{"id":"https://openalex.org/W2216917762","doi":"https://doi.org/10.1109/iros.2015.7354112","title":"Stable bilateral teleoperation with input-to-state stable approach","display_name":"Stable bilateral teleoperation with input-to-state stable approach","publication_year":2015,"publication_date":"2015-09-01","ids":{"openalex":"https://openalex.org/W2216917762","doi":"https://doi.org/10.1109/iros.2015.7354112","mag":"2216917762"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2015.7354112","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7354112","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://eprints.uwe.ac.uk/32972/","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5050651177","display_name":"Aghil Jafari","orcid":"https://orcid.org/0000-0002-7643-1822"},"institutions":[{"id":"https://openalex.org/I35886859","display_name":"Korea University of Technology and Education","ror":"https://ror.org/053nycv62","country_code":"KR","type":"education","lineage":["https://openalex.org/I35886859"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Aghil Jafari","raw_affiliation_strings":["School of Mechanical Engineering, Korea University of Technology and Education, Cheonan-city, South Korea"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Korea University of Technology and Education, Cheonan-city, South Korea","institution_ids":["https://openalex.org/I35886859"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038987662","display_name":"Muhammad Nabeel","orcid":"https://orcid.org/0000-0002-2992-3541"},"institutions":[{"id":"https://openalex.org/I35886859","display_name":"Korea University of Technology and Education","ror":"https://ror.org/053nycv62","country_code":"KR","type":"education","lineage":["https://openalex.org/I35886859"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Muhammad Nabeel","raw_affiliation_strings":["School of Mechanical Engineering, Korea University of Technology and Education, Cheonan-city, South Korea"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Korea University of Technology and Education, Cheonan-city, South Korea","institution_ids":["https://openalex.org/I35886859"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5019438521","display_name":"Jee-Hwan Ryu","orcid":"https://orcid.org/0000-0002-6497-7115"},"institutions":[{"id":"https://openalex.org/I35886859","display_name":"Korea University of Technology and Education","ror":"https://ror.org/053nycv62","country_code":"KR","type":"education","lineage":["https://openalex.org/I35886859"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jee-Hwan Ryu","raw_affiliation_strings":["School of Mechanical Engineering, Korea University of Technology and Education, Cheonan-city, South Korea"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Korea University of Technology and Education, Cheonan-city, South Korea","institution_ids":["https://openalex.org/I35886859"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5050651177"],"corresponding_institution_ids":["https://openalex.org/I35886859"],"apc_list":null,"apc_paid":null,"fwci":0.6338,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.72948103,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"5216","last_page":"5221"},"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/T13885","display_name":"Geophysics and Sensor Technology","score":0.9617000222206116,"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"}},{"id":"https://openalex.org/T10648","display_name":"Virtual Reality Applications and Impacts","score":0.9154000282287598,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.9720325469970703},{"id":"https://openalex.org/keywords/passivity","display_name":"Passivity","score":0.9061914682388306},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7579203844070435},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6383041143417358},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4868892729282379},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.482608437538147},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.41287481784820557},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.4125460982322693},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.4100455343723297},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.38042375445365906},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3290817141532898},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.22543475031852722},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11189436912536621}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.9720325469970703},{"id":"https://openalex.org/C2778809601","wikidata":"https://www.wikidata.org/wiki/Q1045736","display_name":"Passivity","level":2,"score":0.9061914682388306},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7579203844070435},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