{"id":"https://openalex.org/W2121899567","doi":"https://doi.org/10.1109/iros.2009.5354021","title":"Scaling and eliminating non-contact forces and torques to improve bilateral teleoperation","display_name":"Scaling and eliminating non-contact forces and torques to improve bilateral teleoperation","publication_year":2009,"publication_date":"2009-10-01","ids":{"openalex":"https://openalex.org/W2121899567","doi":"https://doi.org/10.1109/iros.2009.5354021","mag":"2121899567"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2009.5354021","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354021","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5050420397","display_name":"Daniel Kubus","orcid":null},"institutions":[{"id":"https://openalex.org/I94509681","display_name":"Technische Universit\u00e4t Braunschweig","ror":"https://ror.org/010nsgg66","country_code":"DE","type":"education","lineage":["https://openalex.org/I94509681"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Daniel Kubus","raw_affiliation_strings":["Institut f\u00fcr Robotik und Prozess Informatik, Technische Universit\u00e4at Braunschweig, Brunswick, Germany","Institut f\u00fcr Robotik und Prozessinformatik, Technische Universit\u00e4t Braunschweig, 38106, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institut f\u00fcr Robotik und Prozess Informatik, Technische Universit\u00e4at Braunschweig, Brunswick, Germany","institution_ids":["https://openalex.org/I94509681"]},{"raw_affiliation_string":"Institut f\u00fcr Robotik und Prozessinformatik, Technische Universit\u00e4t Braunschweig, 38106, Germany","institution_ids":["https://openalex.org/I94509681"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5074832005","display_name":"Friedrich M. Wahl","orcid":null},"institutions":[{"id":"https://openalex.org/I94509681","display_name":"Technische Universit\u00e4t Braunschweig","ror":"https://ror.org/010nsgg66","country_code":"DE","type":"education","lineage":["https://openalex.org/I94509681"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Friedrich M. Wahl","raw_affiliation_strings":["Institut f\u00fcr Robotik und Prozess Informatik, Technische Universit\u00e4at Braunschweig, Brunswick, Germany","Institut f\u00fcr Robotik und Prozessinformatik, Technische Universit\u00e4t Braunschweig, 38106, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institut f\u00fcr Robotik und Prozess Informatik, Technische Universit\u00e4at Braunschweig, Brunswick, Germany","institution_ids":["https://openalex.org/I94509681"]},{"raw_affiliation_string":"Institut f\u00fcr Robotik und Prozessinformatik, Technische Universit\u00e4t Braunschweig, 38106, Germany","institution_ids":["https://openalex.org/I94509681"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.19230073,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"5133","last_page":"5139"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9998999834060669,"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":0.9998999834060669,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9714999794960022,"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/T10914","display_name":"Tactile and Sensory Interactions","score":0.9496999979019165,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.919039249420166},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.863556981086731},{"id":"https://openalex.org/keywords/fictitious-force","display_name":"Fictitious force","score":0.690373420715332},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.6231381297111511},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5827139019966125},{"id":"https://openalex.org/keywords/scaling","display_name":"Scaling","score":0.5052741169929504},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.42771533131599426},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.41211998462677},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4061473608016968},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.36678022146224976},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3521413207054138},{"id":"https://openalex.org/keywords/mechanics","display_name":"Mechanics","score":0.26274484395980835},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.25026288628578186},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.11335405707359314},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10876739025115967},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.10727590322494507},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10504031181335449}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.919039249420166},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.863556981086731},{"id":"https://openalex.org/C30811805","wikidata":"https://www.wikidata.org/wiki/Q212126","display_name":"Fictitious force","level":2,"score":0.690373420715332},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.6231381297111511},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5827139019966125},{"id":"https://openalex.org/C99844830","wikidata":"https://www.wikidata.org/wiki/Q102441924","display_name":"Scaling","level":2,"score":0.5052741169929504},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.42771533131599426},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.41211998462677},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4061473608016968},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.36678022146224976},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3521413207054138},{"id":"https://openalex.org/C57879066","wikidata":"https://www.wikidata.org/wiki/Q41217","display_name":"Mechanics","level":1,"score":0.26274484395980835},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.25026288628578186},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.11335405707359314},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10876739025115967},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.10727590322494507},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10504031181335449},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2009.5354021","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354021","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE/RSJ International Conference on Intelligent Robots and Systems","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":23,"referenced_works":["https://openalex.org/W37247277","https://openalex.org/W46830337","https://openalex.org/W132269255","https://openalex.org/W1538315967","https://openalex.org/W1555601014","https://openalex.org/W1950701083","https://openalex.org/W1967390389","https://openalex.org/W1974309896","https://openalex.org/W2073551910","https://openalex.org/W2078856056","https://openalex.org/W2101218549","https://openalex.org/W2112844012","https://openalex.org/W2122110426","https://openalex.org/W2135740627","https://openalex.org/W2148084973","https://openalex.org/W2149790773","https://openalex.org/W2150483523","https://openalex.org/W2155588159","https://openalex.org/W2157702526","https://openalex.org/W2160932924","https://openalex.org/W2164543697","https://openalex.org/W3023141614","https://openalex.org/W4240721812"],"related_works":["https://openalex.org/W2385608510","https://openalex.org/W1968903915","https://openalex.org/W2921758623","https://openalex.org/W2351130891","https://openalex.org/W2157702526","https://openalex.org/W2359757059","https://openalex.org/W2368236943","https://openalex.org/W1632899466","https://openalex.org/W2369702608","https://openalex.org/W1496593705"],"abstract_inverted_index":{"In":[0],"bilateral":[1],"teleoperation,":[2],"the":[3,11,24,34,38,63,67,92,97,103,109,123,129,155],"operator":[4,88],"experiences":[5],"forces":[6,15,27,59,82,125],"and":[7,16,28,36,50,60,83,126],"torques":[8,29,61,84,127],"applied":[9],"to":[10,31,87],"slave":[12,68,110],"manipulator.":[13],"These":[14],"torques,":[17],"however,":[18],"consist":[19],"of":[20,66,94,105,108,131,145,157],"two":[21],"components:":[22],"on":[23,37],"one":[25],"hand,":[26,40],"due":[30],"contacts":[32,95],"with":[33,96],"environment,":[35],"other":[39],"non-contact":[41,58,124],"forces,":[42,45,47,49],"i.e.,":[43],"inertial":[44,106],"centrifugal":[46],"Coriolis":[48],"associated":[51],"torques.":[52],"For":[53,75],"several":[54],"reasons,":[55],"eliminating":[56,122],"these":[57,81],"from":[62,128],"force-torque":[64,134],"measurements":[65,130],"or":[69,90,115,136],"scaling":[70,137],"them":[71,138],"can":[72],"be":[73],"advantageous.":[74],"instance,":[76],"in":[77],"highly-dynamic":[78],"teleoperation":[79,147],"tasks,":[80],"may":[85],"contribute":[86],"fatigue":[89],"hamper":[91],"detection":[93],"environment.":[98],"This":[99],"paper":[100],"briefly":[101],"reviews":[102],"estimation":[104],"parameters":[107],"load,":[111],"e.g.,":[112],"an":[113],"end-effector":[114],"a":[116,119,132,142],"gripper.":[117],"Subsequently,":[118],"method":[120],"for":[121],"wrist-mounted":[133],"sensor":[135],"is":[139],"presented.":[140],"After":[141],"brief":[143],"overview":[144],"our":[146,158],"system,":[148],"experimental":[149],"results":[150],"are":[151],"presented":[152],"which":[153],"demonstrate":[154],"effectiveness":[156],"approach.":[159]},"counts_by_year":[{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2016,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}