{"id":"https://openalex.org/W4416749675","doi":"https://doi.org/10.1109/iros60139.2025.11245986","title":"Quasi-God Object and Geodesically Restricted 6-DOF Haptic Forces For Compliant Constraints and Low Frequency Simulation","display_name":"Quasi-God Object and Geodesically Restricted 6-DOF Haptic Forces For Compliant Constraints and Low Frequency Simulation","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416749675","doi":"https://doi.org/10.1109/iros60139.2025.11245986"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11245986","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11245986","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5106165666","display_name":"Ignacio Montesino","orcid":null},"institutions":[{"id":"https://openalex.org/I50357001","display_name":"Universidad Carlos III de Madrid","ror":"https://ror.org/03ths8210","country_code":"ES","type":"education","lineage":["https://openalex.org/I50357001"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Ignacio Montesino","raw_affiliation_strings":["RoboticsLab, Carlos III University of Madrid,Leganés,Spain,28911"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"RoboticsLab, Carlos III University of Madrid,Leganés,Spain,28911","institution_ids":["https://openalex.org/I50357001"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5120568448","display_name":"Aroa Bachiller","orcid":null},"institutions":[{"id":"https://openalex.org/I50357001","display_name":"Universidad Carlos III de Madrid","ror":"https://ror.org/03ths8210","country_code":"ES","type":"education","lineage":["https://openalex.org/I50357001"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Aroa Bachiller","raw_affiliation_strings":["RoboticsLab, Carlos III University of Madrid,Leganés,Spain,28911"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"RoboticsLab, Carlos III University of Madrid,Leganés,Spain,28911","institution_ids":["https://openalex.org/I50357001"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054568937","display_name":"Juan G. Victores","orcid":"https://orcid.org/0000-0002-3080-3467"},"institutions":[{"id":"https://openalex.org/I50357001","display_name":"Universidad Carlos III de Madrid","ror":"https://ror.org/03ths8210","country_code":"ES","type":"education","lineage":["https://openalex.org/I50357001"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Juan G. Victores","raw_affiliation_strings":["RoboticsLab, Carlos III University of Madrid,Leganés,Spain,28911"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"RoboticsLab, Carlos III University of Madrid,Leganés,Spain,28911","institution_ids":["https://openalex.org/I50357001"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038098758","display_name":"Carlos Balaguer","orcid":"https://orcid.org/0000-0003-4864-4625"},"institutions":[{"id":"https://openalex.org/I50357001","display_name":"Universidad Carlos III de Madrid","ror":"https://ror.org/03ths8210","country_code":"ES","type":"education","lineage":["https://openalex.org/I50357001"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Carlos Balaguer","raw_affiliation_strings":["RoboticsLab, Carlos III University of Madrid,Leganés,Spain,28911"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"RoboticsLab, Carlos III University of Madrid,Leganés,Spain,28911","institution_ids":["https://openalex.org/I50357001"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5037126066","display_name":"Alberto Jard\u00f3n","orcid":"https://orcid.org/0000-0002-3734-7492"},"institutions":[{"id":"https://openalex.org/I50357001","display_name":"Universidad Carlos III de Madrid","ror":"https://ror.org/03ths8210","country_code":"ES","type":"education","lineage":["https://openalex.org/I50357001"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Alberto Jardon","raw_affiliation_strings":["RoboticsLab, Carlos III University of Madrid,Leganés,Spain,28911"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"RoboticsLab, Carlos III University of Madrid,Leganés,Spain,28911","institution_ids":["https://openalex.org/I50357001"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I50357001"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"13942","last_page":"13948"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.7799000144004822,"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":0.7799000144004822,"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":0.061900001019239426,"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":0.03660000115633011,"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/haptic-technology","display_name":"Haptic technology","score":0.9381999969482422},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6044999957084656},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.5655999779701233},{"id":"https://openalex.org/keywords/virtual-reality","display_name":"Virtual reality","score":0.5590000152587891},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.453000009059906},{"id":"https://openalex.org/keywords/virtual-machine","display_name":"Virtual machine","score":0.41200000047683716},{"id":"https://openalex.org/keywords/stereotaxy","display_name":"Stereotaxy","score":0.40860000252723694},{"id":"https://openalex.org/keywords/fidelity","display_name":"Fidelity","score":0.37380000948905945}],"concepts":[{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.9381999969482422},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6111000180244446},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6044999957084656},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.5655999779701233},{"id":"https://openalex.org/C194969405","wikidata":"https://www.wikidata.org/wiki/Q170519","display_name":"Virtual reality","level":2,"score":0.5590000152587891},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4984000027179718},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.453000009059906},{"id":"https://openalex.org/C25344961","wikidata":"https://www.wikidata.org/wiki/Q192726","display_name":"Virtual