6383041143417358},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4868892729282379},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.482608437538147},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.41287481784820557},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.4125460982322693},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4100455343723297},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.38042375445365906},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3290817141532898},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.22543475031852722},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11189436912536621},{"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2015.7354112","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7354112","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:eprints.uwe.ac.uk:32972","is_oa":true,"landing_page_url":"http://eprints.uwe.ac.uk/32972/","pdf_url":null,"source":{"id":"https://openalex.org/S4306401464","display_name":"UWE Research Repository (UWE Bristol)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I178535277","host_organization_name":"University of the West of England","host_organization_lineage":["https://openalex.org/I178535277"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference or Workshop Item"}],"best_oa_location":{"id":"pmh:oai:eprints.uwe.ac.uk:32972","is_oa":true,"landing_page_url":"http://eprints.uwe.ac.uk/32972/","pdf_url":null,"source":{"id":"https://openalex.org/S4306401464","display_name":"UWE Research Repository (UWE Bristol)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I178535277","host_organization_name":"University of the West of England","host_organization_lineage":["https://openalex.org/I178535277"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference or Workshop Item"},"sustainable_development_goals":[{"score":0.8299999833106995,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W94566284","https://openalex.org/W1535981053","https://openalex.org/W1545137321","https://openalex.org/W1994576715","https://openalex.org/W2016159264","https://openalex.org/W2023285936","https://openalex.org/W2026769037","https://openalex.org/W2055299912","https://openalex.org/W2086635528","https://openalex.org/W2099914424","https://openalex.org/W2138947495","https://openalex.org/W2141377814","https://openalex.org/W2153631465","https://openalex.org/W2570513205","https://openalex.org/W6656435801","https://openalex.org/W6664498307","https://openalex.org/W6680473703"],"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/W4390338938","https://openalex.org/W2017331141"],"abstract_inverted_index":{"Passivity":[0],"has":[1,18,62],"been":[2,19,63],"the":[3,9,67,72,82,87,90,111,121,140,181],"most":[4],"often":[5],"used":[6],"constraint":[7],"for":[8,32,65,114,154],"controller":[10,84],"design":[11,24,69],"of":[12,40,71,135],"bilateral":[13,115,156,177],"teleoperation":[14,116,178,190],"systems.":[15,117],"However":[16,89],"passivity":[17],"suffering":[20],"from":[21],"its":[22],"own":[23],"conservatism":[25,52,70],"since":[26],"this":[27,107,119,136],"is":[28,99,159],"a":[29,37,50,150,175,187],"sufficient":[30],"condition":[31],"stability":[33,42],"and":[34,180],"representing":[35],"only":[36],"small":[38],"set":[39],"overall":[41],"region.":[43],"In":[44,106],"our":[45],"previous":[46,91,122],"works":[47,92],"[1],":[48],"[2],":[49],"less":[51],"control":[53],"approach,":[54,61],"we":[55,109,162],"named":[56],"it":[57],"Input-to-Sate":[58],"Stable":[59],"(ISS)":[60],"introduced":[64],"reducing":[66],"intrinsic":[68],"passivity-based":[73,83],"controllers":[74],"by":[75],"allowing":[76],"bigger":[77],"output":[78],"energy":[79],"compared":[80],"with":[81,101,186],"while":[85],"guaranteeing":[86],"stability.":[88],"were":[93],"limited":[94],"to":[95,128,143,174],"haptic":[96],"interfaces,":[97],"which":[98,158],"interacting":[100],"computer":[102],"generated":[103],"virtual":[104],"environments.":[105],"paper,":[108],"extended":[110,169],"ISS":[112,124,130,166],"approach":[113,125,171],"For":[118],"extension,":[120],"one-port":[123],"was":[126,138,172,183],"generalized":[127],"two-port":[129,155,165,170],"approach.":[131,167],"The":[132,168],"main":[133],"difficulty":[134],"extension":[137],"identifying":[139],"signal":[141],"pair":[142],"show":[144],"hysteresis":[145],"nonlinear":[146],"behavior.":[147],"By":[148],"introducing":[149],"linear":[151],"function":[152],"assumption":[153],"controller,":[157],"generally":[160],"acceptable,":[161],"could":[163],"formulate":[164],"implemented":[173],"position-force":[176],"system,":[179],"performance":[182],"experimentally":[184],"verified":[185],"dual":[188],"Phantom":[189],"system.":[191]},"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2016,"cited_by_count":1}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}
