{"id":"https://openalex.org/W2136003774","doi":"https://doi.org/10.1109/roman.2009.5326266","title":"Macro-micro tele-manipulation system based on body image embedding with contact feel, spatial motion and stereo vision","display_name":"Macro-micro tele-manipulation system based on body image embedding with contact feel, spatial motion and stereo vision","publication_year":2009,"publication_date":"2009-09-01","ids":{"openalex":"https://openalex.org/W2136003774","doi":"https://doi.org/10.1109/roman.2009.5326266","mag":"2136003774"},"language":"en","primary_location":{"id":"doi:10.1109/roman.2009.5326266","is_oa":false,"landing_page_url":"https://doi.org/10.1109/roman.2009.5326266","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"RO-MAN 2009 - The 18th IEEE International Symposium on Robot and Human Interactive Communication","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/A5073990086","display_name":"Hiromi Mochiyama","orcid":"https://orcid.org/0000-0003-0985-120X"},"institutions":[{"id":"https://openalex.org/I146399215","display_name":"University of Tsukuba","ror":"https://ror.org/02956yf07","country_code":"JP","type":"education","lineage":["https://openalex.org/I146399215"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Hiromi Mochiyama","raw_affiliation_strings":["Department of Intelligent Interaction Technologies, University of Tsukuba, Tsukuba, Ibaraki, Japan","[Department of Intelligent Interaction Technologies, University of Tsukuba, Tennoudai 1-1-1, Ibaraki 305-8573, Japan]"],"affiliations":[{"raw_affiliation_string":"Department of Intelligent Interaction Technologies, University of Tsukuba, Tsukuba, Ibaraki, Japan","institution_ids":["https://openalex.org/I146399215"]},{"raw_affiliation_string":"[Department of Intelligent Interaction Technologies, University of Tsukuba, Tennoudai 1-1-1, Ibaraki 305-8573, Japan]","institution_ids":["https://openalex.org/I146399215"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057529171","display_name":"Takeyuki Dohda","orcid":null},"institutions":[{"id":"https://openalex.org/I146399215","display_name":"University of Tsukuba","ror":"https://ror.org/02956yf07","country_code":"JP","type":"education","lineage":["https://openalex.org/I146399215"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Takeyuki Dohda","raw_affiliation_strings":["University of Tsukuba, Japan","graduate student of University of Tsukuba, Japan"],"affiliations":[{"raw_affiliation_string":"University of Tsukuba, Japan","institution_ids":["https://openalex.org/I146399215"]},{"raw_affiliation_string":"graduate student of University of Tsukuba, Japan","institution_ids":["https://openalex.org/I146399215"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103731255","display_name":"Hisato Kobayashi","orcid":null},"institutions":[{"id":"https://openalex.org/I204291657","display_name":"Hosei University","ror":"https://ror.org/00bx6dj65","country_code":"JP","type":"education","lineage":["https://openalex.org/I204291657"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hisato Kobayashi","raw_affiliation_strings":["Faculty of Engineering and Design, Hosei University, Chiyoda, Tokyo, Japan","Faculty of Engineering and Design, Hosei University, Fujimi 2-17-1, Chiyoda-ku, Tokyo 102-8160, Japan"],"affiliations":[{"raw_affiliation_string":"Faculty of Engineering and Design, Hosei University, Chiyoda, Tokyo, Japan","institution_ids":["https://openalex.org/I204291657"]},{"raw_affiliation_string":"Faculty of Engineering and Design, Hosei University, Fujimi 2-17-1, Chiyoda-ku, Tokyo 102-8160, Japan","institution_ids":["https://openalex.org/I204291657"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014435479","display_name":"Junya Tatsuno","orcid":"https://orcid.org/0000-0002-8638-8805"},"institutions":[{"id":"https://openalex.org/I916559398","display_name":"Kindai University","ror":"https://ror.org/05kt9ap64","country_code":"JP","type":"education","lineage":["https://openalex.org/I916559398"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Junya Tatsuno","raw_affiliation_strings":["Department of Mechanical Engineering, Kinki