machine","level":2,"score":0.41200000047683716},{"id":"https://openalex.org/C176700471","wikidata":"https://www.wikidata.org/wiki/Q7611272","display_name":"Stereotaxy","level":3,"score":0.40860000252723694},{"id":"https://openalex.org/C2776459999","wikidata":"https://www.wikidata.org/wiki/Q2119376","display_name":"Fidelity","level":2,"score":0.37380000948905945},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.35109999775886536},{"id":"https://openalex.org/C2780991453","wikidata":"https://www.wikidata.org/wiki/Q3408177","display_name":"Virtual prototyping","level":2,"score":0.34790000319480896},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.30959999561309814},{"id":"https://openalex.org/C2778360479","wikidata":"https://www.wikidata.org/wiki/Q1289489","display_name":"Haptic perception","level":3,"score":0.29330000281333923},{"id":"https://openalex.org/C113364801","wikidata":"https://www.wikidata.org/wiki/Q26674","display_name":"High fidelity","level":2,"score":0.2904999852180481},{"id":"https://openalex.org/C2775862927","wikidata":"https://www.wikidata.org/wiki/Q7309766","display_name":"Rehabilitation robotics","level":3,"score":0.28529998660087585},{"id":"https://openalex.org/C2778818304","wikidata":"https://www.wikidata.org/wiki/Q1819478","display_name":"Rehabilitation","level":2,"score":0.2800000011920929},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.27630001306533813},{"id":"https://openalex.org/C199068039","wikidata":"https://www.wikidata.org/wiki/Q574523","display_name":"Immersion (mathematics)","level":2,"score":0.27469998598098755},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.27250000834465027},{"id":"https://openalex.org/C2986528223","wikidata":"https://www.wikidata.org/wiki/Q193564","display_name":"Game engine","level":2,"score":0.27140000462532043},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.26109999418258667},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.25619998574256897},{"id":"https://openalex.org/C199668693","wikidata":"https://www.wikidata.org/wiki/Q1550329","display_name":"Collision detection","level":3,"score":0.25440001487731934},{"id":"https://openalex.org/C2776977519","wikidata":"https://www.wikidata.org/wiki/Q4636326","display_name":"3D interaction","level":3,"score":0.2517000138759613}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11245986","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11245986","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/F4320334923","display_name":"Instituto de Salud Carlos III","ror":"https://ror.org/00ca2c886"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1999447019","https://openalex.org/W2058141477","https://openalex.org/W2078221124","https://openalex.org/W2096147331","https://openalex.org/W2112420768","https://openalex.org/W2113091440","https://openalex.org/W2119024373","https://openalex.org/W2131666656","https://openalex.org/W2153504150","https://openalex.org/W2546741354","https://openalex.org/W2604812685","https://openalex.org/W2941315263","https://openalex.org/W3136368070","https://openalex.org/W3173771901","https://openalex.org/W3192551660","https://openalex.org/W3201650497","https://openalex.org/W4244144430","https://openalex.org/W4247036828","https://openalex.org/W4254883854","https://openalex.org/W4313163674","https://openalex.org/W4388228827","https://openalex.org/W4398783997","https://openalex.org/W4399399445","https://openalex.org/W4401223555"],"related_works":[],"abstract_inverted_index":{"Haptic":[0],"interaction":[1],"plays":[2],"a":[3,102,107,167,179,193,200],"crucial":[4],"role":[5],"in":[6,11,15,51,158,205,212],"enhancing":[7],"realism":[8],"and":[9,32,40,113,174,183,209],"immersion":[10],"virtual":[12,83],"environments,":[13,23],"particularly":[14],"applications":[16],"such":[17],"as":[18],"robotic":[19],"rehabilitation.":[20],"In":[21,126,141,162],"these":[22,86,128],"therapy":[24],"based":[25],"on":[26,49,67,109,132,192],"serious":[27],"games":[28,61],"that":[29,101,146,170],"combine":[30],"VR":[31,123],"haptic":[33,45,57,103,189,215],"feed":[34],"promise":[35],"to":[36,118,177,186],"offer":[37],"engaging,":[38],"affordable":[39],"reliable":[41],"treatments.":[42],"Most":[43],"6-DoF":[44,188],"methods":[46,176],"have":[47],"focused":[48],"precision":[50,77],"the":[52,56,68,72,75,79,82,93,120,148,206,213],"kinematic":[53,76],"fidelity":[54],"of":[55,78,96],"feedback.":[58],"However,":[59],"rehabilitation":[60,124],"for":[62,151],"upper":[63],"limb":[64],"focus":[65,108],"more":[66],"forces":[69,88],"exerted":[70,87],"by":[71],"patient":[73],"than":[74],"contacts":[80],"with":[81,106],"environment,":[84],"since":[85],"will":[89],"be":[90],"what":[91],"powers":[92],"neuromuscular":[94],"recovery":[95],"lost":[97],"movement.":[98],"We":[99],"believe":[100],"control":[104],"method":[105],"providing":[110],"stable":[111],"compliant":[112],"safe":[114],"collisions":[115],"is":[116,197],"required":[117],"further":[119],"research":[121],"into":[122],"gamification.":[125],"addition,":[127],"solutions":[129],"often":[130],"rely":[131],"specifically":[133],"tailored":[134],"simulators":[135],"running":[136],"at":[137,154],"very":[138,155],"high":[139],"frequencies.":[140],"contrast,":[142],"commercial":[143],"game":[144,207],"engine":[145,208],"bring":[147],"most":[149],"capabilities":[150],"gamification":[152],"run":[153],"low":[156],"frequencies":[157],"comparison":[159],"(\u224350":[160],"Hz).":[161],"this":[163],"work,":[164],"we":[165],"present":[166],"novel":[168],"approach":[169],"integrates":[171],"god":[172],"object":[173,203],"penalty-based":[175],"achieve":[178],"balance":[180],"between":[181],"stability":[182],"computational":[184],"efficiency,":[185],"enable":[187],"force":[190],"generation":[191],"collaborative":[194],"robot.":[195],"This":[196],"achieved":[198],"through":[199],"relaxed":[201],"quasi-god":[202],"simulation":[204],"geodesic":[210],"constraints":[211],"robot\u2019s":[214],"loop.":[216]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-11-28T00:00:00"}