{"id":"https://openalex.org/W7163079824","doi":"https://doi.org/10.1109/ismr69606.2026.11536462","title":"An Effectiveness Study of Dithering for Improved Force Estimation on the dVRK-Si System","display_name":"An Effectiveness Study of Dithering for Improved Force Estimation on the dVRK-Si System","publication_year":2026,"publication_date":"2026-04-22","ids":{"openalex":"https://openalex.org/W7163079824","doi":"https://doi.org/10.1109/ismr69606.2026.11536462"},"language":null,"primary_location":{"id":"doi:10.1109/ismr69606.2026.11536462","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ismr69606.2026.11536462","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2026 International Symposium on Medical Robotics (ISMR)","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/A5128689544","display_name":"Sara Martuscelli","orcid":null},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Sara Martuscelli","raw_affiliation_strings":["Politecnico di Milano,Department of Electronics, Informatics and Bioengineering,Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Politecnico di Milano,Department of Electronics, Informatics and Bioengineering,Italy","institution_ids":["https://openalex.org/I93860229"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088230949","display_name":"Hao Yang","orcid":"https://orcid.org/0000-0001-8143-8220"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]},{"id":"https://openalex.org/I2799853436","display_name":"Johns Hopkins Medicine","ror":"https://ror.org/037zgn354","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I2799853436"]},{"id":"https://openalex.org/I2802946424","display_name":"Johns Hopkins University Applied Physics Laboratory","ror":"https://ror.org/029pp9z10","country_code":"US","type":"facility","lineage":["https://openalex.org/I145311948","https://openalex.org/I2802946424"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hao Yang","raw_affiliation_strings":["Johns Hopkins University,Department of Computer Science,MD,USA,21218"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Johns Hopkins University,Department of Computer Science,MD,USA,21218","institution_ids":["https://openalex.org/I145311948","https://openalex.org/I2799853436","https://openalex.org/I2802946424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137588396","display_name":"Elena De Momi","orcid":null},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Elena De Momi","raw_affiliation_strings":["Politecnico di Milano,Department of Electronics, Informatics and Bioengineering,Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Politecnico di Milano,Department of Electronics, Informatics and Bioengineering,Italy","institution_ids":["https://openalex.org/I93860229"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100724763","display_name":"Jie Ying Wu","orcid":"https://orcid.org/0000-0002-7306-8140"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]},{"id":"https://openalex.org/I2799853436","display_name":"Johns Hopkins Medicine","ror":"https://ror.org/037zgn354","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I2799853436"]},{"id":"https://openalex.org/I2802946424","display_name":"Johns Hopkins University Applied Physics Laboratory","ror":"https://ror.org/029pp9z10","country_code":"US","type":"facility","lineage":["https://openalex.org/I145311948","https://openalex.org/I2802946424"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jie Ying Wu","raw_affiliation_strings":["Johns Hopkins University,Department of Computer Science,MD,USA,21218"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Johns Hopkins University,Department of Computer Science,MD,USA,21218","institution_ids":["https://openalex.org/I145311948","https://openalex.org/I2799853436","https://openalex.org/I2802946424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5022619253","display_name":"Peter Kazanzides","orcid":"https://orcid.org/0000-0002-6117-5467"},"institutions":[{"id":"https://openalex.org/I200719446","display_name":"Vanderbilt University","ror":"https://ror.org/02vm5rt34","country_code":"US","type":"education","lineage":["https://openalex.org/I200719446"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Peter Kazanzides","raw_affiliation_strings":["Vanderbilt University,Department of Computer Science,TN,USA,37212"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Vanderbilt University,Department of Computer Science,TN,USA,37212","institution_ids":["https://openalex.org/I200719446"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"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":"109","last_page":"115"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10923","display_name":"Force Microscopy Techniques and Applications","score":0.11779999732971191,"subfield":{"id":"https://openalex.org/subfields/3107","display_name":"Atomic and Molecular Physics, and Optics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10923","display_name":"Force Microscopy Techniques and Applications","score":0.11779999732971191,"subfield":{"id":"https://openalex.org/subfields/3107","display_name":"Atomic and Molecular Physics, and Optics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10558","display_name":"Advancements in Semiconductor Devices and Circuit Design","score":0.08969999849796295,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/T10623","display_name":"Thin-Film Transistor