University, Higashihiroshima, Hiroshima, Japan","Department of Mechanical Engineering, Kinki University, 1 Takeya Umenobe, Higashihiroshima City, Hiroshima 739-2116, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Kinki University, Higashihiroshima, Hiroshima, Japan","institution_ids":["https://openalex.org/I916559398"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Kinki University, 1 Takeya Umenobe, Higashihiroshima City, Hiroshima 739-2116, Japan","institution_ids":["https://openalex.org/I916559398"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103019292","display_name":"Hiroyuki Kawai","orcid":"https://orcid.org/0000-0002-4298-4373"},"institutions":[{"id":"https://openalex.org/I125852741","display_name":"Kanazawa Institute of Technology","ror":"https://ror.org/02ws33e43","country_code":"JP","type":"education","lineage":["https://openalex.org/I125852741"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hiroyuki Kawai","raw_affiliation_strings":["Department of Robotics, Kanazawa Institute of Technology, Nonoichi, Ishikawa, Japan","Department of Robotics, Kanazawa Institute of Technology, 7-1 Ohgigaoka Nonoichi, Ishikawa 921-8501, JAPAN"],"affiliations":[{"raw_affiliation_string":"Department of Robotics, Kanazawa Institute of Technology, Nonoichi, Ishikawa, Japan","institution_ids":["https://openalex.org/I125852741"]},{"raw_affiliation_string":"Department of Robotics, Kanazawa Institute of Technology, 7-1 Ohgigaoka Nonoichi, Ishikawa 921-8501, JAPAN","institution_ids":["https://openalex.org/I125852741"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5073990086"],"corresponding_institution_ids":["https://openalex.org/I146399215"],"apc_list":null,"apc_paid":null,"fwci":1.1323,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.81544659,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"7","issue":null,"first_page":"466","last_page":"471"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9998000264167786,"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":0.9998000264167786,"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/T10648","display_name":"Virtual Reality Applications and Impacts","score":0.9925000071525574,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10914","display_name":"Tactile and Sensory Interactions","score":0.9848999977111816,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7115000486373901},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7096508741378784},{"id":"https://openalex.org/keywords/realization","display_name":"Realization (probability)","score":0.6316908001899719},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6050636172294617},{"id":"https://openalex.org/keywords/voice-coil","display_name":"Voice coil","score":0.4853779077529907},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.478347510099411},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.45646774768829346},{"id":"https://openalex.org/keywords/joystick","display_name":"Joystick","score":0.44467851519584656},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.18726399540901184},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.15932926535606384},{"id":"https://openalex.org/keywords/electromagnetic-coil","display_name":"Electromagnetic coil","score":0.1501707136631012},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10290512442588806}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7115000486373901},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7096508741378784},{"id":"https://openalex.org/C2781089630","wikidata":"https://www.wikidata.org/wiki/Q21856745","display_name":"Realization (probability)","level":2,"score":0.6316908001899719},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6050636172294617},{"id":"https://openalex.org/C131513009","wikidata":"https://www.wikidata.org/wiki/Q1369121","display_name":"Voice coil","level":3,"score":0.4853779077529907},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.478347510099411},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.45646774768829346},{"id":"https://openalex.org/C96439379","wikidata":"https://www.wikidata.org/wiki/Q178805","display_name":"Joystick","level":2,"score":0.44467851519584656},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.18726399540901184},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.15932926535606384},{"id":"https://openalex.org/C30403606","wikidata":"https://www.wikidata.org/wiki/Q2981904","display_name":"Electromagnetic