{"id":"https://openalex.org/W2729552030","doi":"https://doi.org/10.1109/lra.2017.2720850","title":"A Novel Wearable Haptic Controller for Teleoperating Robotic Platforms","display_name":"A Novel Wearable Haptic Controller for Teleoperating Robotic Platforms","publication_year":2017,"publication_date":"2017-06-29","ids":{"openalex":"https://openalex.org/W2729552030","doi":"https://doi.org/10.1109/lra.2017.2720850","mag":"2729552030"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2017.2720850","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2017.2720850","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"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 Robotics and Automation Letters","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/A5006729925","display_name":"Juan Manuel Jacinto\u2010Villegas","orcid":"https://orcid.org/0000-0002-0964-4844"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Juan Manuel Jacinto-Villegas","raw_affiliation_strings":["Perceptual Robotics Laboratory, Scuola Superiore Sant\u2019Anna, Pisa, Italy","PERceptual Robotics Laboratory, Scuola Superiore Sant'Anna, Pisa, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Perceptual Robotics Laboratory, Scuola Superiore Sant\u2019Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"PERceptual Robotics Laboratory, Scuola Superiore Sant'Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088059315","display_name":"Massimo Satler","orcid":"https://orcid.org/0000-0001-6731-3114"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Massimo Satler","raw_affiliation_strings":["Perceptual Robotics Laboratory, Scuola Superiore Sant\u2019Anna, Pisa, Italy","PERceptual Robotics Laboratory, Scuola Superiore Sant'Anna, Pisa, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Perceptual Robotics Laboratory, Scuola Superiore Sant\u2019Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"PERceptual Robotics Laboratory, Scuola Superiore Sant'Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024324481","display_name":"Alessandro Filippeschi","orcid":"https://orcid.org/0000-0001-6078-6429"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Alessandro Filippeschi","raw_affiliation_strings":["Perceptual Robotics Laboratory, Scuola Superiore Sant\u2019Anna, Pisa, Italy","PERceptual Robotics Laboratory, Scuola Superiore Sant'Anna, Pisa, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Perceptual Robotics Laboratory, Scuola Superiore Sant\u2019Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"PERceptual Robotics Laboratory, Scuola Superiore Sant'Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057697306","display_name":"Massimo Bergamasco","orcid":"https://orcid.org/0000-0002-7418-2332"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Massimo Bergamasco","raw_affiliation_strings":["Perceptual Robotics Laboratory, Scuola Superiore Sant\u2019Anna, Pisa, Italy","PERceptual Robotics Laboratory, Scuola Superiore Sant'Anna, Pisa, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Perceptual Robotics Laboratory, Scuola Superiore Sant\u2019Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"PERceptual Robotics Laboratory, Scuola Superiore Sant'Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071335654","display_name":"Matteo Ragaglia","orcid":"https://orcid.org/0000-0002-7216-3664"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Matteo Ragaglia","raw_affiliation_strings":["Yanmar R&D Europe, Florence, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Yanmar R&D Europe, Florence, Italy","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018102069","display_name":"Alfredo Argiolas","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Alfredo Argiolas","raw_affiliation_strings":["Yanmar R&D Europe, Florence, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Yanmar R&D Europe, Florence, Italy","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056592777","display_name":"Marta Niccolini","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Marta Niccolini","raw_affiliation_strings":["Yanmar R&D Europe, Florence, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Yanmar R&D Europe, Florence, Italy","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5086535808","display_name":"Carlo Alberto Avizzano","orcid":"https://orcid.org/0000-0001-5802-541X"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Carlo Alberto Avizzano","raw_affiliation_strings":["Perceptual Robotics Laboratory, Scuola Superiore Sant\u2019Anna, Pisa, Italy","PERceptual Robotics Laboratory, Scuola Superiore Sant'Anna, Pisa, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Perceptual Robotics Laboratory, Scuola Superiore Sant\u2019Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"PERceptual Robotics Laboratory, Scuola Superiore Sant'Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.6285,"has_fulltext":false,"cited_by_count":26,"citation_normalized_percentile":{"value":0.82315998,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"2","issue":"4","first_page":"2072","last_page":"2079"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9994999766349792,"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":0.9994999766349792,"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/T10914","display_name":"Tactile and Sensory Interactions","score":0.9969000220298767,"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"}},{"id":"https://openalex.org/T14011","display_name":"Elevator Systems and Control","score":0.9918000102043152,"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/teleoperation","display_name":"Teleoperation","score":0.9246313571929932},{"id":"https://openalex.org/keywords/joystick","display_name":"Joystick","score":0.8576734066009521},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.8257603645324707},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.7573878765106201},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6777673363685608},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6190950870513916},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5370093584060669},{"id":"https://openalex.org/keywords/telerobotics","display_name":"Telerobotics","score":0.47768574953079224},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.45378822088241577},{"id":"https://openalex.org/keywords/wearable-computer","display_name":"Wearable