{"id":"https://openalex.org/W2118405462","doi":"https://doi.org/10.1109/robot.2005.1570267","title":"Design of Bilateral Teleoperators for Soft Environments with Adaptive Environmental Impedance Estimation","display_name":"Design of Bilateral Teleoperators for Soft Environments with Adaptive Environmental Impedance Estimation","publication_year":2006,"publication_date":"2006-01-18","ids":{"openalex":"https://openalex.org/W2118405462","doi":"https://doi.org/10.1109/robot.2005.1570267","mag":"2118405462"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2005.1570267","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2005.1570267","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2005 IEEE International Conference on Robotics and Automation","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/A5100327914","display_name":"Xin Wang","orcid":"https://orcid.org/0000-0002-2689-9689"},"institutions":[{"id":"https://openalex.org/I67031392","display_name":"Carleton University","ror":"https://ror.org/02qtvee93","country_code":"CA","type":"education","lineage":["https://openalex.org/I67031392"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"X. Wang","raw_affiliation_strings":["Dept. of Systems & Computer Engineering, Carleton University, Ottawa, ON, Canada"],"affiliations":[{"raw_affiliation_string":"Dept. of Systems & Computer Engineering, Carleton University, Ottawa, ON, Canada","institution_ids":["https://openalex.org/I67031392"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100659849","display_name":"Peter Liu","orcid":"https://orcid.org/0000-0002-8703-6967"},"institutions":[{"id":"https://openalex.org/I67031392","display_name":"Carleton University","ror":"https://ror.org/02qtvee93","country_code":"CA","type":"education","lineage":["https://openalex.org/I67031392"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"P.X. Liu","raw_affiliation_strings":["Dept. of Systems & Computer Engineering, Carleton University, Ottawa, ON, Canada"],"affiliations":[{"raw_affiliation_string":"Dept. of Systems & Computer Engineering, Carleton University, Ottawa, ON, Canada","institution_ids":["https://openalex.org/I67031392"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012297484","display_name":"D. Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I103893186","display_name":"Algonquin College","ror":"https://ror.org/03jgjt094","country_code":"CA","type":"education","lineage":["https://openalex.org/I103893186"]},{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"D. Wang","raw_affiliation_strings":["Dept. of Electrical & Computer Engineering, University of Waterloo Waterloo, ON, Canada","School of Advanced Technology, Algonquin College, Ottawa, ONT, Canada"],"affiliations":[{"raw_affiliation_string":"Dept. of Electrical & Computer Engineering, University of Waterloo Waterloo, ON, Canada","institution_ids":["https://openalex.org/I151746483"]},{"raw_affiliation_string":"School of Advanced Technology, Algonquin College, Ottawa, ONT, Canada","institution_ids":["https://openalex.org/I103893186"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043363134","display_name":"Brahim Chebbi","orcid":"https://orcid.org/0000-0002-7705-1880"},"institutions":[{"id":"https://openalex.org/I103893186","display_name":"Algonquin College","ror":"https://ror.org/03jgjt094","country_code":"CA","type":"education","lineage":["https://openalex.org/I103893186"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"B. Chebbi","raw_affiliation_strings":["School of Advanced Technology, Algonquin College, Ottawa, ON, Canada"],"affiliations":[{"raw_affiliation_string":"School of Advanced Technology, Algonquin College, Ottawa, ON, Canada","institution_ids":["https://openalex.org/I103893186"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5021531143","display_name":"Max Q.\u2010H. Meng","orcid":"https://orcid.org/0000-0002-5255-5898"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"M. Meng","raw_affiliation_strings":["Dept. of Electronic Engineering, Chinese University of Hong Kong, Hong Kong, SAR, China"],"affiliations":[{"raw_affiliation_string":"Dept. of Electronic Engineering, Chinese University of Hong Kong, Hong Kong, SAR, China","institution_ids":["https://openalex.org/I177725633"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5100327914"],"corresponding_institution_ids":["https://openalex.org/I67031392"],"apc_list":null,"apc_paid":null,"fwci":9.6093,"has_fulltext":false,"cited_by_count":20,"citation_normalized_percentile":{"value":0.98254807,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"34","issue":null,"first_page":"1127","last_page":"1132"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9650999903678894,"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/T13248","display_name":"Healthcare Technology and Patient Monitoring","score":0.9147999882698059,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/fidelity","display_name":"Fidelity","score":0.8242116570472717},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.7125250697135925},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.708458662033081},{"id":"https://openalex.org/keywords/measure","display_name":"Measure (data warehouse)","score":0.6479504704475403},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.49735167622566223},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4918828010559082},{"id":"https://openalex.org/keywords/high-fidelity","display_name":"High fidelity","score":0.4450473487377167},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.439432293176651},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.4275699257850647},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.42501431703567505},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.39045724272727966},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3846486806869507},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.19214749336242676},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17310750484466553},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.11020311713218689},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.09401285648345947},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.08212828636169434},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.055969029664993286}],"concepts":[{"id":"https://openalex.org/C2776459999","wikidata":"https://www.wikidata.org/wiki/Q2119376","display_name":"Fidelity","level":2,"score":0.8242116570472717},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.7125250697135925},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.708458662033081},{"id":"https://openalex.org/C2780009758","wikidata":"https://www.wikidata.org/wiki/Q6804172","display_name":"Measure (data warehouse)","level":2,"score":0.6479504704475403},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.49735167622566223},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4918828010559082},{"id":"https://openalex.org/C113364801","wikidata":"https://www.wikidata.org/wiki/Q26674","display_name":"High fidelity","level":2,"score":0.4450473487377167},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.439432293176651},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.4275699257850647},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.42501431703567505},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.39045724272727966},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3846486806869507},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.19214749336242676},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17310750484466553},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.11020311713218689},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.09401285648345947},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.08212828636169434},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.055969029664993286},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2005.1570267","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2005.1570267","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2005 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life in Land","score":0.5699999928474426,"id":"https://metadata.un.org/sdg/15"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W274943485","https://openalex.org/W1965324089","https://openalex.org/W2074635908","https://openalex.org/W2085160992","https://openalex.org/W2092972148","https://openalex.org/W2103371352","https://openalex.org/W2118848280","https://openalex.org/W2131695702","https://openalex.org/W2134927525","https://openalex.org/W2135464393","https://openalex.org/W2145439762","https://openalex.org/W2168779918","https://openalex.org/W2171649388","https://openalex.org/W2561111412","https://openalex.org/W6641780247","https://openalex.org/W6678039525"],"related_works":["https://openalex.org/W4313443006","https://openalex.org/W2945374968","https://openalex.org/W4385452045","https://openalex.org/W4293777179","https://openalex.org/W2164070813","https://openalex.org/W2135608140","https://openalex.org/W2895525995","https://openalex.org/W4224231624","https://openalex.org/W2332512904","https://openalex.org/W2319626700"],"abstract_inverted_index":{"This":[0],"paper":[1],"studies":[2],"the":[3,7,13,26,33,38,43,57,69,76,79,89],"problem":[4,29,35],"of":[5,9,36,59,78],"improving":[6],"fidelity":[8,19,40,77],"bilateral":[10,60],"teleoperators":[11,22],"under":[12,42],"stability":[14,44,48,58],"constraint.":[15,45],"First,":[16],"a":[17,63,82],"new":[18,64],"measure":[20,41],"for":[21,50],"is":[23,30,53,72,85],"proposed.":[24],"Then":[25],"teleoperator":[27],"design":[28],"formulated":[31],"as":[32],"optimization":[34],"maximizing":[37],"proposed":[39],"The":[46],"robust":[47],"theory":[49],"unstructured":[51],"uncertainty":[52],"applied":[54],"to":[55,66,74,87],"analyze":[56],"teleoperators.":[61],"Third,":[62],"scheme":[65],"estimate":[67],"adaptively":[68],"environmental":[70],"impedance":[71],"developed":[73],"improve":[75],"systems.":[80],"Finally,":[81],"case":[83],"study":[84],"presented":[86],"validate":[88],"introduced":[90],"approach.":[91]},"counts_by_year":[{"year":2018,"cited_by_count":3},{"year":2014,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}