{"id":"https://openalex.org/W4388895021","doi":"https://doi.org/10.1109/lra.2023.3335779","title":"Sensorless Transparency Optimized Haptic Teleoperation on the da Vinci Research Kit","display_name":"Sensorless Transparency Optimized Haptic Teleoperation on the da Vinci Research Kit","publication_year":2023,"publication_date":"2023-11-22","ids":{"openalex":"https://openalex.org/W4388895021","doi":"https://doi.org/10.1109/lra.2023.3335779"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2023.3335779","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3335779","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/A5011243254","display_name":"Nural Yilmaz","orcid":"https://orcid.org/0000-0002-1421-0127"},"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"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Nural Yilmaz","raw_affiliation_strings":["Department of Computer Science, Johns Hopkins University, Baltimore, MD, USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Johns Hopkins University, Baltimore, MD, USA","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5093314908","display_name":"Brendan Burkhart","orcid":"https://orcid.org/0009-0005-4711-0279"},"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"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Brendan Burkhart","raw_affiliation_strings":["Department of Computer Science, Johns Hopkins University, Baltimore, MD, USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Johns Hopkins University, Baltimore, MD, USA","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060559135","display_name":"Anton Deguet","orcid":"https://orcid.org/0000-0003-3856-2095"},"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"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Anton Deguet","raw_affiliation_strings":["Department of Computer Science, Johns Hopkins University, Baltimore, MD, USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Johns Hopkins University, Baltimore, MD, USA","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022619253","display_name":"Peter Kazanzides","orcid":"https://orcid.org/0000-0002-6117-5467"},"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"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Peter Kazanzides","raw_affiliation_strings":["Department of Computer Science, Johns Hopkins University, Baltimore, MD, USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Johns Hopkins University, Baltimore, MD, USA","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5036359319","display_name":"Ugur T\u00fcmerdem","orcid":"https://orcid.org/0000-0002-5322-2366"},"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"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ugur Tumerdem","raw_affiliation_strings":["Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD, USA","institution_ids":["https://openalex.org/I145311948"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5011243254"],"corresponding_institution_ids":["https://openalex.org/I145311948"],"apc_list":null,"apc_paid":null,"fwci":1.5979,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.81456972,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"9","issue":"2","first_page":"971","last_page":"978"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9988999962806702,"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":0.9988999962806702,"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/T10916","display_name":"Surgical Simulation and Training","score":0.9939000010490417,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9930999875068665,"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/teleoperation","display_name":"Teleoperation","score":0.9717558026313782},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.8100612163543701},{"id":"https://openalex.org/keywords/transparency","display_name":"Transparency (behavior)","score":0.685238778591156},{"id":"https://openalex.org/keywords/kinesthetic-learning","display_name":"Kinesthetic learning","score":0.6743213534355164},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5654229521751404},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5124734044075012},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.46604621410369873},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.42842185497283936},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.42536744475364685},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3670569062232971},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22611775994300842},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.08197173476219177}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.9717558026313782},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.8100612163543701},{"id":"https://openalex.org/C2780233690","wikidata":"https://www.wikidata.org/wiki/Q535347","display_name":"Transparency (behavior)","level":2,"score":0.685238778591156},{"id":"https://openalex.org/C55457006","wikidata":"https://www.wikidata.org/wiki/Q3647098","display_name":"Kinesthetic