{"id":"https://openalex.org/W2921873406","doi":"https://doi.org/10.1109/robio.2018.8664757","title":"Force Feedback-Enabled Dexterous Robotic Micromanipulation Platform for Surgical Tasks","display_name":"Force Feedback-Enabled Dexterous Robotic Micromanipulation Platform for Surgical Tasks","publication_year":2018,"publication_date":"2018-12-01","ids":{"openalex":"https://openalex.org/W2921873406","doi":"https://doi.org/10.1109/robio.2018.8664757","mag":"2921873406"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2018.8664757","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2018.8664757","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-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/A5012986422","display_name":"Lasitha Wijayarathne","orcid":"https://orcid.org/0000-0003-4833-4790"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Lasitha Wijayarathne","raw_affiliation_strings":["Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA, USA"],"affiliations":[{"raw_affiliation_string":"Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022252300","display_name":"Bryan Blaise","orcid":null},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Bryan Blaise","raw_affiliation_strings":["Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA, USA"],"affiliations":[{"raw_affiliation_string":"Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051291694","display_name":"Donald J. Ward","orcid":null},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Donald Ward","raw_affiliation_strings":["Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA, USA"],"affiliations":[{"raw_affiliation_string":"Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044726844","display_name":"Frank L. Hammond","orcid":"https://orcid.org/0000-0002-1634-7573"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]},{"id":"https://openalex.org/I2802612298","display_name":"The Wallace H. Coulter Department of Biomedical Engineering","ror":"https://ror.org/02j15s898","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444","https://openalex.org/I150468666","https://openalex.org/I2802612298"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Frank L. Hammond","raw_affiliation_strings":["Coulter Department of Biomedical Engineering, Georgia Institute of Technology"],"affiliations":[{"raw_affiliation_string":"Coulter Department of Biomedical Engineering, Georgia Institute of Technology","institution_ids":["https://openalex.org/I2802612298","https://openalex.org/I130701444"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5012986422"],"corresponding_institution_ids":["https://openalex.org/I130701444"],"apc_list":null,"apc_paid":null,"fwci":0.109,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.47880691,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"27","issue":null,"first_page":"2297","last_page":"2303"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9991999864578247,"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":0.9991999864578247,"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":0.9976999759674072,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9843999743461609,"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/wrench","display_name":"Wrench","score":0.6506185531616211},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.6288938522338867},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6127451658248901},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.6111055016517639},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.5243242979049683},{"id":"https://openalex.org/keywords/rigidity","display_name":"Rigidity (electromagnetism)","score":0.512535810470581},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4999704360961914},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.46166709065437317},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.46155381202697754},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3854200839996338},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3428551256656647},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3142171800136566},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.31016260385513306},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.2487800419330597},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09948551654815674},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.0938681960105896}],"concepts":[{"id":"https://openalex.org/C29302406","wikidata":"https://www.wikidata.org/wiki/Q154411","display_name":"Wrench","level":2,"score":0.6506185531616211},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6288938522338867},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6127451658248901},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.6111055016517639},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.5243242979049683},{"id":"https://openalex.org/C160343418","wikidata":"https://www.wikidata.org/wiki/Q185256","display_name":"Rigidity (electromagnetism)","level":2,"score":0.512535810470581},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4999704360961914},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.46166709065437317},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.46155381202697754},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3854200839996338},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3428551256656647},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3142171800136566},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.31016260385513306},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.2487800419330597},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09948551654815674},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0938681960105896},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"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":1,"locations":[{"id":"doi:10.1109/robio.2018.8664757","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2018.8664757","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320333979","display_name":"Hansj\u00f6rg Wyss Institute for Biologically Inspired Engineering, Harvard University","ror":"https://ror.org/008cfmj78"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1542182300","https://openalex.org/W1977144937","https://openalex.org/W2078086808","https://openalex.org/W2091884377","https://openalex.org/W2093945540","https://openalex.org/W2108817574","https://openalex.org/W2109121052","https://openalex.org/W2109274402","https://openalex.org/W2111417878","https://openalex.org/W2122091516","https://openalex.org/W2135307310","https://openalex.org/W2149629276","https://openalex.org/W2157533783","https://openalex.org/W2163349706","https://openalex.org/W2293748004","https://openalex.org/W2293818481","https://openalex.org/W2335465828","https://openalex.org/W6678320533"],"related_works":["https://openalex.org/W1553869462","https://openalex.org/W3119152702","https://openalex.org/W1585494168","https://openalex.org/W2990736200","https://openalex.org/W3140486956","https://openalex.org/W4200457072","https://openalex.org/W2360661724","https://openalex.org/W2790471110","https://openalex.org/W1233741067","https://openalex.org/W2387488705"],"abstract_inverted_index":{"This":[0],"paper":[1],"describes":[2],"the":[3,43,46,50,55,61,72,77,83,89,95,121,128,135],"design":[4],"and":[5,34,52,80,104,126],"experimental":[6],"evaluation":[7],"of":[8,20,45,54,82,88,97,113,123],"a":[9,21,29,38,57,68],"dexterous,":[10],"force":[11],"feedback-enabled":[12],"robotic":[13,24],"micromanipulation":[14,100],"system.":[15],"The":[16,85],"system":[17,91,110],"is":[18,35,92,111],"composed":[19],"dexterous":[22],"non-backdriveable":[23],"wrist":[25],"rigidly":[26],"attached":[27],"to":[28,76],"three-DOF,":[30],"linearly":[31],"actuated":[32],"platform,":[33],"instrumented":[36],"with":[37],"six-axis":[39],"force/torque":[40,73],"sensor":[41,74],"at":[42,60,134],"base":[44],"wrist.":[47],"By":[48],"leveraging":[49],"rigidity":[51],"non-backdriveability":[53],"system,":[56],"wrench":[58],"sensed":[59],"tool":[62,116],"tip":[63,117],"can":[64],"be":[65],"estimated":[66],"through":[67,94],"rigid":[69],"transformation":[70],"from":[71],"location":[75],"known":[78],"position":[79],"orientation":[81],"end-effector.":[84],"force-sensing":[86],"capability":[87],"proposed":[90],"demonstrated":[93],"performance":[96],"two":[98],"representative":[99],"tasks:":[101],"needle":[102],"insertion":[103],"palpation.":[105],"Results":[106],"suggest":[107],"that":[108],"this":[109],"capable":[112],"accurately":[114],"resolving":[115],"interaction":[118,136],"forces,":[119],"despite":[120],"complexity":[122],"its":[124],"kinematics,":[125],"without":[127],"need":[129],"for":[130],"sensors":[131],"located,":[132],"distally,":[133],"site.":[137]},"counts_by_year":[{"year":2020,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}