{"id":"https://openalex.org/W7103900635","doi":"https://doi.org/10.1109/tase.2025.3628650","title":"A Novel Wireless Magnetic Leader Device for Six-DoF Robotic Teleoperation Control With Expandable Workspace","display_name":"A Novel Wireless Magnetic Leader Device for Six-DoF Robotic Teleoperation Control With Expandable Workspace","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W7103900635","doi":"https://doi.org/10.1109/tase.2025.3628650"},"language":null,"primary_location":{"id":"doi:10.1109/tase.2025.3628650","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tase.2025.3628650","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://doi.org/10.1109/tase.2025.3628650","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Yichong Sun","orcid":"https://orcid.org/0000-0001-9813-9702"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Yichong Sun","raw_affiliation_strings":["Department of Surgery, The Chinese University of Hong Kong, Shatin, Hong Kong"],"raw_orcid":"https://orcid.org/0000-0001-9813-9702","affiliations":[{"raw_affiliation_string":"Department of Surgery, The Chinese University of Hong Kong, Shatin, Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Ruoyu Xu","orcid":"https://orcid.org/0000-0001-7253-7550"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Ruoyu Xu","raw_affiliation_strings":["Department of Surgery, The Chinese University of Hong Kong, Shatin, Hong Kong"],"raw_orcid":"https://orcid.org/0000-0001-7253-7550","affiliations":[{"raw_affiliation_string":"Department of Surgery, The Chinese University of Hong Kong, Shatin, Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Zixing Jiang","orcid":"https://orcid.org/0009-0006-7510-9563"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Zixing Jiang","raw_affiliation_strings":["Department of Surgery, The Chinese University of Hong Kong, Shatin, Hong Kong"],"raw_orcid":"https://orcid.org/0009-0006-7510-9563","affiliations":[{"raw_affiliation_string":"Department of Surgery, The Chinese University of Hong Kong, Shatin, Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Yitian Xian","orcid":"https://orcid.org/0000-0002-3265-0177"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Yitian Xian","raw_affiliation_strings":["Department of Surgery, The Chinese University of Hong Kong, Shatin, Hong Kong"],"raw_orcid":"https://orcid.org/0000-0002-3265-0177","affiliations":[{"raw_affiliation_string":"Department of Surgery, The Chinese University of Hong Kong, Shatin, Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Zixiao Chen","orcid":null},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Zixiao Chen","raw_affiliation_strings":["Department of Surgery, The Chinese University of Hong Kong, Shatin, Hong Kong"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Surgery, The Chinese University of Hong Kong, Shatin, Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Hon Chi Yip","orcid":"https://orcid.org/0000-0003-1041-9668"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Hon Chi Yip","raw_affiliation_strings":["Department of Surgery, The Chinese University of Hong Kong, Shatin, Hong Kong"],"raw_orcid":"https://orcid.org/0000-0003-1041-9668","affiliations":[{"raw_affiliation_string":"Department of Surgery, The Chinese University of Hong Kong, Shatin, Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Philip Wai Yan Chiu","orcid":"https://orcid.org/0000-0001-9292-112X"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Philip Wai Yan Chiu","raw_affiliation_strings":["Department of Surgery, Chow Yuk Ho Technology Centre for Innovative Medicine, Li Ka Shing Institute of Health Science and Multi-Scale Medical Robotics Center, The Chinese University of Hong Kong, Shatin, Hong Kong"],"raw_orcid":"https://orcid.org/0000-0001-9292-112X","affiliations":[{"raw_affiliation_string":"Department of Surgery, Chow Yuk Ho Technology Centre for Innovative Medicine, Li Ka Shing Institute of Health Science and Multi-Scale Medical Robotics Center, The Chinese University of Hong Kong, Shatin, Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"last","author":{"id":null,"display_name":"Zheng Li","orcid":"https://orcid.org/0000-0003-4455-0808"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Zheng Li","raw_affiliation_strings":["Department of Surgery, Chow Yuk Ho Technology Centre for Innovative Medicine, Li Ka Shing Institute of Health Science and Multi-Scale Medical Robotics Center, The Chinese University of Hong Kong, Shatin, Hong Kong"],"raw_orcid":"https://orcid.org/0000-0003-4455-0808","affiliations":[{"raw_affiliation_string":"Department of Surgery, Chow Yuk Ho Technology Centre for Innovative Medicine, Li Ka Shing Institute of Health Science and Multi-Scale Medical Robotics Center, The Chinese University of Hong