{"id":"https://openalex.org/W2150835972","doi":"https://doi.org/10.1109/robot.2008.4543513","title":"A Passive Force Amplifier","display_name":"A Passive Force Amplifier","publication_year":2008,"publication_date":"2008-05-01","ids":{"openalex":"https://openalex.org/W2150835972","doi":"https://doi.org/10.1109/robot.2008.4543513","mag":"2150835972"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2008.4543513","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2008.4543513","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":"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/A5091401865","display_name":"Barth\u00e9lemy Cagneau","orcid":null},"institutions":[{"id":"https://openalex.org/I4210150358","display_name":"Institut Syst\u00e8mes Intelligents et de Robotique","ror":"https://ror.org/05neq8668","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I154526488","https://openalex.org/I39804081","https://openalex.org/I4210150358","https://openalex.org/I4210159245"]},{"id":"https://openalex.org/I39804081","display_name":"Sorbonne Universit\u00e9","ror":"https://ror.org/02en5vm52","country_code":"FR","type":"education","lineage":["https://openalex.org/I39804081"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"B. Cagneau","raw_affiliation_strings":["Institut des Syst\u00e9mes Intelligents et Robotique, Universit\u00e9 Paris VI, Paris, France"],"affiliations":[{"raw_affiliation_string":"Institut des Syst\u00e9mes Intelligents et Robotique, Universit\u00e9 Paris VI, Paris, France","institution_ids":["https://openalex.org/I39804081","https://openalex.org/I4210150358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059925153","display_name":"Guillaume Morel","orcid":"https://orcid.org/0000-0002-4500-0763"},"institutions":[{"id":"https://openalex.org/I39804081","display_name":"Sorbonne Universit\u00e9","ror":"https://ror.org/02en5vm52","country_code":"FR","type":"education","lineage":["https://openalex.org/I39804081"]},{"id":"https://openalex.org/I4210150358","display_name":"Institut Syst\u00e8mes Intelligents et de Robotique","ror":"https://ror.org/05neq8668","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I154526488","https://openalex.org/I39804081","https://openalex.org/I4210150358","https://openalex.org/I4210159245"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"G. Morel","raw_affiliation_strings":["Institut des Syst\u00e9mes Intelligents et Robotique, Universit\u00e9 Paris VI, Paris, France"],"affiliations":[{"raw_affiliation_string":"Institut des Syst\u00e9mes Intelligents et Robotique, Universit\u00e9 Paris VI, Paris, France","institution_ids":["https://openalex.org/I39804081","https://openalex.org/I4210150358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064721643","display_name":"Delphine Bellot","orcid":null},"institutions":[{"id":"https://openalex.org/I4210150358","display_name":"Institut Syst\u00e8mes Intelligents et de Robotique","ror":"https://ror.org/05neq8668","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I154526488","https://openalex.org/I39804081","https://openalex.org/I4210150358","https://openalex.org/I4210159245"]},{"id":"https://openalex.org/I39804081","display_name":"Sorbonne Universit\u00e9","ror":"https://ror.org/02en5vm52","country_code":"FR","type":"education","lineage":["https://openalex.org/I39804081"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"D. Bellot","raw_affiliation_strings":["Institut des Syst\u00e9mes Intelligents et Robotique, Universit\u00e9 Paris VI, Paris, France"],"affiliations":[{"raw_affiliation_string":"Institut des Syst\u00e9mes Intelligents et Robotique, Universit\u00e9 Paris VI, Paris, France","institution_ids":["https://openalex.org/I39804081","https://openalex.org/I4210150358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024843434","display_name":"Nabil Zemiti","orcid":"https://orcid.org/0000-0003-2052-6037"},"institutions":[{"id":"https://openalex.org/I4210136308","display_name":"Translational Innovation in Medicine and Complexity","ror":"https://ror.org/03985kf35","country_code":"FR","type":"facility","lineage":["https://openalex.org/I106785703","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I4210095849","https://openalex.org/I4210104684","https://openalex.org/I4210136308","https://openalex.org/I4210159245","https://openalex.org/I899635006","https://openalex.org/I899635006"]},{"id":"https://openalex.org/I39804081","display_name":"Sorbonne Universit\u00e9","ror":"https://ror.org/02en5vm52","country_code":"FR","type":"education","lineage":["https://openalex.org/I39804081"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"N. Zemiti","raw_affiliation_strings":["Laboratoire de Robotique de Paris, Universit\u00e9 Paris VI, Paris, France","TIMC-IMAG Laboratory Computer Assisted Medical Interventions Team, La Tronche Cedex, France"],"affiliations":[{"raw_affiliation_string":"Laboratoire de Robotique de Paris, Universit\u00e9 Paris VI, Paris, France","institution_ids":["https://openalex.org/I39804081"]},{"raw_affiliation_string":"TIMC-IMAG Laboratory Computer Assisted Medical Interventions Team, La Tronche Cedex, France","institution_ids":["https://openalex.org/I4210136308"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5038826199","display_name":"G.A. d'Agostino","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"G.A. d'Agostino","raw_affiliation_strings":["Facolt\u00e0di Ingegneria dell' Automazione, Universit\u00e0 Federico II di Napoli"],"affiliations":[{"raw_affiliation_string":"Facolt\u00e0di Ingegneria dell' Automazione, Universit\u00e0 Federico II di Napoli","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5091401865"],"corresponding_institution_ids":["https://openalex.org/I39804081","https://openalex.org/I4210150358"],"apc_list":null,"apc_paid":null,"fwci":1.2111,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.80488169,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"2079","last_page":"2084"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9929999709129333,"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/T11701","display_name":"Space Satellite Systems and Control","score":0.9749000072479248,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/robot","display_name":"Robot","score":0.6566419005393982},{"id":"https://openalex.org/keywords/surgical-robot","display_name":"Surgical