex.org/I47508984"]},{"raw_affiliation_string":"Department of Bioengineering, Imperial College of Science, Technology and Medicine, London, UK","institution_ids":["https://openalex.org/I47508984"]},{"raw_affiliation_string":"School of Engineering, Lancaster University, Lancaster, UK","institution_ids":["https://openalex.org/I67415387"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5025807459","display_name":"Etienne Burdet","orcid":"https://orcid.org/0000-0002-2123-0185"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Etienne Burdet","raw_affiliation_strings":["Imperial College of Science, Technology and Medicine,Department of Bioengineering,London,UK","Department of Bioengineering, Imperial College of Science, Technology and Medicine, London, UK"],"affiliations":[{"raw_affiliation_string":"Imperial College of Science, Technology and Medicine,Department of Bioengineering,London,UK","institution_ids":["https://openalex.org/I47508984"]},{"raw_affiliation_string":"Department of Bioengineering, Imperial College of Science, Technology and Medicine, London, UK","institution_ids":["https://openalex.org/I47508984"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5100832035"],"corresponding_institution_ids":["https://openalex.org/I47508984"],"apc_list":null,"apc_paid":null,"fwci":1.634,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.83274272,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"6844","last_page":"6850"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10916","display_name":"Surgical Simulation and Training","score":0.9987000226974487,"subfield":{"id":"https://openalex.org/subfields/2746","display_name":"Surgery"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},"topics":[{"id":"https://openalex.org/T10916","display_name":"Surgical Simulation and Training","score":0.9987000226974487,"subfield":{"id":"https://openalex.org/subfields/2746","display_name":"Surgery"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9968000054359436,"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":0.9962000250816345,"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/modular-design","display_name":"Modular design","score":0.7819514274597168},{"id":"https://openalex.org/keywords/gesture","display_name":"Gesture","score":0.7639166116714478},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6475052833557129},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.6103808879852295},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5763102769851685},{"id":"https://openalex.org/keywords/interface","display_name":"Interface (matter)","score":0.5713964700698853},{"id":"https://openalex.org/keywords/surgical-robot","display_name":"Surgical robot","score":0.4905549883842468},{"id":"https://openalex.org/keywords/foot","display_name":"Foot (prosody)","score":0.482001930475235},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.47866854071617126},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.41489699482917786},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3971462845802307}],"concepts":[{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.7819514274597168},{"id":"https://openalex.org/C207347870","wikidata":"https://www.wikidata.org/wiki/Q371174","display_name":"Gesture","level":2,"score":0.7639166116714478},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6475052833557129},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.6103808879852295},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5763102769851685},{"id":"https://openalex.org/C113843644","wikidata":"https://www.wikidata.org/wiki/Q901882","display_name":"Interface (matter)","level":4,"score":0.5713964700698853},{"id":"https://openalex.org/C3017684034","wikidata":"https://www.wikidata.org/wiki/Q942348","display_name":"Surgical robot","level":3,"score":0.4905549883842468},{"id":"https://openalex.org/C115076146","wikidata":"https://www.wikidata.org/wiki/Q1651051","display_name":"Foot (prosody)","level":2,"score":0.482001930475235},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.47866854071617126},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.41489699482917786},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3971462845802307},{"id":"https://openalex.org/C173608175","wikidata":"https://www.wikidata.org/wiki/Q232661","display_name":"Parallel computing","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C129307140","wikidata":"https://www.wikidata.org/wiki/Q6795880","display_name":"Maximum bubble pressure method","level":3,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C157915830","wikidata":"https://www.wikidata.org/wiki/Q2928001","display_name":"Bubble","level":2,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48891.2023.10160368","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160368","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 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":18,"referenced_works":["https://openalex.org/W1964047266","https://openalex.org/W1990351840","https://openalex.org/W2006599746","https://openalex.org/W2151905266","https://openalex.org/W2157349390","https://openalex.org/W2322856035","https://openalex.org/W2798846306","https://openalex.org/W2897414246","https://openalex.org/W2922376166","https://openalex.org/W2972124618","https://openalex.org/W3000390606","https://openalex.org/W3012210636","https://openalex.org/W3134633463","https://openalex.org/W3143411193","https://openalex.org/W3163765339","https://openalex.org/W3173388032","https://openalex.org/W3196770787","https://openalex.org/W6800510058"],"related_works":["https://openalex.org/W2066003895","https://openalex.org/W2537963312","https://openalex.org/W2537762514","https://openalex.org/W2349788282","https://openalex.org/W577271088","https://openalex.org/W2120801881","https://openalex.org/W1974473538","https://openalex.org/W2020010749","https://openalex.org/W2164899521","https://openalex.org/W1982853263"],"abstract_inverted_index":{"Many":[0],"surgical":[1,23,59,106],"tasks":[2],"require":[3],"three":[4,77],"or":[5],"more":[6],"tools":[7],"working":[8],"together,":[9],"where":[10],"a":[11,16,21,44,58,101,105,111],"hands-free":[12],"interface":[13],"could":[14],"extend":[15],"surgeon's":[17],"actions":[18],"to":[19,37,47,54,67,99],"control":[20,33,55,91,100],"third":[22],"tool.":[24,60],"However,":[25],"most":[26],"current":[27],"interfaces":[28,81],"do":[29],"not":[30],"allow":[31],"skilled":[32],"of":[34,57,63],"grasping":[35,56,122],"critical":[36],"robotic":[38],"manipulation.":[39],"Here":[40],"we":[41],"first":[42],"present":[43],"systematic":[45],"study":[46],"identify":[48],"efficient":[49],"and":[50,108,125],"intuitive":[51],"interaction":[52,95],"strategies":[53,96],"A":[61],"series":[62],"experiments":[64],"were":[65,82,97],"conducted":[66],"evaluate":[68],"six":[69],"foot":[70],"pressure-based":[71],"gestures.":[72],"Based":[73],"on":[74],"the":[75],"results,":[76],"modular":[78],"novel":[79],"foot-machine":[80],"developed,":[83],"which":[84],"can":[85,120],"be":[86],"integrated":[87],"with":[88],"other":[89],"motion":[90],"interfaces.":[92],"The":[93,114],"identified":[94],"implemented":[98],"laparoscopic":[102],"tool":[103],"in":[104,110],"simulator,":[107],"evaluated":[109],"user":[112],"study.":[113],"results":[115],"illustrate":[116],"how":[117],"naive":[118],"participants":[119],"operate":[121],"yielding":[123],"smooth":[124],"pick":[126],"&":[127],"place":[128],"operation.":[129]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}