coil","level":2,"score":0.1501707136631012},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10290512442588806},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/roman.2009.5326266","is_oa":false,"landing_page_url":"https://doi.org/10.1109/roman.2009.5326266","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"RO-MAN 2009 - The 18th IEEE International Symposium on Robot and Human Interactive Communication","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8299999833106995,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W1496885458","https://openalex.org/W1514115716","https://openalex.org/W1950864686","https://openalex.org/W2011548382","https://openalex.org/W2096277588","https://openalex.org/W2119233587","https://openalex.org/W2135464393","https://openalex.org/W2150441543","https://openalex.org/W2157129115","https://openalex.org/W2161093753"],"related_works":["https://openalex.org/W2354349721","https://openalex.org/W2366870538","https://openalex.org/W2138895189","https://openalex.org/W2525596701","https://openalex.org/W1969157655","https://openalex.org/W2440194563","https://openalex.org/W2125654024","https://openalex.org/W1500011073","https://openalex.org/W2096273359","https://openalex.org/W2157278770"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3,239],"propose":[4],"a":[5,26,69,87,108,116,251],"novel":[6],"macro-micro":[7,36],"tele-manipulation":[8,37],"system":[9,46],"based":[10],"on":[11],"body":[12,32,204],"image":[13,33,205],"embedding":[14,34],"with":[15],"contact":[16,62,113,130],"feel,":[17],"spatial":[18,157],"motion":[19,158],"and":[20,104,137,208],"stereo":[21,192],"vision":[22,193],"for":[23,35,111,140,147,248],"micro-manipulation":[24],"under":[25,194],"microscope.":[27],"The":[28,45,54,84,122,150,185,225],"basic":[29],"concept":[30],"of":[31,60,79,86,96,156,159,177,181,191,197,201,217,221,227,245],"has":[38,49],"been":[39],"already":[40],"proposed":[41,47,229],"by":[42,67,173,213,235],"the":[43,58,75,80,94,97,129,132,138,154,160,165,174,178,182,189,195,198,214,218,222,228,246],"authors.":[44],"here":[48],"three":[50],"new":[51],"realization":[52,59,155,190,230],"ideas.":[53],"first":[55],"idea":[56,152,187],"is":[57,65,153,171,188,211,232],"realistic":[61],"feeling":[63],"which":[64,170,210],"attained":[66],"driving":[68],"voice":[70,88],"coil":[71,89],"motor":[72,90],"according":[73],"to":[74,119,134,164,167],"binary":[76],"on/off":[77],"information":[78,114],"switch":[81,123],"between":[82,124,131,206],"micro-tools.":[83],"use":[85],"not":[91,127],"only":[92],"saves":[93],"cost":[95],"system,":[98],"but":[99,143],"also":[100],"generates":[101],"clearer":[102],"tactile":[103],"auditory":[105],"stimuli":[106],"than":[107],"piezo":[109],"actuator":[110],"sending":[112],"in":[115,250],"micro":[117],"world":[118],"an":[120,202],"operator.":[121],"micro-tools":[125],"does":[126],"detect":[128],"object":[133,166],"be":[135,145,168],"manipulated":[136],"tool":[139,162],"manipulation":[141,161,249],"directly,":[142],"can":[144],"useful":[146],"some":[148],"tasks.":[149],"second":[151],"relative":[163],"manipulated,":[169],"realized":[172],"appropriate":[175,241],"coordination":[176],"2-degree-of-freedom":[179],"motions":[180],"slave":[183],"manipulators.":[184],"third":[186],"constraint":[196],"position/orientation":[199],"consistency":[200],"operator's":[203],"proprioception":[207],"vision,":[209],"achieved":[212],"special":[215],"placement":[216],"dual":[219,223],"joysticks":[220],"micro-manipulators.":[224],"effectiveness":[226],"method":[231],"verified":[233],"experimentally":[234],"micro-drawing":[236],"tasks":[237],"where":[238],"need":[240],"hybrid":[242],"position/force":[243],"control":[244],"micro-tool":[247],"three-dimensional":[252],"space.":[253]},"counts_by_year":[{"year":2023,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}