robot","score":0.6393589973449707},{"id":"https://openalex.org/keywords/passivity","display_name":"Passivity","score":0.6381579637527466},{"id":"https://openalex.org/keywords/surgical-instrument","display_name":"Surgical instrument","score":0.5613390207290649},{"id":"https://openalex.org/keywords/invasive-surgery","display_name":"Invasive surgery","score":0.5307763814926147},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5210368633270264},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.5032510161399841},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.48199692368507385},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.47798579931259155},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.45775967836380005},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4521411657333374},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.436404824256897},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4007241725921631},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3230104446411133},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.31265687942504883},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.27056530117988586},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.18162140250205994},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.12962397933006287},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.119656503200531},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10354357957839966},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.07573741674423218}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6566419005393982},{"id":"https://openalex.org/C3017684034","wikidata":"https://www.wikidata.org/wiki/Q942348","display_name":"Surgical robot","level":3,"score":0.6393589973449707},{"id":"https://openalex.org/C2778809601","wikidata":"https://www.wikidata.org/wiki/Q1045736","display_name":"Passivity","level":2,"score":0.6381579637527466},{"id":"https://openalex.org/C2778181360","wikidata":"https://www.wikidata.org/wiki/Q1074814","display_name":"Surgical instrument","level":2,"score":0.5613390207290649},{"id":"https://openalex.org/C3019477240","wikidata":"https://www.wikidata.org/wiki/Q1755504","display_name":"Invasive surgery","level":2,"score":0.5307763814926147},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5210368633270264},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.5032510161399841},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.48199692368507385},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.47798579931259155},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.45775967836380005},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4521411657333374},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.436404824256897},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4007241725921631},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3230104446411133},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.31265687942504883},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.27056530117988586},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.18162140250205994},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.12962397933006287},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.119656503200531},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10354357957839966},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.07573741674423218},{"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/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","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/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.2008.4543513","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2008.4543513","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"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5600000023841858,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":9,"referenced_works":["https://openalex.org/W1539689348","https://openalex.org/W2069228200","https://openalex.org/W2103505506","https://openalex.org/W2121663568","https://openalex.org/W2122281070","https://openalex.org/W2125429845","https://openalex.org/W2130666261","https://openalex.org/W2132686157","https://openalex.org/W2149985621"],"related_works":["https://openalex.org/W2419248997","https://openalex.org/W1595549445","https://openalex.org/W4312343719","https://openalex.org/W2131557635","https://openalex.org/W2760674464","https://openalex.org/W2885222402","https://openalex.org/W2592088541","https://openalex.org/W4220747655","https://openalex.org/W2362142832","https://openalex.org/W1560856716"],"abstract_inverted_index":{"The":[0,73],"proposed":[1,47,74],"robotic":[2],"system":[3,23,62],"provides":[4],"the":[5,12,16,19,27,40,46,49,56,64,67,71,82,87,91,93,97,101,112,116,119,122,125,151,159],"surgeon":[6,50,65,98,117],"with":[7,158],"an":[8,78],"augmented":[9,79],"sensation":[10],"of":[11,154],"interaction":[13],"forces":[14,36,95,113,120],"between":[15,121],"instrument":[17,88,123],"and":[18,66,124],"organ.":[20],"Such":[21],"a":[22,52,60,106,110,129,140,147,155,166],"aims":[24],"at":[25],"increasing":[26],"surgeon's":[28],"dexterity":[29],"for":[30,43,150],"tasks":[31],"requiring":[32],"that":[33,86,96],"only":[34],"small":[35],"be":[37],"applied":[38],"on":[39,55,90,100,165],"organ":[41,92,126],"(eg.":[42],"micro-surgery).":[44],"In":[45],"setup,":[48],"manipulates":[51],"handle":[53,102],"mounted":[54],"instrument.":[57,72],"This":[58,132],"is":[59,135,146],"comanipulation":[61],"because":[63],"robot":[68,156,167],"simultaneously":[69],"manipulate":[70],"control":[75,83,133],"scheme":[76,134],"allows":[77],"force":[80],"control:":[81],"law":[84],"ensures":[85],"applies":[89,99],"same":[94],"but":[103],"decreased":[104],"by":[105,115,128],"scale":[107,130],"factor.":[108,131],"As":[109],"consequence,":[111],"sensed":[114],"are":[118,163],"amplified":[127],"proved":[136],"stable":[137],"thanks":[138],"to":[139,169],"passivity":[141,144],"study.":[142],"Indeed,":[143],"analysis":[145,153],"useful":[148],"tool":[149],"stability":[152],"interacting":[157],"environment.":[160],"Experimental":[161],"results":[162],"presented":[164],"dedicated":[168],"minimally":[170],"invasive":[171],"surgery.":[172]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":3},{"year":2012,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}