{"id":"https://openalex.org/W4413344135","doi":"https://doi.org/10.1109/lra.2025.3600165","title":"Dual-Modal Haptic Device Using AC Voltage-Driven Electrohydraulic Actuators for Teleoperated Robotic Grasping","display_name":"Dual-Modal Haptic Device Using AC Voltage-Driven Electrohydraulic Actuators for Teleoperated Robotic Grasping","publication_year":2025,"publication_date":"2025-08-19","ids":{"openalex":"https://openalex.org/W4413344135","doi":"https://doi.org/10.1109/lra.2025.3600165"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3600165","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3600165","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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/A5108982771","display_name":"Dannuo Li","orcid":"https://orcid.org/0009-0005-3928-8974"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Dannuo Li","raw_affiliation_strings":["Department of Biomedical Engineering and Advanced Robotics Centre, National University of Singapore, Singapore","Department of Biomedical Engineering and Advanced Robotics Centre, National University of Singapore, Singapore, Singapore"],"raw_orcid":"https://orcid.org/0009-0005-3928-8974","affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering and Advanced Robotics Centre, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"Department of Biomedical Engineering and Advanced Robotics Centre, National University of Singapore, Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048567958","display_name":"Quan Xiong","orcid":"https://orcid.org/0000-0003-3097-3674"},"institutions":[{"id":"https://openalex.org/I204512498","display_name":"University of Macau","ror":"https://ror.org/01r4q9n85","country_code":"MO","type":"education","lineage":["https://openalex.org/I204512498"]}],"countries":["MO"],"is_corresponding":false,"raw_author_name":"Quan Xiong","raw_affiliation_strings":["Department of Electromechanical Engineering and Centre for Artificial Intelligence and Robotics, University of Macau, Macau, China","Department of Electromechanical Engineering and Centre for Artificial Intelligence and Robotics, University of Macau, Macau SAR, China"],"raw_orcid":"https://orcid.org/0000-0003-3097-3674","affiliations":[{"raw_affiliation_string":"Department of Electromechanical Engineering and Centre for Artificial Intelligence and Robotics, University of Macau, Macau, China","institution_ids":["https://openalex.org/I204512498"]},{"raw_affiliation_string":"Department of Electromechanical Engineering and Centre for Artificial Intelligence and Robotics, University of Macau, Macau SAR, China","institution_ids":["https://openalex.org/I204512498"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003943273","display_name":"Xuanyi Zhou","orcid":"https://orcid.org/0009-0000-8013-8242"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Xuanyi Zhou","raw_affiliation_strings":["Department of Biomedical Engineering and Advanced Robotics Centre, National University of Singapore, Singapore","Department of Biomedical Engineering and Advanced Robotics Centre, National University of Singapore, Singapore, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering and Advanced Robotics Centre, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"Department of Biomedical Engineering and Advanced Robotics Centre, National University of Singapore, Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112047352","display_name":"Gavril Tan","orcid":"https://orcid.org/0009-0009-8834-3609"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Gavril Tan","raw_affiliation_strings":["Department of Biomedical Engineering and Advanced Robotics Centre, National University of Singapore, Singapore","Department of Biomedical Engineering and Advanced Robotics Centre, National University of Singapore, Singapore, Singapore"],"raw_orcid":"https://orcid.org/0009-0009-8834-3609","affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering and Advanced Robotics Centre, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"Department of Biomedical Engineering and Advanced Robotics Centre, National University of Singapore, Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5075456048","display_name":"Chen\u2010Hua Yeow","orcid":"https://orcid.org/0000-0002-6210-4548"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Raye Chen-Hua Yeow","raw_affiliation_strings":["Department of Biomedical Engineering and Advanced Robotics Centre, National University of Singapore, Singapore","Department of Biomedical Engineering and Advanced Robotics Centre, National University of Singapore, Singapore, Singapore"],"raw_orcid":"https://orcid.org/0000-0002-6210-4548","affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering and Advanced Robotics Centre, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"Department of Biomedical Engineering and Advanced Robotics Centre, National University of Singapore, Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.3695,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.5364057,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"10","issue":"10","first_page":"10178","last_page":"10185"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9944000244140625,"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":0.9944000244140625,"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/T14011","display_name":"Elevator Systems and Control","score":0.9736999869346619,"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"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9649999737739563,"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":0.8307522535324097},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.7363671064376831},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.7026378512382507},{"id":"https://openalex.org/keywords/dual","display_name":"Dual (grammatical