{"id":"https://openalex.org/W4405787659","doi":"https://doi.org/10.1109/iros58592.2024.10802732","title":"A Tactile Lightweight Exoskeleton for Teleoperation: Design and Control Performance","display_name":"A Tactile Lightweight Exoskeleton for Teleoperation: Design and Control Performance","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405787659","doi":"https://doi.org/10.1109/iros58592.2024.10802732"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10802732","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802732","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/A5025528934","display_name":"Moein Forouhar","orcid":null},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Moein Forouhar","raw_affiliation_strings":["Technical University of Munich,Munich Institute of Robotics and Machine Intelligence,Munich,Germany,80992"],"affiliations":[{"raw_affiliation_string":"Technical University of Munich,Munich Institute of Robotics and Machine Intelligence,Munich,Germany,80992","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059894624","display_name":"Hamid Sadeghian","orcid":"https://orcid.org/0000-0001-8390-3480"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Hamid Sadeghian","raw_affiliation_strings":["Technical University of Munich,Munich Institute of Robotics and Machine Intelligence,Munich,Germany,80992"],"affiliations":[{"raw_affiliation_string":"Technical University of Munich,Munich Institute of Robotics and Machine Intelligence,Munich,Germany,80992","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5115648910","display_name":"Daniel Perez Suay","orcid":null},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Daniel Perez Suay","raw_affiliation_strings":["Technical University of Munich,Munich Institute of Robotics and Machine Intelligence,Munich,Germany,80992"],"affiliations":[{"raw_affiliation_string":"Technical University of Munich,Munich Institute of Robotics and Machine Intelligence,Munich,Germany,80992","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004124482","display_name":"Abdeldjallil Naceri","orcid":null},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Abdeldjallil Naceri","raw_affiliation_strings":["Technical University of Munich,Munich Institute of Robotics and Machine Intelligence,Munich,Germany,80992"],"affiliations":[{"raw_affiliation_string":"Technical University of Munich,Munich Institute of Robotics and Machine Intelligence,Munich,Germany,80992","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024171209","display_name":"Sami Haddadin","orcid":"https://orcid.org/0000-0001-7696-4955"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Sami Haddadin","raw_affiliation_strings":["Technical University of Munich,Munich Institute of Robotics and Machine Intelligence,Munich,Germany,80992"],"affiliations":[{"raw_affiliation_string":"Technical University of Munich,Munich Institute of Robotics and Machine Intelligence,Munich,Germany,80992","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5025528934"],"corresponding_institution_ids":["https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":0.5289,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.72499846,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"178","last_page":"183"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9621999859809875,"subfield":{"id":"https://openalex.org/subfields/2742","display_name":"Rehabilitation"},"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/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9621999859809875,"subfield":{"id":"https://openalex.org/subfields/2742","display_name":"Rehabilitation"},"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":0.8894227147102356},{"id":"https://openalex.org/keywords/exoskeleton","display_name":"Exoskeleton","score":0.8039140701293945},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6427494287490845},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.36213433742523193},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.30919766426086426},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.30435699224472046},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13459575176239014}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.8894227147102356},{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.8039140701293945},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6427494287490845},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.36213433742523193},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.30919766426086426},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.30435699224472046},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13459575176239014}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros58592.2024.10802732","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802732","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":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320307771","display_name":"Bayer","ror":"https://ror.org/04hmn8g73"},{"id":"https://openalex.org/F4320311649","display_name":"Ministry of Education","ror":"https://ror.org/036nq5137"},{"id":"https://openalex.org/F4320320879","display_name":"Deutsche Forschungsgemeinschaft","ror":"https://ror.org/018mejw64"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1986152369","https://openalex.org/W1990851787","https://openalex.org/W2020157793","https://openalex.org/W2069218311","https://openalex.org/W2149085596","https://openalex.org/W2154578892","https://openalex.org/W2465949153","https://openalex.org/W2587945178","https://openalex.org/W2765826136","https://openalex.org/W2780239332","https://openalex.org/W2808934964","https://openalex.org/W2937714269","https://openalex.org/W3011004107","https://openalex.org/W3108342084","https://openalex.org/W3128921868","https://openalex.org/W3129238832","https://openalex.org/W3163784654","https://openalex.org/W3169984014","https://openalex.org/W4220840302","https://openalex.org/W4226437765","https://openalex.org/W4312993918","https://openalex.org/W4362593734","https://openalex.org/W4383108950","https://openalex.org/W4401417005"],"related_works":["https://openalex.org/W1923069992","https://openalex.org/W2160982102","https://openalex.org/W2048862765","https://openalex.org/W2770942502","https://openalex.org/W4281943815","https://openalex.org/W2364738582","https://openalex.org/W2160932924","https://openalex.org/W2082997813","https://openalex.org/W2296377172","https://openalex.org/W2946737911"],"abstract_inverted_index":{"In":[0],"this":[1],"work,":[2],"an":[3,80,96],"upgraded":[4],"exoskeleton":[5,55],"design":[6,22],"is":[7,138],"presented":[8],"with":[9,76,108],"enhanced":[10,139],"trajectory":[11],"tracking":[12,131],"and":[13,29,53,79,113],"mechanical":[14,104,136],"transparency.":[15],"Compared":[16],"to":[17,32,43,65],"the":[18,21,34,46,50,54,57,93,102,109,118,134,141],"first":[19],"version,":[20],"features":[23],"a":[24,30,67,73,126],"3-DoF":[25],"actuated":[26],"shoulder":[27],"joint":[28],"mechanism":[31],"regulate":[33],"pretension":[35],"of":[36],"Bowden":[37],"cables.":[38],"Force/torque":[39],"sensors":[40],"are":[41],"installed":[42],"directly":[44],"measure":[45],"interaction":[47,107],"forces":[48],"between":[49],"human":[51,110],"arm":[52],"at":[56,100],"connecting":[58],"points.":[59],"Three":[60],"control":[61],"strategies":[62,90],"were":[63],"evaluated":[64],"follow":[66],"desired":[68],"trajectory;":[69],"A":[70],"PD":[71,74,119],"controller,":[72,144],"controller":[75,82],"friction":[77,123],"observer,":[78,128],"adaptive":[81],"based":[83],"on":[84],"Radial":[85],"Basis":[86],"Function":[87],"(RBF).":[88],"These":[89],"also":[91],"form":[92],"basis":[94],"for":[95],"admittance":[97,142],"control,":[98,120],"aimed":[99],"improving":[101],"exoskeleton\u2019s":[103],"transparency":[105,137],"during":[106],"arm.":[111],"Simulations":[112],"experimental":[114],"results":[115],"demonstrate":[116],"that":[117],"supported":[121],"by":[122],"estimation":[124],"via":[125],"momentum":[127],"achieves":[129],"superior":[130,147],"performance.":[132],"Moreover,":[133],"system\u2019s":[135],"using":[140],"RBF-based":[143],"showing":[145],"marginally":[146],"results.":[148]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2025-12-21T23:12:01.093139","created_date":"2025-10-10T00:00:00"}