Technologies","score":0.06279999762773514,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/dither","display_name":"Dither","score":0.6266999840736389},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.36970001459121704},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.36910000443458557},{"id":"https://openalex.org/keywords/estimation","display_name":"Estimation","score":0.34700000286102295},{"id":"https://openalex.org/keywords/measure","display_name":"Measure (data warehouse)","score":0.329800009727478},{"id":"https://openalex.org/keywords/signal-processing","display_name":"Signal processing","score":0.27869999408721924}],"concepts":[{"id":"https://openalex.org/C70451592","wikidata":"https://www.wikidata.org/wiki/Q376493","display_name":"Dither","level":3,"score":0.6266999840736389},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5284000039100647},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.36970001459121704},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.36910000443458557},{"id":"https://openalex.org/C96250715","wikidata":"https://www.wikidata.org/wiki/Q965330","display_name":"Estimation","level":2,"score":0.34700000286102295},{"id":"https://openalex.org/C2780009758","wikidata":"https://www.wikidata.org/wiki/Q6804172","display_name":"Measure (data warehouse)","level":2,"score":0.329800009727478},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.29840001463890076},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2946000099182129},{"id":"https://openalex.org/C104267543","wikidata":"https://www.wikidata.org/wiki/Q208163","display_name":"Signal processing","level":3,"score":0.27869999408721924},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.27399998903274536},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2678999900817871},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2630000114440918},{"id":"https://openalex.org/C167928553","wikidata":"https://www.wikidata.org/wiki/Q1376021","display_name":"Estimation theory","level":2,"score":0.26179999113082886},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.2535000145435333}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ismr69606.2026.11536462","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ismr69606.2026.11536462","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2026 International Symposium on Medical Robotics (ISMR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320310145","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95"},{"id":"https://openalex.org/F4320324039","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1769082156","https://openalex.org/W1998228064","https://openalex.org/W2038583564","https://openalex.org/W2061417916","https://openalex.org/W2087665419","https://openalex.org/W2120659477","https://openalex.org/W2166271005","https://openalex.org/W2898070083","https://openalex.org/W2908767360","https://openalex.org/W2956970244","https://openalex.org/W3031319730","https://openalex.org/W3037684272","https://openalex.org/W3091689077","https://openalex.org/W4206742007","https://openalex.org/W4283311522","https://openalex.org/W4388895021","https://openalex.org/W4393910332","https://openalex.org/W4405786603","https://openalex.org/W4411272162","https://openalex.org/W4412482263","https://openalex.org/W4413925599"],"related_works":[],"abstract_inverted_index":{"Accurate":[0],"sensorless":[1],"force":[2,56,119,147],"estimation":[3,57,148],"in":[4,20,141,160],"teleoperated":[5,161],"surgical":[6,142,162],"robots":[7],"remains":[8],"challenging":[9],"due":[10],"to":[11,50],"complex":[12],"internal":[13],"dynamics":[14],"and":[15,54,91,96,102,106,115,152],"high":[16],"static":[17],"friction,":[18],"particularly":[19],"systems":[21],"with":[22,93],"harmonic":[23],"drives":[24],"such":[25],"as":[26],"the":[27,37,47,63,68,75,113,129],"da":[28],"Vinci":[29],"Research":[30],"Kit":[31],"Si":[32],"(dVRK-Si).":[33],"This":[34],"work":[35],"investigates":[36],"application":[38],"of":[39,67,117],"dithering,":[40],"a":[41,154],"small,":[42],"high-frequency":[43],"oscillating":[44],"signal":[45,94],"at":[46],"robot":[48],"joints,":[49],"reduce":[51],"friction-related":[52],"uncertainty":[53],"enhance":[55],"accuracy.":[58],"We":[59],"first":[60,81],"experimentally":[61],"characterize":[62],"low-velocity":[64],"friction":[65,77],"behavior":[66],"dVRK-Si":[69],"Patient":[70],"Side":[71],"Manipulator":[72],"(PSM-Si),":[73],"identifying":[74],"Coulomb":[76],"bands":[78],"for":[79],"its":[80],"three":[82],"joints.":[83],"A":[84],"joint-space":[85],"dithering":[86,111,136],"scheme":[87],"is":[88],"then":[89],"designed":[90],"implemented,":[92],"frequency":[95],"amplitude":[97],"optimized":[98],"through":[99],"system":[100],"identification":[101],"accelerometer-based":[103],"feedback.":[104],"Static":[105],"quasi-static":[107],"experiments":[108],"demonstrate":[109],"that":[110,135],"improves":[112],"sensitivity":[114],"stability":[116],"Cartesian":[118],"estimation,":[120],"reducing":[121],"mean":[122],"absolute":[123],"errors":[124],"by":[125],"50-80%":[126],"depending":[127],"on":[128],"operating":[130],"condition.":[131],"The":[132],"results":[133],"confirm":[134],"effectively":[137],"mitigates":[138],"frictioninduced":[139],"disturbances":[140],"robots,":[143],"enabling":[144],"more":[145],"precise":[146],"without":[149],"hardware":[150],"modification":[151],"providing":[153],"pathway":[155],"toward":[156],"enhanced":[157],"haptic":[158],"feedback":[159],"systems.":[163]},"counts_by_year":[],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2026-06-02T00:00:00"}