learning","level":2,"score":0.6743213534355164},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5654229521751404},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5124734044075012},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.46604621410369873},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.42842185497283936},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.42536744475364685},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3670569062232971},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22611775994300842},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.08197173476219177},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","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},{"id":"https://openalex.org/C138496976","wikidata":"https://www.wikidata.org/wiki/Q175002","display_name":"Developmental psychology","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2023.3335779","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3335779","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":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":45,"referenced_works":["https://openalex.org/W847215708","https://openalex.org/W1610082327","https://openalex.org/W1874645351","https://openalex.org/W2009180946","https://openalex.org/W2013981569","https://openalex.org/W2018787473","https://openalex.org/W2061417916","https://openalex.org/W2070328658","https://openalex.org/W2073551910","https://openalex.org/W2083258908","https://openalex.org/W2105054962","https://openalex.org/W2108817574","https://openalex.org/W2111551460","https://openalex.org/W2114428836","https://openalex.org/W2122110426","https://openalex.org/W2122850646","https://openalex.org/W2127550858","https://openalex.org/W2131651193","https://openalex.org/W2132294818","https://openalex.org/W2134927525","https://openalex.org/W2135464393","https://openalex.org/W2151412583","https://openalex.org/W2160636558","https://openalex.org/W2586782891","https://openalex.org/W2594276447","https://openalex.org/W2610665011","https://openalex.org/W2726926653","https://openalex.org/W2771423385","https://openalex.org/W2809649895","https://openalex.org/W2891331609","https://openalex.org/W2910696801","https://openalex.org/W2938382028","https://openalex.org/W2944287224","https://openalex.org/W3004293413","https://openalex.org/W3005386404","https://openalex.org/W3091689077","https://openalex.org/W3114585584","https://openalex.org/W3199488253","https://openalex.org/W3205320754","https://openalex.org/W4206433099","https://openalex.org/W4225633599","https://openalex.org/W4283311522","https://openalex.org/W4283706714","https://openalex.org/W4313141885","https://openalex.org/W4378983150"],"related_works":["https://openalex.org/W2145204832","https://openalex.org/W2327210927","https://openalex.org/W4229057662","https://openalex.org/W2044297498","https://openalex.org/W2094105667","https://openalex.org/W2097347938","https://openalex.org/W2164858976","https://openalex.org/W2970545857","https://openalex.org/W4311378573","https://openalex.org/W3195731900"],"abstract_inverted_index":{"The":[0,112],"da":[1,88],"Vinci":[2,89],"surgical":[3,37],"robot":[4],"introduced":[5],"remote":[6],"control":[7],"of":[8,24,26,32],"instruments,":[9],"providing":[10],"surgeons":[11],"with":[12,65,81],"increased":[13],"dexterity":[14],"and":[15,39,110,130],"precision.":[16],"A":[17],"major":[18],"drawback,":[19],"however,":[20],"is":[21,55,73,114,122,131],"the":[22,36,40,87,99,134],"loss":[23],"sense":[25],"touch":[27],"due":[28],"to":[29,133],"a":[30,45,66,138],"lack":[31],"kinesthetic":[33],"coupling":[34],"between":[35],"field":[38],"surgeon.":[41],"This":[42],"paper":[43],"presents":[44],"framework":[46],"for":[47,69],"sensorless":[48,56],"transparency":[49],"optimized":[50,75],"four":[51],"channel":[52],"teleoperation.":[53],"It":[54],"because":[57],"forces":[58],"are":[59],"estimated":[60],"from":[61],"existing":[62],"actuator":[63],"feedback,":[64],"deep":[67],"network":[68],"dynamics":[70],"identification.":[71],"Performance":[72],"further":[74],"by":[76],"introducing":[77],"robust":[78],"acceleration":[79],"control,":[80,107],"disturbance":[82],"observers.":[83],"Experiments":[84],"performed":[85],"on":[86,98],"Research":[90],"Kit":[91],"(dVRK),":[92],"an":[93],"open":[94],"research":[95],"platform":[96],"based":[97],"clinically":[100],"deployed":[101],"robotic":[102],"hardware,":[103],"show":[104],"improvements":[105],"in":[106,124],"force":[108],"estimation":[109],"reflection.":[111],"significance":[113],"that":[115,118],"we":[116],"demonstrate":[117],"high-performance":[119],"bilateral":[120],"teleoperation":[121],"feasible":[123],"clinical":[125],"systems,":[126],"without":[127],"hardware":[128],"changes,":[129],"available":[132],"dVRK":[135],"community":[136],"through":[137],"software":[139],"update.":[140]},"counts_by_year":[{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":5}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