number)","score":0.6081714034080505},{"id":"https://openalex.org/keywords/modal","display_name":"Modal","score":0.5781049132347107},{"id":"https://openalex.org/keywords/voltage","display_name":"Voltage","score":0.5374449491500854},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47109517455101013},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.32480865716934204},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.23302048444747925},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.23163798451423645},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.2165396511554718},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.20202654600143433},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13554272055625916}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.8307522535324097},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7363671064376831},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.7026378512382507},{"id":"https://openalex.org/C2780980858","wikidata":"https://www.wikidata.org/wiki/Q110022","display_name":"Dual (grammatical number)","level":2,"score":0.6081714034080505},{"id":"https://openalex.org/C71139939","wikidata":"https://www.wikidata.org/wiki/Q910194","display_name":"Modal","level":2,"score":0.5781049132347107},{"id":"https://openalex.org/C165801399","wikidata":"https://www.wikidata.org/wiki/Q25428","display_name":"Voltage","level":2,"score":0.5374449491500854},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47109517455101013},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.32480865716934204},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.23302048444747925},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.23163798451423645},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2165396511554718},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.20202654600143433},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13554272055625916},{"id":"https://openalex.org/C188027245","wikidata":"https://www.wikidata.org/wiki/Q750446","display_name":"Polymer chemistry","level":1,"score":0.0},{"id":"https://openalex.org/C124952713","wikidata":"https://www.wikidata.org/wiki/Q8242","display_name":"Literature","level":1,"score":0.0},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3600165","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3600165","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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":0.8199999928474426,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":40,"referenced_works":["https://openalex.org/W1976978381","https://openalex.org/W1983368645","https://openalex.org/W1997335902","https://openalex.org/W2012571009","https://openalex.org/W2024242733","https://openalex.org/W2032412711","https://openalex.org/W2043553375","https://openalex.org/W2051583256","https://openalex.org/W2070328658","https://openalex.org/W2089640842","https://openalex.org/W2121363846","https://openalex.org/W2133453873","https://openalex.org/W2167589601","https://openalex.org/W2441297925","https://openalex.org/W2565842466","https://openalex.org/W2625095542","https://openalex.org/W2754552787","https://openalex.org/W2766544714","https://openalex.org/W2781516556","https://openalex.org/W2782093158","https://openalex.org/W2791390850","https://openalex.org/W2897561735","https://openalex.org/W2898880028","https://openalex.org/W2924316106","https://openalex.org/W2953081104","https://openalex.org/W2969122110","https://openalex.org/W3012297501","https://openalex.org/W3045105376","https://openalex.org/W3096383995","https://openalex.org/W3106797099","https://openalex.org/W3160595376","https://openalex.org/W3164329295","https://openalex.org/W4213137197","https://openalex.org/W4283311522","https://openalex.org/W4285294932","https://openalex.org/W4308803953","https://openalex.org/W4382501857","https://openalex.org/W4390604260","https://openalex.org/W4391483225","https://openalex.org/W4404953114"],"related_works":["https://openalex.org/W1923069992","https://openalex.org/W2160982102","https://openalex.org/W2048862765","https://openalex.org/W2770942502","https://openalex.org/W4281943815","https://openalex.org/W2094105667","https://openalex.org/W3083255641","https://openalex.org/W2097347938","https://openalex.org/W2970545857","https://openalex.org/W2164858976"],"abstract_inverted_index":{"Developing":[0],"haptic":[1,5,23,128,132],"devices":[2],"with":[3],"advanced":[4],"rendering":[6],"capabilities":[7],"is":[8],"challenging":[9],"due":[10],"to":[11,36,43,55,87,99,113],"the":[12,44,60,97,105,115,127],"limitations":[13],"in":[14],"current":[15],"actuation":[16],"mechanisms.":[17],"This":[18],"paper":[19],"presents":[20,121],"a":[21,49,66,122],"dual-modal":[22,101],"device":[24,47,73],"based":[25],"on":[26],"low-cost,":[27],"AC-driven":[28],"hydraulically":[29],"amplified":[30],"self-healing":[31],"electrostatic":[32],"(HASEL)":[33],"actuators,":[34],"designed":[35],"provide":[37],"simultaneous":[38],"kinesthetic":[39],"and":[40,52,58,96],"cutaneous":[41],"feedback":[42,102,133],"user.":[45],"The":[46,72],"incorporates":[48],"force":[50,79,94],"amplification":[51],"transmission":[53],"mechanism":[54],"effectively":[56],"deliver":[57],"enhance":[59],"actuators'":[61],"output":[62,80],"force,":[63],"supported":[64],"by":[65,103],"statics":[67],"model":[68],"for":[69,134],"performance":[70],"analysis.":[71],"demonstrates":[74],"four":[75],"key":[76],"capabilities:":[77],"stable":[78],"during":[81],"prolonged":[82],"activation,":[83],"rapid":[84],"mechanical":[85],"response":[86],"input":[88],"changes,":[89],"precise":[90],"control":[91],"of":[92],"fine":[93],"output,":[95],"ability":[98],"generate":[100],"modulating":[104],"activation":[106],"voltage":[107],"waveform":[108],"without":[109],"additional":[110],"actuators.":[111],"Furthermore,":[112],"demonstrate":[114],"practical":[116],"applicability,":[117],"this":[118],"article":[119],"also":[120],"teleoperated":[123],"robotic":[124],"system":[125],"incorporating":[126],"device,":[129],"providing":[130],"real-time":[131],"remote":[135],"grasping":[136],"tasks.":[137]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-08-20T00:00:00"}