Kong, Shatin, Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I177725633"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.41267504,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"22","issue":null,"first_page":"24470","last_page":"24484"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.6152999997138977,"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":0.6152999997138977,"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/T10868","display_name":"Soft Robotics and Applications","score":0.19930000603199005,"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/T13715","display_name":"Power Line Inspection Robots","score":0.02370000071823597,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.9442999958992004},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.5281999707221985},{"id":"https://openalex.org/keywords/telerobotics","display_name":"Telerobotics","score":0.4952999949455261},{"id":"https://openalex.org/keywords/wireless","display_name":"Wireless","score":0.49000000953674316},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.44600000977516174},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.36230000853538513},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.350600004196167},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.34360000491142273}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.9442999958992004},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.5281999707221985},{"id":"https://openalex.org/C196467688","wikidata":"https://www.wikidata.org/wiki/Q1851985","display_name":"Telerobotics","level":4,"score":0.4952999949455261},{"id":"https://openalex.org/C555944384","wikidata":"https://www.wikidata.org/wiki/Q249","display_name":"Wireless","level":2,"score":0.49000000953674316},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.44600000977516174},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.436599999666214},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.39579999446868896},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.36230000853538513},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.350600004196167},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.34360000491142273},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.33250001072883606},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.32690000534057617},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.3158999979496002},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.31040000915527344},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.2971000075340271},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.29429998993873596},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.2906999886035919},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.2847999930381775},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.2806999981403351},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.25949999690055847},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.25940001010894775},{"id":"https://openalex.org/C557691694","wikidata":"https://www.wikidata.org/wiki/Q185091","display_name":"Remote control","level":2,"score":0.25859999656677246},{"id":"https://openalex.org/C20454292","wikidata":"https://www.wikidata.org/wiki/Q735523","display_name":"Master/slave","level":2,"score":0.2572999894618988},{"id":"https://openalex.org/C145424490","wikidata":"https://www.wikidata.org/wiki/Q618465","display_name":"Remotely operated underwater vehicle","level":4,"score":0.2565999925136566},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.2551000118255615},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.25369998812675476}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tase.2025.3628650","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tase.2025.3628650","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1109/tase.2025.3628650","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tase.2025.3628650","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.6581674218177795,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[{"id":"https://openalex.org/G1641683946","display_name":null,"funder_award_id":"14206325","funder_id":"https://openalex.org/F4320334626","funder_display_name":"Medical Research Council"},{"id":"https://openalex.org/G2299519707","display_name":null,"funder_award_id":"14214322","funder_id":"https://openalex.org/F4320334626","funder_display_name":"Medical Research Council"},{"id":"https://openalex.org/G6387061454","display_name":null,"funder_award_id":"C4042-23GF","funder_id":"https://openalex.org/F4320334626","funder_display_name":"Medical Research Council"},{"id":"https://openalex.org/G927810427","display_name":null,"funder_award_id":"14200623","funder_id":"https://openalex.org/F4320334626","funder_display_name":"Medical