{"id":"https://openalex.org/W3044540718","doi":"https://doi.org/10.1109/lra.2020.3010748","title":"Design, Modeling, and Implementation of a 7-DOF Cable-Driven Haptic Device With a Configurable Cable Platform","display_name":"Design, Modeling, and Implementation of a 7-DOF Cable-Driven Haptic Device With a Configurable Cable Platform","publication_year":2020,"publication_date":"2020-07-21","ids":{"openalex":"https://openalex.org/W3044540718","doi":"https://doi.org/10.1109/lra.2020.3010748","mag":"3044540718"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2020.3010748","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.3010748","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/A5047127182","display_name":"Patrice Lambert","orcid":"https://orcid.org/0000-0001-6075-1955"},"institutions":[{"id":"https://openalex.org/I183935753","display_name":"King's College London","ror":"https://ror.org/0220mzb33","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I183935753"]},{"id":"https://openalex.org/I4210119896","display_name":"King's College School","ror":"https://ror.org/02bbqcn27","country_code":"GB","type":"education","lineage":["https://openalex.org/I4210119896"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Patrice Lambert","raw_affiliation_strings":["School of Biomedical Engineering & Imaging Sciences, Faculty of Life Science and Medicine, King's College London, London, U.K"],"raw_orcid":"https://orcid.org/0000-0001-6075-1955","affiliations":[{"raw_affiliation_string":"School of Biomedical Engineering & Imaging Sciences, Faculty of Life Science and Medicine, King's College London, London, U.K","institution_ids":["https://openalex.org/I183935753","https://openalex.org/I4210119896"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052578273","display_name":"Lyndon da Cruz","orcid":"https://orcid.org/0000-0002-7695-6354"},"institutions":[{"id":"https://openalex.org/I4210122016","display_name":"Wellcome / EPSRC Centre for Interventional and Surgical Sciences","ror":"https://ror.org/03r42r570","country_code":"GB","type":"facility","lineage":["https://openalex.org/I124357947","https://openalex.org/I1299528221","https://openalex.org/I4210087105","https://openalex.org/I4210122016","https://openalex.org/I45129253","https://openalex.org/I87048295"]},{"id":"https://openalex.org/I4210150574","display_name":"Moorfields Eye Hospital","ror":"https://ror.org/03tb37539","country_code":"GB","type":"healthcare","lineage":["https://openalex.org/I1325675289","https://openalex.org/I4210150574"]},{"id":"https://openalex.org/I45129253","display_name":"University College London","ror":"https://ror.org/02jx3x895","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I45129253"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Lyndon Da Cruz","raw_affiliation_strings":["Moorfields Eye Hospital, London, U.K","Wellcome/EPSRC Centre on Interventional and Surgical Sciences, University College London, London, U.K"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Moorfields Eye Hospital, London, U.K","institution_ids":["https://openalex.org/I45129253","https://openalex.org/I4210150574"]},{"raw_affiliation_string":"Wellcome/EPSRC Centre on Interventional and Surgical Sciences, University College London, London, U.K","institution_ids":["https://openalex.org/I4210122016","https://openalex.org/I45129253"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5008795008","display_name":"Christos Bergeles","orcid":"https://orcid.org/0000-0002-9152-3194"},"institutions":[{"id":"https://openalex.org/I183935753","display_name":"King's College London","ror":"https://ror.org/0220mzb33","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I183935753"]},{"id":"https://openalex.org/I4210119896","display_name":"King's College School","ror":"https://ror.org/02bbqcn27","country_code":"GB","type":"education","lineage":["https://openalex.org/I4210119896"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Christos Bergeles","raw_affiliation_strings":["School of Biomedical Engineering & Imaging Sciences, Faculty of Life Science and Medicine, King's College London, London, U.K"],"raw_orcid":"https://orcid.org/0000-0002-9152-3194","affiliations":[{"raw_affiliation_string":"School of Biomedical Engineering & Imaging Sciences, Faculty of Life Science and Medicine, King's College London, London, U.K","institution_ids":["https://openalex.org/I183935753","https://openalex.org/I4210119896"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5047127182"],"corresponding_institution_ids":["https://openalex.org/I183935753","https://openalex.org/I4210119896"],"apc_list":null,"apc_paid":null,"fwci":1.8497,"has_fulltext":false,"cited_by_count":23,"citation_normalized_percentile":{"value":0.83940386,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"5","issue":"4","first_page":"5764","last_page":"5771"},"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/T10868","display_name":"Soft Robotics and Applications","score":0.9994000196456909,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9987000226974487,"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/workspace","display_name":"Workspace","score":0.8591353893280029},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.7593271732330322},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6025508642196655},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5143517255783081},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.43388283252716064},{"id":"https://openalex.org/keywords/base","display_name":"Base (topology)","score":0.41962358355522156},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4079627990722656},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.34824806451797485},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11790329217910767}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.8591353893280029},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.7593271732330322},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6025508642196655},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5143517255783081},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.43388283252716064},{"id":"https://openalex.org/C42058472","wikidata":"https://www.wikidata.org/wiki/Q810214","display_name":"Base (topology)","level":2,"score":0.41962358355522156},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4079627990722656},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.34824806451797485},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11790329217910767},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2020.3010748","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.3010748","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:kclpure.kcl.ac.uk:publications/0c6b83e6-ad0f-40eb-9e01-adc2937faa35","is_oa":false,"landing_page_url":"http://www.scopus.com/inward/record.url?scp=85089914947&partnerID=8YFLogxK","pdf_url":null,"source":{"id":"https://openalex.org/S4306400216","display_name":"Research Portal (King's College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I183935753","host_organization_name":"King's College London","host_organization_lineage":["https://openalex.org/I183935753"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Lambert, P, Da Cruz, L & Bergeles, C 2020, 'Design, Modeling, and Implementation of a 7-DOF Cable-Driven Haptic Device with a Configurable Cable Platform', IEEE Robotics and Automation Letters, vol. 5, no. 4, 9145710, pp. 5764-5771. https://doi.org/10.1109/LRA.2020.3010748","raw_type":"info:eu-repo/semantics/publishedVersion"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.6299999952316284,"display_name":"Peace, Justice and strong institutions"}],"awards":[{"id":"https://openalex.org/G1278582222","display_name":null,"funder_award_id":"II-LB-0716-20002","funder_id":"https://openalex.org/F4320319990","funder_display_name":"National Institute for Health and Care Research"}],"funders":[{"id":"https://openalex.org/F4320319990","display_name":"National Institute for Health and Care Research","ror":"https://ror.org/0187kwz08"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W32277538","https://openalex.org/W102286699","https://openalex.org/W1807510526","https://openalex.org/W1864197852","https://openalex.org/W1994263150","https://openalex.org/W2013017517","https://openalex.org/W2029964513","https://openalex.org/W2083757980","https://openalex.org/W2087355026","https://openalex.org/W2101855097","https://openalex.org/W2162005755","https://openalex.org/W2726254614","https://openalex.org/W2799770866","https://openalex.org/W2799910617","https://openalex.org/W4235118199","https://openalex.org/W4248960794","https://openalex.org/W6639293022","https://openalex.org/W7061419016"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2371519816","https://openalex.org/W2043154226","https://openalex.org/W2369529107","https://openalex.org/W2329043542","https://openalex.org/W2109948066","https://openalex.org/W2139993144","https://openalex.org/W2161214141","https://openalex.org/W2326117494","https://openalex.org/W2102645302"],"abstract_inverted_index":{"This":[0,69],"letter":[1],"introduces":[2],"a":[3,18,26,34,80,86],"novel":[4],"7":[5],"Degree":[6],"Of":[7],"Freedom":[8],"(DOF)":[9],"cable-driven":[10,74],"haptic":[11],"device":[12],"based":[13],"on":[14,46],"the":[15,23,47,56,60,67,71,99,102,115,118,122,131],"concept":[16],"of":[17,36,50,66,79,82,85,101,121,130],"configurable":[19],"cable":[20,48],"platform.":[21],"In":[22],"proposed":[24,103],"concept,":[25],"1-DOF":[27],"pinch":[28],"grasping":[29,64],"capability":[30],"is":[31,77,133],"provided":[32],"via":[33],"network":[35,81],"ten":[37],"passive":[38],"cables":[39,53,83],"kept":[40],"in":[41,108],"tension.":[42],"The":[43],"coordinated":[44],"action":[45],"platform":[49],"eight":[51],"active":[52],"driven":[54],"from":[55],"base,":[57],"fully":[58],"controls":[59],"position,":[61],"orientation,":[62],"and":[63,92,111,117],"configuration":[65],"device.":[68],"constitutes":[70],"first":[72],"7-DOF":[73],"robot":[75],"that":[76],"made":[78],"instead":[84],"pure":[87],"parallel":[88],"architecture.":[89,104],"Original":[90],"static":[91],"kinematic":[93],"models":[94],"were":[95],"developed":[96],"to":[97,113],"address":[98],"particularities":[100],"They":[105],"are":[106],"detailed":[107],"this":[109],"manuscript":[110],"used":[112],"define":[114],"workspace":[116],"control":[119],"algorithm":[120],"design.":[123],"A":[124],"working":[125],"prototype":[126],"illustrating":[127],"an":[128],"implementation":[129],"theory":[132],"presented.":[134]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":5}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
