{"id":"https://openalex.org/W2560970536","doi":"https://doi.org/10.1109/iros.2016.7759087","title":"Performance comparison of Wave Variable Transformation and Time Domain Passivity Approaches for time-delayed teleoperation: Preliminary results","display_name":"Performance comparison of Wave Variable Transformation and Time Domain Passivity Approaches for time-delayed teleoperation: Preliminary results","publication_year":2016,"publication_date":"2016-10-01","ids":{"openalex":"https://openalex.org/W2560970536","doi":"https://doi.org/10.1109/iros.2016.7759087","mag":"2560970536"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2016.7759087","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759087","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5071216935","display_name":"Ribin Balachandran","orcid":"https://orcid.org/0000-0002-7560-471X"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Ribin Balachandran","raw_affiliation_strings":["Department for Analysis and Control of Advanced Robotic Systems, German Aerospace Center (DLR), Oberpfaffenhofen, Germany"],"affiliations":[{"raw_affiliation_string":"Department for Analysis and Control of Advanced Robotic Systems, German Aerospace Center (DLR), Oberpfaffenhofen, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083608799","display_name":"Jordi Artigas","orcid":null},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jordi Artigas","raw_affiliation_strings":["Department for Analysis and Control of Advanced Robotic Systems, German Aerospace Center (DLR), Oberpfaffenhofen, Germany"],"affiliations":[{"raw_affiliation_string":"Department for Analysis and Control of Advanced Robotic Systems, German Aerospace Center (DLR), Oberpfaffenhofen, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103147561","display_name":"Usman Mehmood","orcid":"https://orcid.org/0000-0002-2941-7438"},"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":"Usman Mehmood","raw_affiliation_strings":["BioRobotics Laboratory of Korea University of Technology and Education, Cheonan, Korea"],"affiliations":[{"raw_affiliation_string":"BioRobotics Laboratory of Korea University of Technology and Education, Cheonan, 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":["BioRobotics Laboratory of Korea University of Technology and Education, Cheonan, Korea"],"affiliations":[{"raw_affiliation_string":"BioRobotics Laboratory of Korea University of Technology and Education, Cheonan, Korea","institution_ids":["https://openalex.org/I35886859"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5071216935"],"corresponding_institution_ids":["https://openalex.org/I2898391981"],"apc_list":null,"apc_paid":null,"fwci":1.8667,"has_fulltext":false,"cited_by_count":26,"citation_normalized_percentile":{"value":0.85498075,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"410","last_page":"417"},"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/T13885","display_name":"Geophysics and Sensor Technology","score":0.9596999883651733,"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/T13248","display_name":"Healthcare Technology and Patient Monitoring","score":0.9150999784469604,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.9076930284500122},{"id":"https://openalex.org/keywords/passivity","display_name":"Passivity","score":0.7854881286621094},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.698288083076477},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5995377898216248},{"id":"https://openalex.org/keywords/time-domain","display_name":"Time domain","score":0.5307883024215698},{"id":"https://openalex.org/keywords/transformation","display_name":"Transformation (genetics)","score":0.4961565434932709},{"id":"https://openalex.org/keywords/frequency-domain","display_name":"Frequency domain","score":0.46563592553138733},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4650496244430542},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3322344422340393},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.18907427787780762},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.15837940573692322},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12800955772399902}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.9076930284500122},{"id":"https://openalex.org/C2778809601","wikidata":"https://www.wikidata.org/wiki/Q1045736","display_name":"Passivity","level":2,"score":0.7854881286621094},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.698288083076477},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5995377898216248},{"id":"https://openalex.org/C103824480","wikidata":"https://www.wikidata.org/wiki/Q185889","display_name":"Time domain","level":2,"score":0.5307883024215698},{"id":"https://openalex.org/C204241405","wikidata":"https://www.wikidata.org/wiki/Q461499","display_name":"Transformation (genetics)","level":3,"score":0.4961565434932709},{"id":"https://openalex.org/C19118579","wikidata":"https://www.wikidata.org/wiki/Q786423","display_name":"Frequency