computer","score":0.4463985562324524},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4394097626209259},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.4269925355911255},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.40191566944122314},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.3299879729747772},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3204768896102905},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1973951756954193},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19000640511512756},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1750761866569519}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.9246313571929932},{"id":"https://openalex.org/C96439379","wikidata":"https://www.wikidata.org/wiki/Q178805","display_name":"Joystick","level":2,"score":0.8576734066009521},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.8257603645324707},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.7573878765106201},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6777673363685608},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6190950870513916},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5370093584060669},{"id":"https://openalex.org/C196467688","wikidata":"https://www.wikidata.org/wiki/Q1851985","display_name":"Telerobotics","level":4,"score":0.47768574953079224},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.45378822088241577},{"id":"https://openalex.org/C150594956","wikidata":"https://www.wikidata.org/wiki/Q1334829","display_name":"Wearable computer","level":2,"score":0.4463985562324524},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4394097626209259},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.4269925355911255},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.40191566944122314},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.3299879729747772},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3204768896102905},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1973951756954193},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19000640511512756},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1750761866569519},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2017.2720850","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2017.2720850","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"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 Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:www.iris.sssup.it:11382/516737","is_oa":false,"landing_page_url":"http://hdl.handle.net/11382/516737","pdf_url":null,"source":{"id":"https://openalex.org/S4377196376","display_name":"CINECA IRIS Institutional Research Information System (Sant'Anna School of Advanced Studies)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I162290304","host_organization_name":"Scuola Superiore Sant'Anna","host_organization_lineage":["https://openalex.org/I162290304"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.800000011920929,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W101300567","https://openalex.org/W1525267807","https://openalex.org/W1531806224","https://openalex.org/W1979890389","https://openalex.org/W1987515522","https://openalex.org/W2023376482","https://openalex.org/W2030898082","https://openalex.org/W2052274174","https://openalex.org/W2073437674","https://openalex.org/W2089640842","https://openalex.org/W2139653757","https://openalex.org/W2144731441","https://openalex.org/W2147708222","https://openalex.org/W2151599587","https://openalex.org/W2152870685","https://openalex.org/W2167310912","https://openalex.org/W2167971611","https://openalex.org/W2331126762","https://openalex.org/W2528225250","https://openalex.org/W2529264932","https://openalex.org/W2534521461","https://openalex.org/W2561042675","https://openalex.org/W2567551237","https://openalex.org/W2612110125","https://openalex.org/W6632027569"],"related_works":["https://openalex.org/W2559957734","https://openalex.org/W2277851728","https://openalex.org/W2046710269","https://openalex.org/W2477401734","https://openalex.org/W2097059456","https://openalex.org/W817518365","https://openalex.org/W4294975922","https://openalex.org/W2145103607","https://openalex.org/W2141648055","https://openalex.org/W4367662652"],"abstract_inverted_index":{"This":[0],"letter":[1],"presents":[2],"a":[3,87,109,156],"novel":[4,88],"wearable":[5],"haptic":[6,66],"controller":[7,24],"(WHC)":[8],"system":[9,133],"suitable":[10],"for":[11],"teleoperation":[12,49],"of":[13,50,90,118,123,130,139],"demolition":[14,125],"machines":[15],"and":[16,54,136,154],"robotic":[17,52],"platforms.":[18],"With":[19],"regard":[20],"to":[21,35,39],"existing":[22],"operator":[23],"unit":[25],"composed":[26],"by":[27],"passive":[28],"joysticks,":[29],"the":[30,40,44,48,55,58,61,82,91,97,116,121,124,128,131,137],"WHC":[31],"has":[32],"been":[33,149],"designed":[34],"provide":[36],"force":[37],"feedback":[38,67],"user,":[41],"hence":[42],"improving":[43],"user":[45],"performance":[46],"during":[47],"different":[51],"platforms":[53],"interaction":[56,111],"with":[57],"environment":[59],"on":[60,155],"remote":[62],"construction":[63],"sites.":[64],"The":[65,84,146],"is":[68,134],"provided":[69],"through":[70],"two":[71],"compact":[72],"parallel":[73],"kinematic":[74],"(CPK)":[75],"interfaces":[76],"that":[77,113],"will":[78],"be":[79],"presented":[80,135],"within":[81],"paper.":[83],"CPK":[85],"implements":[86],"variant":[89],"Delta":[92],"kinematics":[93],"which":[94],"allows":[95],"minimizing":[96],"radial":[98],"encumbrance":[99],"while":[100],"preserving":[101],"same":[102],"operational":[103],"workspace.":[104],"In":[105],"addition,":[106],"we":[107],"propose":[108],"new":[110],"modality":[112],"provides":[114],"users":[115],"feeling":[117],"directly":[119],"maneuvering":[120],"end-effector":[122],"machine.":[126,158],"Finally,":[127],"architecture":[129],"proposed":[132],"results":[138],"some":[140],"preliminary":[141],"evaluation":[142],"tests":[143],"are":[144],"discussed.":[145],"experiments":[147],"have":[148],"performed":[150],"in":[151],"simulated":[152],"environments":[153],"real":[157]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":8},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
