{"id":"https://openalex.org/W4405785244","doi":"https://doi.org/10.1109/iros58592.2024.10801866","title":"Interactive Multi-Stiffness Mixed Reality Interface: Controlling and Visualizing Robot and Environment Stiffness","display_name":"Interactive Multi-Stiffness Mixed Reality Interface: Controlling and Visualizing Robot and Environment Stiffness","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405785244","doi":"https://doi.org/10.1109/iros58592.2024.10801866"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10801866","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10801866","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5013290288","display_name":"Alejandro D\u00edaz Rosales","orcid":"https://orcid.org/0000-0003-1025-9668"},"institutions":[{"id":"https://openalex.org/I67311998","display_name":"European Organization for Nuclear Research","ror":"https://ror.org/01ggx4157","country_code":"CH","type":"facility","lineage":["https://openalex.org/I67311998"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Alejandro D\u00edaz Rosales","raw_affiliation_strings":["European Organization for Nuclear Research (CERN),Meyrin,Switzerland,1211"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"European Organization for Nuclear Research (CERN),Meyrin,Switzerland,1211","institution_ids":["https://openalex.org/I67311998"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026885569","display_name":"Jose Rodriguez-Nogueira","orcid":"https://orcid.org/0000-0001-8733-2355"},"institutions":[{"id":"https://openalex.org/I67311998","display_name":"European Organization for Nuclear Research","ror":"https://ror.org/01ggx4157","country_code":"CH","type":"facility","lineage":["https://openalex.org/I67311998"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Jose Rodriguez-Nogueira","raw_affiliation_strings":["European Organization for Nuclear Research (CERN),Meyrin,Switzerland,1211"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"European Organization for Nuclear Research (CERN),Meyrin,Switzerland,1211","institution_ids":["https://openalex.org/I67311998"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078915874","display_name":"Eloise Matheson","orcid":"https://orcid.org/0000-0002-1294-2076"},"institutions":[{"id":"https://openalex.org/I67311998","display_name":"European Organization for Nuclear Research","ror":"https://ror.org/01ggx4157","country_code":"CH","type":"facility","lineage":["https://openalex.org/I67311998"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Eloise Matheson","raw_affiliation_strings":["European Organization for Nuclear Research (CERN),Meyrin,Switzerland,1211"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"European Organization for Nuclear Research (CERN),Meyrin,Switzerland,1211","institution_ids":["https://openalex.org/I67311998"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058571219","display_name":"David A. Abbink","orcid":"https://orcid.org/0000-0001-7778-0090"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"David A. Abbink","raw_affiliation_strings":["Delft University of Technology,Department of Cognitive Robotics,CD Delft,The Netherlands,2628"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Delft University of Technology,Department of Cognitive Robotics,CD Delft,The Netherlands,2628","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5042113474","display_name":"Luka Peternel","orcid":"https://orcid.org/0000-0002-8696-3689"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Luka Peternel","raw_affiliation_strings":["Delft University of Technology,Department of Cognitive Robotics,CD Delft,The Netherlands,2628"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Delft University of Technology,Department of Cognitive Robotics,CD Delft,The Netherlands,2628","institution_ids":["https://openalex.org/I98358874"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.4884,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.62154966,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"13479","last_page":"13486"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9595000147819519,"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"}},"topics":[{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9595000147819519,"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"}},{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9487000107765198,"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":0.9366999864578247,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.7409517765045166},{"id":"https://openalex.org/keywords/mixed-reality","display_name":"Mixed reality","score":0.6624813675880432},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6157687902450562},{"id":"https://openalex.org/keywords/interface","display_name":"Interface (matter)","score":0.602535605430603},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5503348112106323},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.538032591342926},{"id":"https://openalex.org/keywords/interface-model","display_name":"Interface model","score":0.5157628059387207},{"id":"https://openalex.org/keywords/virtual-reality","display_name":"Virtual reality","score":0.3697483539581299},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19993072748184204},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1664435863494873},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.11198785901069641}],"concepts":[{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.7409517765045166},{"id":"https://openalex.org/C206776904","wikidata":"https://www.wikidata.org/wiki/Q1758389","display_name":"Mixed