{"id":"https://openalex.org/W2134097539","doi":"https://doi.org/10.1109/robot.2009.5152220","title":"Motion compensation for robotic-assisted surgery with force feedback","display_name":"Motion compensation for robotic-assisted surgery with force feedback","publication_year":2009,"publication_date":"2009-05-01","ids":{"openalex":"https://openalex.org/W2134097539","doi":"https://doi.org/10.1109/robot.2009.5152220","mag":"2134097539"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2009.5152220","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2009.5152220","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},"type":"conference-paper","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/A5007227002","display_name":"Rui Cortes\u00e3o","orcid":"https://orcid.org/0000-0003-1338-3138"},"institutions":[{"id":"https://openalex.org/I4210125590","display_name":"Institute for Systems Engineering and Computers","ror":"https://ror.org/033wn8m60","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590"]},{"id":"https://openalex.org/I76903346","display_name":"University of Coimbra","ror":"https://ror.org/04z8k9a98","country_code":"PT","type":"education","lineage":["https://openalex.org/I76903346"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"R. Cortesao","raw_affiliation_strings":["Institute of Systems and Robotics, University of Coimbra, Coimbra, Portugal","University of Coimbra, Institute of Systems and Robotics, 3030, Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Systems and Robotics, University of Coimbra, Coimbra, Portugal","institution_ids":["https://openalex.org/I4210125590","https://openalex.org/I76903346"]},{"raw_affiliation_string":"University of Coimbra, Institute of Systems and Robotics, 3030, Portugal","institution_ids":["https://openalex.org/I76903346"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5064237897","display_name":"Philippe Poignet","orcid":"https://orcid.org/0000-0003-3574-4387"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I19894307","display_name":"Universit\u00e9 de Montpellier","ror":"https://ror.org/051escj72","country_code":"FR","type":"education","lineage":["https://openalex.org/I19894307"]},{"id":"https://openalex.org/I4210101743","display_name":"Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier","ror":"https://ror.org/013yean28","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I151295451","https://openalex.org/I19894307","https://openalex.org/I4210101743","https://openalex.org/I4210159245","https://openalex.org/I4405261681"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"P. Poignet","raw_affiliation_strings":["LIRMM-UMR CNRS, University of Montpellier 2, Montpellier, France","LIRMM-UMR CNRS, University of Montpellier II, F-34392 cedex 5, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LIRMM-UMR CNRS, University of Montpellier 2, Montpellier, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I19894307","https://openalex.org/I4210101743"]},{"raw_affiliation_string":"LIRMM-UMR CNRS, University of Montpellier II, F-34392 cedex 5, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I19894307"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":4.0539,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.9385942,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"3464","last_page":"3469"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9987999796867371,"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":0.9987999796867371,"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":0.9983999729156494,"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/T10916","display_name":"Surgical Simulation and Training","score":0.9965000152587891,"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/control-theory","display_name":"Control theory (sociology)","score":0.7909082770347595},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7027444839477539},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.6133691072463989},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5794470906257629},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5742728114128113},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5353911519050598},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.47838154435157776},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.46601322293281555},{"id":"https://openalex.org/keywords/a-priori-and-a-posteriori","display_name":"A priori and a posteriori","score":0.4456327259540558},{"id":"https://openalex.org/keywords/signal","display_name":"SIGNAL (programming language)","score":0.4387039542198181},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.4382033348083496},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4271257817745209},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3491869866847992},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.31149065494537354},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.278902143239975},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.26876240968704224},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1608455777168274},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.08372554183006287}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7909082770347595},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7027444839477539},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.6133691072463989},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5794470906257629},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5742728114128113},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5353911519050598},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.47838154435157776},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.46601322293281555},{"id":"https://openalex.org/C75553542","wikidata":"https://www.wikidata.org/wiki/Q178161","display_name":"A priori and a posteriori","level":2,"score":0.4456327259540558},{"id":"https://openalex.org/C2779843651","wikidata":"https://www.wikidata.org/wiki/Q7390335","display_name":"SIGNAL (programming language)","level":2,"score":0.4387039542198181},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.4382033348083496},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4271257817745209},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3491869866847992},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.31149065494537354},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.278902143239975},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.26876240968704224},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1608455777168274},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.08372554183006287},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robot.2009.5152220","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2009.5152220","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:lirmm-00351115v1","is_oa":false,"landing_page_url":"https://hal-lirmm.ccsd.cnrs.fr/lirmm-00351115","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"ICRA: International Conference on Robotics and Automation, May 2009, Kobe, Japan. pp.3464-3469, ⟨10.1109/ROBOT.2009.5152220⟩","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W1571443838","https://openalex.org/W1615247479","https://openalex.org/W1873393810","https://openalex.org/W2018787473","https://openalex.org/W2021028598","https://openalex.org/W2070328658","https://openalex.org/W2088959422","https://openalex.org/W2098701449","https://openalex.org/W2100134099","https://openalex.org/W2121407927","https://openalex.org/W2155512611","https://openalex.org/W2167501464","https://openalex.org/W2171468874","https://openalex.org/W6636539096"],"related_works":["https://openalex.org/W2789522126","https://openalex.org/W2066693961","https://openalex.org/W2368363778","https://openalex.org/W122584421","https://openalex.org/W4244295168","https://openalex.org/W2753351751","https://openalex.org/W3185180338","https://openalex.org/W2889348933","https://openalex.org/W2351643838","https://openalex.org/W3033677963"],"abstract_inverted_index":{"The":[0,61,80],"paper":[1],"presents":[2],"a":[3,72,95],"control":[4,57,69,84],"architecture":[5],"for":[6,55,66,77,109],"robotic-assisted":[7],"surgery":[8],"in":[9,31],"the":[10,32,78,117],"presence":[11],"of":[12,102,116],"physiological":[13,88],"motions.":[14,89],"Dynamic":[15],"and":[16,26,40,43,58,111],"kinematic":[17],"models,":[18],"operational":[19],"space,":[20],"computed":[21],"torque,":[22],"discrete":[23],"state":[24],"space":[25],"stochastic":[27,97],"design":[28],"are":[29,36,53,92,107],"addressed":[30],"control.":[33],"Inner":[34],"loops":[35,45],"based":[37],"on":[38],"position":[39],"velocity":[41],"signals":[42],"outer":[44],"have":[46],"force":[47,56],"measurements.":[48],"Two":[49],"active":[50],"observers":[51],"(AOBs)":[52],"introduced":[54],"motion":[59],"compensation.":[60],"first":[62],"AOB":[63,82],"is":[64],"responsible":[65],"model-reference":[67],"adaptive":[68],"to":[70,86],"guarantee":[71],"desired":[73],"closed":[74],"loop":[75],"dynamics":[76],"force.":[79],"second":[81],"performs":[83],"actions":[85],"compensate":[87],"Such":[90],"motions":[91],"described":[93],"by":[94],"second-order":[96],"equation,":[98],"without":[99],"apriori":[100],"knowledge":[101],"signal":[103],"characteristics.":[104],"Simulation":[105],"results":[106],"presented":[108],"sinusoidal":[110],"non-sinusoidal":[112],"motions,":[113],"highlighting":[114],"merits":[115],"approach.":[118]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":3},{"year":2012,"cited_by_count":2}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}