{"id":"https://openalex.org/W2158541530","doi":"https://doi.org/10.1109/jra.1987.1087117","title":"A comparison of position and rate control for telemanipulations with consideration of manipulator system dynamics","display_name":"A comparison of position and rate control for telemanipulations with consideration of manipulator system dynamics","publication_year":1987,"publication_date":"1987-10-01","ids":{"openalex":"https://openalex.org/W2158541530","doi":"https://doi.org/10.1109/jra.1987.1087117","mag":"2158541530"},"language":"en","primary_location":{"id":"doi:10.1109/jra.1987.1087117","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jra.1987.1087117","pdf_url":null,"source":{"id":"https://openalex.org/S105799543","display_name":"IEEE Journal on Robotics and Automation","issn_l":"0882-4967","issn":["0882-4967","2374-8710"],"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Journal on Robotics and Automation","raw_type":"journal-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/A5101782860","display_name":"Won Il Kim","orcid":"https://orcid.org/0009-0002-9599-7079"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Won Kim","raw_affiliation_strings":["Telerobotics Unit, University of California, Berkeley, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Telerobotics Unit, University of California, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026551557","display_name":"Frank Tendick","orcid":null},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"F. Tendick","raw_affiliation_strings":["Telerobotics Unit, University of California, Berkeley, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Telerobotics Unit, University of California, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101485197","display_name":"Stephen R. Ellis","orcid":"https://orcid.org/0000-0002-8316-470X"},"institutions":[{"id":"https://openalex.org/I1280536761","display_name":"Ames Research Center","ror":"https://ror.org/02acart68","country_code":"US","type":"facility","lineage":["https://openalex.org/I1280536761","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"S. Ellis","raw_affiliation_strings":["Perception and Cognition Group, NASA Ames Research Center, ASHFD, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Perception and Cognition Group, NASA Ames Research Center, ASHFD, CA, USA","institution_ids":["https://openalex.org/I1280536761"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5064756830","display_name":"Laura Stark","orcid":"https://orcid.org/0000-0002-3342-1712"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"L. Stark","raw_affiliation_strings":["Telerobotics Unit, University of California, Berkeley, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Telerobotics Unit, University of California, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.0361,"has_fulltext":false,"cited_by_count":120,"citation_normalized_percentile":{"value":0.80081012,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"3","issue":"5","first_page":"426","last_page":"436"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9997000098228455,"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":0.9997000098228455,"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/T11707","display_name":"Gaze Tracking and Assistive Technology","score":0.955299973487854,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10648","display_name":"Virtual Reality Applications and Impacts","score":0.9444000124931335,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/joystick","display_name":"Joystick","score":0.9297767281532288},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6894258856773376},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.6741364002227783},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5461890697479248},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.5131333470344543},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.5013763904571533},{"id":"https://openalex.org/keywords/mode","display_name":"Mode (computer interface)","score":0.4734591841697693},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.4520839750766754},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.43578171730041504},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3955089747905731},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3548770546913147},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2658745050430298},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.07080113887786865}],"concepts":[{"id":"https://openalex.org/C96439379","wikidata":"https://www.wikidata.org/wiki/Q178805","display_name":"Joystick","level":2,"score":0.9297767281532288},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6894258856773376},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.6741364002227783},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5461890697479248},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.5131333470344543},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.5013763904571533},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.4734591841697693},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.4520839750766754},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.43578171730041504},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3955089747905731},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3548770546913147},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2658745050430298},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.07080113887786865},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"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/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/jra.1987.1087117","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jra.1987.1087117","pdf_url":null,"source":{"id":"https://openalex.org/S105799543","display_name":"IEEE Journal on Robotics and Automation","issn_l":"0882-4967","issn":["0882-4967","2374-8710"],"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Journal on Robotics and Automation","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4000000059604645,"display_name":"Decent work and economic growth","id":"https://metadata.un.org/sdg/8"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W232182407","https://openalex.org/W277772069","https://openalex.org/W290211900","https://openalex.org/W1029975415","https://openalex.org/W1489114383","https://openalex.org/W1531817103","https://openalex.org/W1582353822","https://openalex.org/W1941363302","https://openalex.org/W1973692209","https://openalex.org/W1983716668","https://openalex.org/W2033264531","https://openalex.org/W2051812683","https://openalex.org/W2073685249","https://openalex.org/W2100790457","https://openalex.org/W2103131383","https://openalex.org/W2155990907","https://openalex.org/W2175979158","https://openalex.org/W2327206798","https://openalex.org/W2338185500","https://openalex.org/W2801175203","https://openalex.org/W3143305739","https://openalex.org/W3161472433","https://openalex.org/W6631817786"],"related_works":["https://openalex.org/W2354349721","https://openalex.org/W2366870538","https://openalex.org/W2138895189","https://openalex.org/W2525596701","https://openalex.org/W2440194563","https://openalex.org/W2125654024","https://openalex.org/W2087668875","https://openalex.org/W2356307236","https://openalex.org/W1995949108","https://openalex.org/W2073437674"],"abstract_inverted_index":{"Position":[0,131],"and":[1,22,39,57,77],"rate":[2,40,91,140],"control":[3,9,41,86,113,129,132,141],"are":[4,28,42,70],"the":[5,17,31,63,66,74,101,110,120,125],"two":[6,18],"common":[7],"manual":[8],"modes":[10,19],"in":[11],"teleoperations.":[12],"Human":[13],"operator":[14],"performance":[15],"using":[16],"is":[20,87,105,123,133,142],"evaluated":[21],"compared.":[23],"Simulated":[24],"three-axis":[25],"pick-and-place":[26],"operations":[27],"used":[29],"as":[30,49],"primary":[32],"task":[33],"for":[34,135,144],"evaluation.":[35],"First,":[36],"ideal":[37,84,90],"position":[38,85,128],"compared":[43],"by":[44,72],"considering":[45],"several":[46],"factors,":[47],"such":[48],"joystick":[50,52,95],"gain,":[51],"type,":[53],"display":[54,98],"mode,":[55,99],"task,":[56],"manipulator":[58,67,121],"work":[59,103],"space":[60,104],"size.":[61],"Then":[62],"effects":[64],"of":[65,94,127],"system":[68,122],"dynamics":[69],"investigated":[71],"varying":[73],"natural":[75],"frequency":[76],"speed":[78],"limit.":[79],"Experimental":[80],"results":[81],"show":[82,117],"that":[83,118],"superior":[88],"to":[89,109],"control,":[92],"regardless":[93],"type":[96],"or":[97,107],"when":[100,119],"manipulation":[102],"small":[106],"comparable":[108],"human":[111],"operator's":[112],"space.":[114],"Results":[115],"also":[116],"slow,":[124],"superiority":[126],"disappears.":[130],"recommended":[134,143],"small-work-space":[136],"telemanipulation":[137,147],"tasks,":[138],"while":[139],"slow":[145],"wide-work-space":[146],"tasks.":[148]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":5},{"year":2015,"cited_by_count":5},{"year":2014,"cited_by_count":7},{"year":2013,"cited_by_count":5},{"year":2012,"cited_by_count":5}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}