{"id":"https://openalex.org/W4390576760","doi":"https://doi.org/10.1109/lra.2024.3349811","title":"Admittance Switching for Stability and Transparency in Human-Robot Collaborative Microsurgery","display_name":"Admittance Switching for Stability and Transparency in Human-Robot Collaborative Microsurgery","publication_year":2024,"publication_date":"2024-01-04","ids":{"openalex":"https://openalex.org/W4390576760","doi":"https://doi.org/10.1109/lra.2024.3349811"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3349811","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3349811","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/A5027074259","display_name":"Brevin P. Banks","orcid":"https://orcid.org/0000-0003-4856-5230"},"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":"Brevin Banks","raw_affiliation_strings":["Laboratory for Computational Sensing and Robotics, Department of Computer Science, Johns Hopkins University, Baltimore, MD, USA","Dept. of Computer Science, Laboratory for Computational Sensing and Robotics, USA"],"affiliations":[{"raw_affiliation_string":"Laboratory for Computational Sensing and Robotics, Department of Computer Science, Johns Hopkins University, Baltimore, MD, USA","institution_ids":["https://openalex.org/I145311948"]},{"raw_affiliation_string":"Dept. of Computer Science, Laboratory for Computational Sensing and Robotics, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008520219","display_name":"Mohammad Salehizadeh","orcid":"https://orcid.org/0000-0002-7256-7028"},"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":"Mohammad Salehizadeh","raw_affiliation_strings":["Laboratory for Computational Sensing and Robotics, Department of Computer Science, Johns Hopkins University, Baltimore, MD, USA","Dept. of Computer Science, Laboratory for Computational Sensing and Robotics, USA"],"affiliations":[{"raw_affiliation_string":"Laboratory for Computational Sensing and Robotics, Department of Computer Science, Johns Hopkins University, Baltimore, MD, USA","institution_ids":["https://openalex.org/I145311948"]},{"raw_affiliation_string":"Dept. of Computer Science, Laboratory for Computational Sensing and Robotics, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036968620","display_name":"Adnan Munawar","orcid":"https://orcid.org/0000-0002-3400-4558"},"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":"Adnan Munawar","raw_affiliation_strings":["Laboratory for Computational Sensing and Robotics, Department of Computer Science, Johns Hopkins University, Baltimore, MD, USA","Dept. of Computer Science, Laboratory for Computational Sensing and Robotics, USA"],"affiliations":[{"raw_affiliation_string":"Laboratory for Computational Sensing and Robotics, Department of Computer Science, Johns Hopkins University, Baltimore, MD, USA","institution_ids":["https://openalex.org/I145311948"]},{"raw_affiliation_string":"Dept. of Computer Science, Laboratory for Computational Sensing and Robotics, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004170925","display_name":"Russell H. Taylor","orcid":"https://orcid.org/0000-0001-6272-1100"},"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":"Russell H. Taylor","raw_affiliation_strings":["Laboratory for Computational Sensing and Robotics, Department of Computer Science, Johns Hopkins University, Baltimore, MD, USA","Dept. of Computer Science, Laboratory for Computational Sensing and Robotics, USA"],"affiliations":[{"raw_affiliation_string":"Laboratory for Computational Sensing and Robotics, Department of Computer Science, Johns Hopkins University, Baltimore, MD, USA","institution_ids":["https://openalex.org/I145311948"]},{"raw_affiliation_string":"Dept. of Computer Science, Laboratory for Computational Sensing and Robotics, USA","institution_ids":[]}]},{"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","Dept. 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"]},{"raw_affiliation_string":"Dept. 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/A5027074259"],"corresponding_institution_ids":["https://openalex.org/I145311948"],"apc_list":null,"apc_paid":null,"fwci":0.9823,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.70657399,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"9","issue":"2","first_page":"1891","last_page":"1898"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9984999895095825,"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":0.9984999895095825,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9898999929428101,"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/T11251","display_name":"Meningioma and schwannoma management","score":0.9746999740600586,"subfield":{"id":"https://openalex.org/subfields/2713","display_name":"Epidemiology"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/transparency","display_name":"Transparency (behavior)","score":0.7983853816986084},{"id":"https://openalex.org/keywords/admittance","display_name":"Admittance","score":0.7417352199554443},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7010461091995239},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48496294021606445},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4785100519657135},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4664228558540344},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.4485732316970825},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.412627249956131},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3757745027542114},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3530101180076599},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.24465316534042358},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20017600059509277},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1695069670677185},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.16282448172569275},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.08308777213096619}],"concepts":[{"id":"https://openalex.org/C2780233690","wikidata":"https://www.wikidata.org/wiki/Q535347","display_name":"Transparency (behavior)","level":2,"score":0.7983853816986084},{"id":"https://openalex.org/C108811297","wikidata":"https://www.wikidata.org/wiki/Q214518","display_name":"Admittance","level":3,"score":0.7417352199554443},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7010461091995239},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48496294021606445},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4785100519657135},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4664228558540344},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.4485732316970825},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.412627249956131},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3757745027542114},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3530101180076599},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.24465316534042358},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20017600059509277},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1695069670677185},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.16282448172569275},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.08308777213096619},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum 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/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2024.3349811","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3349811","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":[{"score":0.5299999713897705,"display_name":"Partnerships for the goals","id":"https://metadata.un.org/sdg/17"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":42,"referenced_works":["https://openalex.org/W1494827359","https://openalex.org/W1552094772","https://openalex.org/W1559815321","https://openalex.org/W1974194387","https://openalex.org/W1978023077","https://openalex.org/W1983384638","https://openalex.org/W1992985704","https://openalex.org/W1999989313","https://openalex.org/W2017484120","https://openalex.org/W2033597001","https://openalex.org/W2034052310","https://openalex.org/W2036787791","https://openalex.org/W2038730444","https://openalex.org/W2039696452","https://openalex.org/W2081814343","https://openalex.org/W2082911918","https://openalex.org/W2084714310","https://openalex.org/W2094675442","https://openalex.org/W2096492432","https://openalex.org/W2104166416","https://openalex.org/W2108792235","https://openalex.org/W2126590051","https://openalex.org/W2132564572","https://openalex.org/W2151394718","https://openalex.org/W2162207896","https://openalex.org/W2586687222","https://openalex.org/W2613340549","https://openalex.org/W2623640962","https://openalex.org/W2766273783","https://openalex.org/W2771354076","https://openalex.org/W2789997910","https://openalex.org/W2793677370","https://openalex.org/W2910058625","https://openalex.org/W3001109386","https://openalex.org/W3035781016","https://openalex.org/W3046045492","https://openalex.org/W3154998360","https://openalex.org/W3160334482","https://openalex.org/W3203770643","https://openalex.org/W4210828307","https://openalex.org/W4244813500","https://openalex.org/W4376225692"],"related_works":["https://openalex.org/W2200472972","https://openalex.org/W2031643172","https://openalex.org/W2367857055","https://openalex.org/W2047335472","https://openalex.org/W2021013760","https://openalex.org/W2024162929","https://openalex.org/W3180133250","https://openalex.org/W2334610169","https://openalex.org/W1594265855","https://openalex.org/W3205034227"],"abstract_inverted_index":{"The":[0],"Galen":[1],"Surgical":[2],"Robot":[3],"is":[4],"an":[5,70,114],"admittance":[6,71],"controlled":[7],"collaborative":[8],"robot":[9,44],"that":[10],"can":[11,45],"enhance":[12],"the":[13,21,34,38,43,53,74,92,96,101,151],"performance":[14],"of":[15,23,37,52,69,78,86,95,130],"surgeons":[16],"in":[17,91,157],"microsurgery":[18],"by":[19],"sharing":[20],"load":[22],"instruments,":[24],"preventing":[25],"hand":[26],"tremor":[27],"and":[28,40,65,76,83,111,142,159],"improving":[29],"precision.":[30],"In":[31,57,144],"mastoidectomy,":[32],"contacting":[33],"temporal":[35,134],"bone":[36,135,141],"skull":[39],"drilling":[41],"with":[42,140,146,150],"be":[46],"challenging":[47],"due":[48],"to":[49,89,123],"potential":[50],"instability":[51],"coupled":[54],"surgeon-robot-patient":[55],"system.":[56,98],"this":[58,79],"letter,":[59],"we":[60,104],"investigate":[61],"how":[62],"tuning":[63],"mass":[64],"damping":[66],"gain":[67,106],"properties":[68],"controller":[72,153],"affect":[73],"stability":[75],"transparency":[77,158],"interaction.":[80],"We":[81,126],"generate":[82],"make":[84],"use":[85],"stability-transparency":[87],"maps":[88],"aid":[90],"optimal":[93],"design":[94],"control":[97],"To":[99],"address":[100],"stability/transparency":[102],"trade-off,":[103],"propose":[105],"switching":[107],"between":[108],"free":[109],"motion":[110],"contact":[112,139,160],"using":[113],"external":[115],"force":[116,120],"sensor":[117],"or":[118],"a":[119],"sensing":[121],"tool":[122],"detect":[124],"contact.":[125],"simulate":[127],"critical":[128],"phases":[129],"mastoidectomy":[131],"surgery":[132],"on":[133],"phantoms,":[136],"including":[137],"first":[138],"drilling.":[143],"agreement":[145],"theoretical":[147],"results,":[148],"experiments":[149],"proposed":[152],"show":[154],"significant":[155],"improvements":[156],"stability.":[161]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}