Research Council"}],"funders":[{"id":"https://openalex.org/F4320334626","display_name":"Medical Research Council","ror":"https://ror.org/03x94j517"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":40,"referenced_works":["https://openalex.org/W2020133989","https://openalex.org/W2053122475","https://openalex.org/W2108314463","https://openalex.org/W2119403459","https://openalex.org/W2133361732","https://openalex.org/W2235266128","https://openalex.org/W2772818040","https://openalex.org/W2792586211","https://openalex.org/W2836867330","https://openalex.org/W2887439413","https://openalex.org/W2911215390","https://openalex.org/W2975479523","https://openalex.org/W2980790222","https://openalex.org/W3003852831","https://openalex.org/W3006492429","https://openalex.org/W3009035577","https://openalex.org/W3043982061","https://openalex.org/W3048012802","https://openalex.org/W3078964289","https://openalex.org/W3200270133","https://openalex.org/W4200102537","https://openalex.org/W4206254842","https://openalex.org/W4293704400","https://openalex.org/W4313546860","https://openalex.org/W4376623500","https://openalex.org/W4385488422","https://openalex.org/W4386737037","https://openalex.org/W4389941820","https://openalex.org/W4390787987","https://openalex.org/W4391092680","https://openalex.org/W4392207590","https://openalex.org/W4401567702","https://openalex.org/W4401717500","https://openalex.org/W4403240521","https://openalex.org/W4404132701","https://openalex.org/W4404520512","https://openalex.org/W4405786667","https://openalex.org/W4407129110","https://openalex.org/W4410359038","https://openalex.org/W7083001319"],"related_works":[],"abstract_inverted_index":{"In":[0],"robotic":[1,73,100,220,237,249],"teleoperation":[2,7,74,118,195,267],"systems,":[3],"the":[4,11,17,26,65,70,99,103,106,124,160,164,193,232],"effectiveness":[5],"of":[6,19,69,81,135,150,163,228,245],"relies":[8,30],"heavily":[9],"on":[10,31],"operator":[12],"performing":[13],"control":[14,119,196,268],"actions,":[15],"underscoring":[16],"importance":[18],"master":[20,49,257],"device":[21,50,258],"design.":[22],"Breaking":[23],"away":[24],"from":[25],"mechanical":[27],"framework":[28,197],"that":[29,123],"complex":[32],"structures":[33],"and":[34,44,61,67,95,110,117,144,166,182,210],"restricts":[35],"workspace,":[36,56,165],"this":[37,254],"paper":[38],"adopts":[39],"a":[40,46,86,224,242],"new":[41],"magnetic":[42,48,93,115],"method":[43],"introduces":[45],"wireless":[47],"(MMD)":[51],"with":[52,129,173,201],"an":[53,79,130,145],"expandable,":[54],"singularity-free":[55],"designed":[57],"to":[58,261],"enhance":[59],"maneuverability":[60],"operational":[62],"reach.":[63],"Specifically,":[64],"concept":[66],"development":[68],"MMD":[71,125],"for":[72,98,269],"are":[75,112],"presented,":[76],"followed":[77],"by":[78],"exploration":[80],"key":[82],"technical":[83],"aspects,":[84],"including":[85],"six-degree-of-freedom":[87],"(DoF)":[88],"tracking":[89,199],"approach":[90],"using":[91,102],"dual":[92],"localization":[94,116,128,133],"controller":[96],"design":[97],"arm":[101],"MMD.":[104],"Finally,":[105],"proposed":[107],"method\u2019s":[108],"feasibility":[109],"accuracy":[111,200],"validated":[113],"through":[114],"tests.":[120,191],"Results":[121],"indicate":[122],"achieves":[126,198,223,241],"six-DoF":[127,167],"average":[131,146],"Euclidean":[132],"error":[134,149],"<italic":[136,151,174,183,202,211,233],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[137,139,152,154,175,177,184,186,203,205,212,214,234],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">e</i><sub":[138,153,176,185,204,213],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">t</sub>":[140,178,206],"=":[141,156,179,207,216],"0.0018":[142],"m":[143,181,209,230],"Geodesic":[147],"distance":[148],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">R</sub>":[155,187,215],"0.0604":[157],"rad":[158,189,218,247],"within":[159],"central":[161],"region":[162],"manipulation":[168],"(velocity":[169],"<":[170],"20":[171],"mm/s)":[172],"0.0062":[180],"=0.2091":[188],"in":[190,219,236,248,265],"Furthermore,":[192],"overall":[194],"0.0085":[208],"0.1475":[217],"calligraphy":[221],"task;":[222,240],"broad":[225],"scanning":[226,239],"range":[227],"0.2746":[229],"along":[231],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">y</i>-axis":[235],"ultrasound":[238],"large-angle":[243],"rotation":[244],"9.15":[246],"clamp":[250],"rotating":[251],"task.":[252],"Overall,":[253],"research":[255],"advances":[256],"design,":[259],"aiming":[260],"inspire":[262],"further":[263],"innovation":[264],"master-follower":[266],"human-machine":[270],"systems.":[271]},"counts_by_year":[],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-11-05T00:00:00"}
