{"id":"https://openalex.org/W2167273835","doi":"https://doi.org/10.1109/robot.2008.4543730","title":"A constrained optimization approach to virtual fixtures for multi-handed tasks","display_name":"A constrained optimization approach to virtual fixtures for multi-handed tasks","publication_year":2008,"publication_date":"2008-05-01","ids":{"openalex":"https://openalex.org/W2167273835","doi":"https://doi.org/10.1109/robot.2008.4543730","mag":"2167273835"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2008.4543730","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2008.4543730","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/A5109896026","display_name":"Ankur Kapoor","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Ankur Kapoor","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5004170925","display_name":"Russell H. Taylor","orcid":"https://orcid.org/0000-0001-6272-1100"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Russell H. Taylor","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5109896026"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.18,"has_fulltext":false,"cited_by_count":23,"citation_normalized_percentile":{"value":0.87479818,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"2208","issue":null,"first_page":"3401","last_page":"3406"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9991000294685364,"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":0.9991000294685364,"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":0.9988999962806702,"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":0.9958000183105469,"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/robot","display_name":"Robot","score":0.7323460578918457},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7091637253761292},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.46547433733940125},{"id":"https://openalex.org/keywords/fixture","display_name":"Fixture","score":0.4581150412559509},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.43352261185646057},{"id":"https://openalex.org/keywords/cognitive-architecture","display_name":"Cognitive architecture","score":0.4331842064857483},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4226924180984497},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.37444353103637695},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3712655305862427},{"id":"https://openalex.org/keywords/cognition","display_name":"Cognition","score":0.1937359869480133},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.15275681018829346}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7323460578918457},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7091637253761292},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.46547433733940125},{"id":"https://openalex.org/C2781122048","wikidata":"https://www.wikidata.org/wiki/Q15983064","display_name":"Fixture","level":2,"score":0.4581150412559509},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.43352261185646057},{"id":"https://openalex.org/C20854674","wikidata":"https://www.wikidata.org/wiki/Q4386060","display_name":"Cognitive architecture","level":3,"score":0.4331842064857483},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4226924180984497},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.37444353103637695},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3712655305862427},{"id":"https://openalex.org/C169900460","wikidata":"https://www.wikidata.org/wiki/Q2200417","display_name":"Cognition","level":2,"score":0.1937359869480133},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.15275681018829346},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2008.4543730","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2008.4543730","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":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W282281070","https://openalex.org/W1535734535","https://openalex.org/W1555614281","https://openalex.org/W1568984997","https://openalex.org/W1605351038","https://openalex.org/W1822266995","https://openalex.org/W1932070914","https://openalex.org/W1964502429","https://openalex.org/W2015613477","https://openalex.org/W2017484120","https://openalex.org/W2044544244","https://openalex.org/W2095771936","https://openalex.org/W2114428836","https://openalex.org/W2114478552","https://openalex.org/W2116833377","https://openalex.org/W2134139409","https://openalex.org/W2135764854","https://openalex.org/W2143238082","https://openalex.org/W2149985621","https://openalex.org/W2159399231","https://openalex.org/W2185834900","https://openalex.org/W2755729372","https://openalex.org/W3140471141","https://openalex.org/W6631842937","https://openalex.org/W6638462202","https://openalex.org/W6640354961","https://openalex.org/W6654281017"],"related_works":["https://openalex.org/W1891287906","https://openalex.org/W2036807459","https://openalex.org/W1969923398","https://openalex.org/W2061090284","https://openalex.org/W2125579716","https://openalex.org/W1589743745","https://openalex.org/W2892213965","https://openalex.org/W2168595862","https://openalex.org/W2027017706","https://openalex.org/W2159973998"],"abstract_inverted_index":{"In":[0],"this":[1,105],"work,":[2],"we":[3,56],"have":[4],"extended":[5],"the":[6,27,43,49,52,76,89,93,128,138,150],"concept":[7],"of":[8,12,29,111],"constrained":[9],"motion":[10,28],"control":[11,53,84],"robots":[13,31],"to":[14,25,65,82,116,149],"surgical":[15,114],"tasks":[16,64],"that":[17,33,58],"require":[18],"multiple":[19,30,85],"robots.":[20,86],"We":[21,103],"present":[22],"virtual":[23,60,132],"fixtures":[24,61],"guide":[26],"such":[32],"spatial":[34],"and":[35,95],"temporal":[36],"relationship":[37],"is":[38,125,135,147],"maintained":[39],"between":[40],"them.":[41],"At":[42],"same":[44],"time,":[45],"our":[46],"algorithm":[47],"keeps":[48],"surgeon":[50,94],"in":[51,127],"loop.":[54],"Moreover,":[55,137],"show":[57],"these":[59],"allow":[62],"bimanual":[63,131,154],"be":[66],"completed":[67],"using":[68,108,141],"input":[69,144],"for":[70,99],"a":[71,113,120,142],"single":[72,143],"robot.":[73],"That":[74],"is,":[75],"user":[77,146],"requires":[78],"only":[79],"one":[80],"hand":[81],"cooperatively":[83],"This":[87],"reduces":[88],"cognitive":[90],"load":[91],"on":[92],"makes":[96],"multiple-robot":[97],"setup":[98],"surgery":[100],"more":[101],"relevant.":[102],"demonstrate":[104],"architecture":[106],"by":[107],"an":[109],"example":[110],"manipulating":[112],"knot":[115],"position":[117],"it":[118],"at":[119],"target":[121],"point.":[122],"Significant":[123],"improvement":[124],"observed":[126],"accuracy":[129,139,151],"when":[130,140],"fixture":[133],"assistance":[134],"provided.":[136],"from":[145,153],"similar":[148],"obtained":[152],"assistance.":[155]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2016,"cited_by_count":5},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":5},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}