{"id":"https://openalex.org/W2142034596","doi":"https://doi.org/10.1109/robot.2008.4543211","title":"Adaptive impedance control in haptic teleoperation to improve transparency under time-delay","display_name":"Adaptive impedance control in haptic teleoperation to improve transparency under time-delay","publication_year":2008,"publication_date":"2008-05-01","ids":{"openalex":"https://openalex.org/W2142034596","doi":"https://doi.org/10.1109/robot.2008.4543211","mag":"2142034596"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2008.4543211","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2008.4543211","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://doi.org/10.1109/ROBOT.2008.4543211","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5075518884","display_name":"Costas S. Tzafestas","orcid":"https://orcid.org/0000-0003-1545-9191"},"institutions":[{"id":"https://openalex.org/I174458059","display_name":"National Technical University of Athens","ror":"https://ror.org/03cx6bg69","country_code":"GR","type":"education","lineage":["https://openalex.org/I174458059"]},{"id":"https://openalex.org/I200777214","display_name":"National and Kapodistrian University of Athens","ror":"https://ror.org/04gnjpq42","country_code":"GR","type":"education","lineage":["https://openalex.org/I200777214"]}],"countries":["GR"],"is_corresponding":false,"raw_author_name":"Costas Tzafestas","raw_affiliation_strings":["School of Electrical and Computer Engineering, Division of Signals, Control and Robotics, National and Technical University of Athens, Greece","Sch. of Electr. & Comput. Eng. Nat., Tech. Univ. of Athens, Athens"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical and Computer Engineering, Division of Signals, Control and Robotics, National and Technical University of Athens, Greece","institution_ids":["https://openalex.org/I174458059"]},{"raw_affiliation_string":"Sch. of Electr. & Comput. Eng. Nat., Tech. Univ. of Athens, Athens","institution_ids":["https://openalex.org/I200777214"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054780629","display_name":"Spyros Velanas","orcid":null},"institutions":[{"id":"https://openalex.org/I174458059","display_name":"National Technical University of Athens","ror":"https://ror.org/03cx6bg69","country_code":"GR","type":"education","lineage":["https://openalex.org/I174458059"]},{"id":"https://openalex.org/I200777214","display_name":"National and Kapodistrian University of Athens","ror":"https://ror.org/04gnjpq42","country_code":"GR","type":"education","lineage":["https://openalex.org/I200777214"]}],"countries":["GR"],"is_corresponding":false,"raw_author_name":"Spyros Velanas","raw_affiliation_strings":["National Technical University of Athens, Athens, GR","Sch. of Electr. & Comput. Eng. Nat., Tech. Univ. of Athens, Athens"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Technical University of Athens, Athens, GR","institution_ids":["https://openalex.org/I174458059"]},{"raw_affiliation_string":"Sch. of Electr. & Comput. Eng. Nat., Tech. Univ. of Athens, Athens","institution_ids":["https://openalex.org/I200777214"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5097120861","display_name":"George Fakiridis","orcid":null},"institutions":[{"id":"https://openalex.org/I174458059","display_name":"National Technical University of Athens","ror":"https://ror.org/03cx6bg69","country_code":"GR","type":"education","lineage":["https://openalex.org/I174458059"]},{"id":"https://openalex.org/I200777214","display_name":"National and Kapodistrian University of Athens","ror":"https://ror.org/04gnjpq42","country_code":"GR","type":"education","lineage":["https://openalex.org/I200777214"]}],"countries":["GR"],"is_corresponding":false,"raw_author_name":"George Fakiridis","raw_affiliation_strings":["National Technical University of Athens, Athens, GR","Sch. of Electr. & Comput. Eng. Nat., Tech. Univ. of Athens, Athens"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Technical University of Athens, Athens, GR","institution_ids":["https://openalex.org/I174458059"]},{"raw_affiliation_string":"Sch. of Electr. & Comput. Eng. Nat., Tech. Univ. of Athens, Athens","institution_ids":["https://openalex.org/I200777214"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":13.5502,"has_fulltext":false,"cited_by_count":55,"citation_normalized_percentile":{"value":0.99314389,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"212","last_page":"219"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9998999834060669,"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":0.9998999834060669,"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":0.953499972820282,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9437000155448914,"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":0.9833110570907593},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.897212028503418},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.6986045837402344},{"id":"https://openalex.org/keywords/transparency","display_name":"Transparency (behavior)","score":0.6826032400131226},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6241427659988403},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5636880397796631},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5186540484428406},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.4793142080307007},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.4561152160167694},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4367198646068573},{"id":"https://openalex.org/keywords/telerobotics","display_name":"Telerobotics","score":0.42723289132118225},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.30360859632492065},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2668372392654419},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.26091068983078003},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1669747233390808},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14069834351539612}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.9833110570907593},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.897212028503418},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.6986045837402344},{"id":"https://openalex.org/C2780233690","wikidata":"https://www.wikidata.org/wiki/Q535347","display_name":"Transparency (behavior)","level":2,"score":0.6826032400131226},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6241427659988403},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5636880397796631},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5186540484428406},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.4793142080307007},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.4561152160167694},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4367198646068573},{"id":"https://openalex.org/C196467688","wikidata":"https://www.wikidata.org/wiki/Q1851985","display_name":"Telerobotics","level":4,"score":0.42723289132118225},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.30360859632492065},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2668372392654419},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.26091068983078003},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1669747233390808},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14069834351539612},{"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/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robot.2008.4543211","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2008.4543211","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:dspace.lib.ntua.gr:123456789/32141","is_oa":true,"landing_page_url":"http://doi.org/10.1109/ROBOT.2008.4543211","pdf_url":null,"source":{"id":"https://openalex.org/S4377196837","display_name":"DSpace - NTUA (National Technical University of Athens)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I174458059","host_organization_name":"National Technical University of Athens","host_organization_lineage":["https://openalex.org/I174458059"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Proceedings - IEEE International Conference on Robotics and Automation","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:dspace.lib.ntua.gr:123456789/32141","is_oa":true,"landing_page_url":"http://doi.org/10.1109/ROBOT.2008.4543211","pdf_url":null,"source":{"id":"https://openalex.org/S4377196837","display_name":"DSpace - NTUA (National Technical University of Athens)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I174458059","host_organization_name":"National Technical University of Athens","host_organization_lineage":["https://openalex.org/I174458059"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Proceedings - IEEE International Conference on Robotics and Automation","raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[{"score":0.49000000953674316,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":9,"referenced_works":["https://openalex.org/W1513477390","https://openalex.org/W1579930992","https://openalex.org/W2072699390","https://openalex.org/W2124237013","https://openalex.org/W2134927525","https://openalex.org/W2168986517","https://openalex.org/W2169509139","https://openalex.org/W2484255276","https://openalex.org/W3142057176"],"related_works":["https://openalex.org/W2094105667","https://openalex.org/W2097347938","https://openalex.org/W2164858976","https://openalex.org/W2970545857","https://openalex.org/W2046710269","https://openalex.org/W817518365","https://openalex.org/W2097059456","https://openalex.org/W2141648055","https://openalex.org/W2145103607","https://openalex.org/W4367662652"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"the":[3,15,19,33,54,69,87,92,96,110,119,132],"application":[4],"of":[5,14,21,32,53,63,71,86,95,108,114,121],"an":[6],"adaptive":[7,98],"impedance":[8,36,56],"control":[9,74],"scheme":[10],"to":[11,67,81,102],"alleviate":[12],"some":[13],"problems":[16],"associated":[17],"with":[18,100],"presence":[20,120],"time":[22,123],"delays":[23],"in":[24,106,118],"a":[25,44,128],"haptic":[26,48,133],"teleoperation":[27,73],"system.":[28],"Continuous":[29],"on-line":[30],"estimation":[31],"remote":[34],"environment's":[35],"is":[37,40,59,65],"performed,":[38],"and":[39,84,113],"then":[41],"used":[42],"as":[43,131],"local":[45],"model":[46],"for":[47],"display":[49],"control.":[50],"Lyapunov":[51],"stability":[52,85,111],"proposed":[55,97],"adaptation":[57],"law":[58],"demonstrated.":[60],"A":[61],"series":[62],"experiments":[64],"performed":[66],"evaluate":[68],"performance":[70,77,94],"this":[72,137],"scheme.":[75],"Two":[76],"measures":[78],"are":[79],"defined":[80],"assess":[82],"transparency":[83,117],"teleoperator.":[88],"Simulation":[89],"results":[90],"show":[91],"superior":[93],"scheme,":[99],"respect":[101],"direct":[103],"teleoperation,":[104],"particularly":[105],"terms":[107],"increasing":[109],"margin":[112],"significantly":[115],"ameliorating":[116],"large":[122],"delays.":[124],"Experimental":[125],"results,":[126],"using":[127],"phantom":[129],"omni":[130],"master":[134],"device,":[135],"support":[136],"conclusion.":[138]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":7},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":3},{"year":2014,"cited_by_count":5},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":2}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
