{"id":"https://openalex.org/W2809649895","doi":"https://doi.org/10.1109/lra.2018.2849862","title":"Evaluation of Torque Measurement Surrogates as Applied to Grip Torque and Jaw Angle Estimation of Robotic Surgical Tools","display_name":"Evaluation of Torque Measurement Surrogates as Applied to Grip Torque and Jaw Angle Estimation of Robotic Surgical Tools","publication_year":2018,"publication_date":"2018-06-22","ids":{"openalex":"https://openalex.org/W2809649895","doi":"https://doi.org/10.1109/lra.2018.2849862","mag":"2809649895"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2018.2849862","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2018.2849862","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/A5091714083","display_name":"J. J. O\u2019Neill","orcid":"https://orcid.org/0000-0003-1552-0669"},"institutions":[{"id":"https://openalex.org/I130238516","display_name":"University of Minnesota","ror":"https://ror.org/017zqws13","country_code":"US","type":"education","lineage":["https://openalex.org/I130238516"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"John J. O'Neill","raw_affiliation_strings":["Department of Mechanical Engineering, University of Minnesota, Minneapolis, MN, USA"],"raw_orcid":"https://orcid.org/0000-0003-1552-0669","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Minnesota, Minneapolis, MN, USA","institution_ids":["https://openalex.org/I130238516"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035062428","display_name":"Trevor K. Stephens","orcid":"https://orcid.org/0000-0001-9974-4090"},"institutions":[{"id":"https://openalex.org/I130238516","display_name":"University of Minnesota","ror":"https://ror.org/017zqws13","country_code":"US","type":"education","lineage":["https://openalex.org/I130238516"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Trevor K. Stephens","raw_affiliation_strings":["Department of Mechanical Engineering, University of Minnesota, Minneapolis, MN, USA"],"raw_orcid":"https://orcid.org/0000-0001-9974-4090","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Minnesota, Minneapolis, MN, USA","institution_ids":["https://openalex.org/I130238516"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5020982696","display_name":"Timothy M. Kowalewski","orcid":"https://orcid.org/0000-0001-6596-3324"},"institutions":[{"id":"https://openalex.org/I130238516","display_name":"University of Minnesota","ror":"https://ror.org/017zqws13","country_code":"US","type":"education","lineage":["https://openalex.org/I130238516"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Timothy M. Kowalewski","raw_affiliation_strings":["Department of Mechanical Engineering, University of Minnesota, Minneapolis, MN, USA"],"raw_orcid":"https://orcid.org/0000-0001-6596-3324","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Minnesota, Minneapolis, MN, USA","institution_ids":["https://openalex.org/I130238516"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.115,"has_fulltext":false,"cited_by_count":19,"citation_normalized_percentile":{"value":0.76126349,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"3","issue":"4","first_page":"3027","last_page":"3034"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9980000257492065,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T10868","display_name":"Soft Robotics and Applications","score":0.9980000257492065,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T10916","display_name":"Surgical Simulation and Training","score":0.9968000054359436,"subfield":{"id":"https://openalex.org/subfields/2746","display_name":"Surgery"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T11984","display_name":"Anatomy and Medical Technology","score":0.9947999715805054,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/torque","display_name":"Torque","score":0.7926759123802185},{"id":"https://openalex.org/keywords/mean-squared-error","display_name":"Mean squared error","score":0.5936571359634399},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4957800805568695},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49190354347229004},{"id":"https://openalex.org/keywords/surgical-robot","display_name":"Surgical