reality","level":3,"score":0.6624813675880432},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6157687902450562},{"id":"https://openalex.org/C113843644","wikidata":"https://www.wikidata.org/wiki/Q901882","display_name":"Interface (matter)","level":4,"score":0.602535605430603},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5503348112106323},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.538032591342926},{"id":"https://openalex.org/C2988635477","wikidata":"https://www.wikidata.org/wiki/Q28130211","display_name":"Interface model","level":2,"score":0.5157628059387207},{"id":"https://openalex.org/C194969405","wikidata":"https://www.wikidata.org/wiki/Q170519","display_name":"Virtual reality","level":2,"score":0.3697483539581299},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19993072748184204},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1664435863494873},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.11198785901069641},{"id":"https://openalex.org/C157915830","wikidata":"https://www.wikidata.org/wiki/Q2928001","display_name":"Bubble","level":2,"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/C173608175","wikidata":"https://www.wikidata.org/wiki/Q232661","display_name":"Parallel computing","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros58592.2024.10801866","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10801866","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/13","score":0.550000011920929,"display_name":"Climate action"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W1856925845","https://openalex.org/W1967377907","https://openalex.org/W1974849157","https://openalex.org/W2025252351","https://openalex.org/W2035510971","https://openalex.org/W2035713360","https://openalex.org/W2080487795","https://openalex.org/W2092912384","https://openalex.org/W2111528514","https://openalex.org/W2115730616","https://openalex.org/W2122570643","https://openalex.org/W2131666656","https://openalex.org/W2509853650","https://openalex.org/W2605902560","https://openalex.org/W2754133402","https://openalex.org/W2766244461","https://openalex.org/W2808739991","https://openalex.org/W2896612154","https://openalex.org/W2912698479","https://openalex.org/W2925770508","https://openalex.org/W2997671979","https://openalex.org/W3080419543","https://openalex.org/W3106655522","https://openalex.org/W3115157241","https://openalex.org/W3120305639","https://openalex.org/W3126511094","https://openalex.org/W3137783376","https://openalex.org/W3161546367","https://openalex.org/W4205543241","https://openalex.org/W4205637991","https://openalex.org/W4288885957","https://openalex.org/W4291910534","https://openalex.org/W4294975186","https://openalex.org/W4313316164","https://openalex.org/W4321021636","https://openalex.org/W4393032732"],"related_works":["https://openalex.org/W4320495410","https://openalex.org/W2902898664","https://openalex.org/W3205251208","https://openalex.org/W4285815440","https://openalex.org/W4388982268","https://openalex.org/W2312629420","https://openalex.org/W2906256945","https://openalex.org/W2978137076","https://openalex.org/W2952454403","https://openalex.org/W2529121615"],"abstract_inverted_index":{"Teleoperation":[0],"is":[1,144],"a":[2,89,177],"crucial":[3],"technology":[4],"enabling":[5],"human":[6],"operators":[7,42],"to":[8,12,43,50,62,71,82,92,141,161,181],"control":[9],"robots":[10,101],"remotely":[11],"perform":[13],"tasks":[14],"in":[15,21,48],"hazardous":[16],"and":[17,31,77,102,112,123,193],"difficult-to-access":[18],"environments.":[19],"Tasks":[20],"such":[22,52],"environments":[23],"often":[24],"involve":[25],"complex":[26],"physical":[27],"interactions":[28],"with":[29,190],"tools":[30],"objects":[32,81,124],"of":[33,79,99,120,134,203],"various":[34],"softness.":[35],"To":[36,104,198],"this":[37],"end,":[38],"teleimpedance":[39,57],"enables":[40,158],"the":[41,45,55,64,74,80,97,117,121,138,146,150,154,159,171,183,200,204],"adjust":[44],"robot":[46,65,122,184],"impedance":[47,76,98,119,139,185],"real-time":[49],"simplify":[51],"interactions.":[53],"While":[54],"existing":[56],"approaches":[58],"provide":[59,93],"several":[60],"interfaces":[61,70],"command":[63,182],"impedance,":[66],"there":[67],"are":[68],"no":[69],"visualize":[72],"both":[73],"commanded":[75],"that":[78,115,145],"be":[83],"interacted":[84],"with.":[85],"This":[86,157,173],"paper":[87,174],"presents":[88],"novel":[90],"interface":[91],"visual":[94,135],"feedback":[95,136,143],"on":[96,137,211],"remote":[100],"objects.":[103],"do":[105],"so,":[106],"we":[107,207],"use":[108],"virtual":[109],"stiffness":[110],"ellipsoids":[111,192],"different":[113],"modes":[114],"display":[116],"individual":[118],"as":[125,127,196],"well":[126],"combined":[128],"post-contact":[129],"impedance.":[130],"The":[131],"key":[132,201],"advantage":[133],"compared":[140],"force":[142],"operator":[147,160],"can":[148],"see":[149],"interaction":[151],"characteristics":[152],"before":[153,164],"contact":[155,165],"occurs.":[156],"act":[162],"proactively":[163],"rather":[166],"than":[167],"just":[168],"reactively":[169],"after":[170],"contact.":[172],"also":[175],"proposes":[176],"new":[178],"intuitive":[179],"way":[180],"using":[186],"mixed":[187],"reality,":[188],"interacting":[189],"these":[191],"modifying":[194],"them":[195],"needed.":[197],"demonstrate":[199],"functionalities":[202],"developed":[205],"interface,":[206],"performed":[208],"proof-of-concept":[209],"experiments":[210],"teleoperated":[212],"tasks.":[213]},"counts_by_year":[{"year":2025,"cited_by_count":3}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}