domain","level":2,"score":0.46563592553138733},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4650496244430542},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3322344422340393},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.18907427787780762},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.15837940573692322},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12800955772399902},{"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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","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},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2016.7759087","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759087","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:elib.dlr.de:109653","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759087>.","pdf_url":null,"source":{"id":"https://openalex.org/S4377196266","display_name":"elib (German Aerospace Center)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2898391981","host_organization_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","host_organization_lineage":["https://openalex.org/I2898391981"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"PeerReviewed"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W1490889509","https://openalex.org/W1532234973","https://openalex.org/W1595540233","https://openalex.org/W1600059820","https://openalex.org/W1601087573","https://openalex.org/W1847029948","https://openalex.org/W1967390389","https://openalex.org/W1995349561","https://openalex.org/W2014317256","https://openalex.org/W2024439876","https://openalex.org/W2027607574","https://openalex.org/W2050694847","https://openalex.org/W2090972408","https://openalex.org/W2098393146","https://openalex.org/W2101435663","https://openalex.org/W2107207454","https://openalex.org/W2108052496","https://openalex.org/W2118166401","https://openalex.org/W2120622075","https://openalex.org/W2123160917","https://openalex.org/W2124237013","https://openalex.org/W2128111621","https://openalex.org/W2141131207","https://openalex.org/W2153631465","https://openalex.org/W2154511092","https://openalex.org/W2155405623","https://openalex.org/W2158101797","https://openalex.org/W2166438104","https://openalex.org/W2171649388","https://openalex.org/W2172036414","https://openalex.org/W2296360731","https://openalex.org/W2419152648","https://openalex.org/W2561111412","https://openalex.org/W3144507692","https://openalex.org/W4241639987","https://openalex.org/W6636003518"],"related_works":["https://openalex.org/W2090171584","https://openalex.org/W2141321389","https://openalex.org/W2063905323","https://openalex.org/W2099914424","https://openalex.org/W2914607567","https://openalex.org/W3207600904","https://openalex.org/W2126456812","https://openalex.org/W4390338938","https://openalex.org/W2017331141","https://openalex.org/W1969993920"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2,69],"initial":[3],"results":[4,225],"of":[5,8,15,79,84,89,120,138,149,190,223],"a":[6,103,108,144,153,181],"set":[7],"experiments":[9],"to":[10,94,134,162,177,207],"compare":[11],"time-delayed":[12],"teleoperation":[13],"performance":[14,80],"selected":[16,150],"architectures":[17,38,218],"based":[18,23,57],"on":[19,58],"two":[20],"popular":[21],"passivity":[22],"methods,":[24],"namely,":[25],"Wave":[26],"Variables":[27],"Transformation":[28],"(WVT)":[29],"and":[30,41,48,53,55,81,117,128,142,166,193,214],"Time":[31],"Domain":[32],"Passivity":[33],"Approach":[34],"(TDPA).":[35],"Five":[36],"different":[37,202,211],"widely":[39],"used":[40],"available":[42],"in":[43,147,171],"literature":[44],"are":[45,160],"selected:":[46],"2-channel":[47],"3-channel":[49],"for":[50,63,152],"both":[51,170],"WV":[52],"TDPA,":[54],"4-channel":[56],"TDPA.":[59],"An":[60],"empirical":[61],"approach":[62,132],"measuring":[64],"transparency":[65],"is":[66,100,184],"proposed,":[67],"which":[68,186],"three":[70],"main":[71],"qualities:":[72],"1)":[73],"Controller":[74],"independency":[75],"2)":[76],"Frequency":[77],"dependency":[78],"3)":[82],"Removal":[83],"the":[85,90,97,114,118,121,172,178,224],"human":[86,98],"operator":[87,99,116],"out":[88],"loop.":[91],"In":[92,156,175],"order":[93],"achieve":[95],"this,":[96],"replaced":[101],"by":[102],"linear":[104],"actuator":[105],"equipped":[106],"with":[107,220],"force":[109],"sensor.":[110],"Deterministic":[111],"interactions":[112],"between":[113],"simulated":[115],"rest":[119],"system":[122],"can":[123],"thus":[124],"be":[125,163],"easily":[126],"implemented":[127],"registered.":[129],"Therefore,":[130],"this":[131,157],"allows":[133],"isolate":[135],"pure":[136],"effects":[137],"any":[139],"control":[140,194,217],"method":[141],"perform":[143],"proper":[145],"analysis":[146,183,222],"terms":[148],"attributes":[151],"desired":[154],"metrics.":[155],"article,":[158],"these":[159],"chosen":[161],"effective":[164],"impedance":[165],"position":[167],"tracking":[168],"error,":[169],"frequency":[173],"domain.":[174],"addition":[176],"quantitative":[179],"results,":[180],"qualitative":[182],"presented":[185,199],"underlines":[187],"practical":[188],"implications":[189],"each":[191],"architecture":[192],"method.":[195],"The":[196],"comparison":[197],"sample":[198],"contains":[200],"five":[201,210],"delays,":[203],"varying":[204],"from":[205],"0":[206],"200":[208],"milliseconds,":[209],"environmental":[212],"impedances":[213],"5":[215],"bilateral":[216],"along":[219],"an":[221],"obtained.":[226]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":2}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}