robot","score":0.4553263187408447},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.39627623558044434},{"id":"https://openalex.org/keywords/orthodontics","display_name":"Orthodontics","score":0.328158438205719},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3249138593673706},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3091893196105957},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2554699182510376},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.23607134819030762},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.1331711709499359},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10410651564598083}],"concepts":[{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.7926759123802185},{"id":"https://openalex.org/C139945424","wikidata":"https://www.wikidata.org/wiki/Q1940696","display_name":"Mean squared error","level":2,"score":0.5936571359634399},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4957800805568695},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49190354347229004},{"id":"https://openalex.org/C3017684034","wikidata":"https://www.wikidata.org/wiki/Q942348","display_name":"Surgical robot","level":3,"score":0.4553263187408447},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.39627623558044434},{"id":"https://openalex.org/C29694066","wikidata":"https://www.wikidata.org/wiki/Q118301","display_name":"Orthodontics","level":1,"score":0.328158438205719},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3249138593673706},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3091893196105957},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2554699182510376},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.23607134819030762},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.1331711709499359},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10410651564598083},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2018.2849862","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2018.2849862","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320338295","display_name":"Army Research Laboratory","ror":"https://ror.org/011hc8f90"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1568079581","https://openalex.org/W1584687743","https://openalex.org/W1843256411","https://openalex.org/W1963716360","https://openalex.org/W1994997028","https://openalex.org/W2009180946","https://openalex.org/W2044445944","https://openalex.org/W2084030943","https://openalex.org/W2089913832","https://openalex.org/W2107093743","https://openalex.org/W2111051539","https://openalex.org/W2131651193","https://openalex.org/W2332479033","https://openalex.org/W2409079095","https://openalex.org/W2586782891","https://openalex.org/W2765732306","https://openalex.org/W6633910973","https://openalex.org/W6745048243"],"related_works":["https://openalex.org/W2102148524","https://openalex.org/W2314720829","https://openalex.org/W4385074335","https://openalex.org/W8302103","https://openalex.org/W2626189183","https://openalex.org/W2375420338","https://openalex.org/W1817375815","https://openalex.org/W3171631314","https://openalex.org/W2626268514","https://openalex.org/W1979551339"],"abstract_inverted_index":{"The":[0,60,80,105,120],"estimation":[1,31],"of":[2,62],"grip":[3],"force":[4],"for":[5,109],"surgical":[6,28,58],"tools":[7],"such":[8,22],"as":[9,23],"the":[10,92,96,133],"da":[11],"Vinci":[12],"has":[13],"been":[14,34],"shown":[15],"to":[16,44,66,76,145],"be":[17],"valuable":[18],"in":[19,55,73,89,125,138],"possible":[20],"applications":[21],"haptics,":[24],"tissue":[25],"identification,":[26],"and":[27,91,100,116,132],"training.":[29],"Successful":[30],"attempts":[32],"have":[33],"previously":[35,85],"demonstrated,":[36],"but":[37],"utilize":[38],"customized":[39,97],"sensors;":[40],"this":[41,63],"letter":[42,64],"aims":[43],"provide":[45],"an":[46],"estimate":[47,77,123,136],"considering":[48],"only":[49],"typical":[50],"sensor":[51,98],"streams":[52],"already":[53],"present":[54],"commercially":[56],"available":[57],"robots.":[59],"objective":[61],"is":[65,103],"evaluate":[67],"three":[68],"proximal-end":[69,110],"torque":[70,111,135],"surrogate":[71],"methods":[72],"their":[74],"abilities":[75],"distal-end":[78,134],"states.":[79],"estimates":[81],"are":[82],"compared":[83],"with":[84],"reported":[86],"results":[87],"found":[88],"literature":[90,147],"percent":[93],"difference":[94],"between":[95],"approach":[99],"previous":[101],"standards":[102],"reported.":[104],"most":[106],"effective":[107],"surrogates":[108],"were":[112],"commanded":[113],"motor":[114,118],"current":[115],"measured":[117],"current.":[119],"jaw":[121],"angle":[122],"resulted":[124,137],"0.37":[126],"degree":[127],"root":[128],"mean":[129],"square":[130],"error,":[131],"4.42":[139],"mNm":[140],"RMSE,":[141],"which":[142],"compares":[143],"favorably":[144],"existing":[146],"approaches.":[148]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":3}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}