{"id":"https://openalex.org/W2113845276","doi":"https://doi.org/10.1109/tcst.2013.2271931","title":"Stable Discrete-Time Impedances for Haptic Systems With Vibration Modes and Delay","display_name":"Stable Discrete-Time Impedances for Haptic Systems With Vibration Modes and Delay","publication_year":2013,"publication_date":"2013-07-22","ids":{"openalex":"https://openalex.org/W2113845276","doi":"https://doi.org/10.1109/tcst.2013.2271931","mag":"2113845276"},"language":"en","primary_location":{"id":"doi:10.1109/tcst.2013.2271931","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2013.2271931","pdf_url":null,"source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"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":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Control Systems Technology","raw_type":"journal-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/A5051083526","display_name":"Pablo Ci\u00e1urriz","orcid":"https://orcid.org/0000-0001-7603-9647"},"institutions":[{"id":"https://openalex.org/I170828890","display_name":"Centro de Estudios e Investigaciones T\u00e9cnicas de Gipuzkoa","ror":"https://ror.org/022wqqf69","country_code":"ES","type":"nonprofit","lineage":["https://openalex.org/I170828890"]},{"id":"https://openalex.org/I88155538","display_name":"Universidad de Navarra","ror":"https://ror.org/02rxc7m23","country_code":"ES","type":"education","lineage":["https://openalex.org/I88155538"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Pablo Ciaurriz","raw_affiliation_strings":["Applied Mechanics Department, CEIT and TECNUN, University of Navarra, San Sebasti\u00e1n, Spain","Appl. Mech. Dept., Univ. of Navarra, San Sebastia\u0301n, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Applied Mechanics Department, CEIT and TECNUN, University of Navarra, San Sebasti\u00e1n, Spain","institution_ids":["https://openalex.org/I170828890","https://openalex.org/I88155538"]},{"raw_affiliation_string":"Appl. Mech. Dept., Univ. of Navarra, San Sebastia\u0301n, Spain","institution_ids":["https://openalex.org/I88155538"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036396562","display_name":"I\u00f1aki D\u00edaz","orcid":"https://orcid.org/0000-0003-0523-7405"},"institutions":[{"id":"https://openalex.org/I170828890","display_name":"Centro de Estudios e Investigaciones T\u00e9cnicas de Gipuzkoa","ror":"https://ror.org/022wqqf69","country_code":"ES","type":"nonprofit","lineage":["https://openalex.org/I170828890"]},{"id":"https://openalex.org/I88155538","display_name":"Universidad de Navarra","ror":"https://ror.org/02rxc7m23","country_code":"ES","type":"education","lineage":["https://openalex.org/I88155538"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Inaki Diaz","raw_affiliation_strings":["Applied Mechanics Department, CEIT and TECNUN, University of Navarra, San Sebasti\u00e1n, Spain","Appl. Mech. Dept., Univ. of Navarra, San Sebastia\u0301n, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Applied Mechanics Department, CEIT and TECNUN, University of Navarra, San Sebasti\u00e1n, Spain","institution_ids":["https://openalex.org/I170828890","https://openalex.org/I88155538"]},{"raw_affiliation_string":"Appl. Mech. Dept., Univ. of Navarra, San Sebastia\u0301n, Spain","institution_ids":["https://openalex.org/I88155538"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5013945205","display_name":"Jorge Juan Gil","orcid":"https://orcid.org/0000-0002-1091-5381"},"institutions":[{"id":"https://openalex.org/I170828890","display_name":"Centro de Estudios e Investigaciones T\u00e9cnicas de Gipuzkoa","ror":"https://ror.org/022wqqf69","country_code":"ES","type":"nonprofit","lineage":["https://openalex.org/I170828890"]},{"id":"https://openalex.org/I88155538","display_name":"Universidad de Navarra","ror":"https://ror.org/02rxc7m23","country_code":"ES","type":"education","lineage":["https://openalex.org/I88155538"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Jorge Juan Gil","raw_affiliation_strings":["Applied Mechanics Department, CEIT and TECNUN, University of Navarra, San Sebasti\u00e1n, Spain","Appl. Mech. Dept., Univ. of Navarra, San Sebastia\u0301n, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Applied Mechanics Department, CEIT and TECNUN, University of Navarra, San Sebasti\u00e1n, Spain","institution_ids":["https://openalex.org/I170828890","https://openalex.org/I88155538"]},{"raw_affiliation_string":"Appl. Mech. Dept., Univ. of Navarra, San Sebastia\u0301n, Spain","institution_ids":["https://openalex.org/I88155538"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.8093,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.77147805,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"22","issue":"3","first_page":"884","last_page":"895"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9997000098228455,"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":0.9997000098228455,"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/T10914","display_name":"Tactile and Sensory Interactions","score":0.9628999829292297,"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"}},{"id":"https://openalex.org/T10648","display_name":"Virtual Reality Applications and Impacts","score":0.9466999769210815,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.9024693369865417},{"id":"https://openalex.org/keywords/vibration","display_name":"Vibration","score":0.6577702760696411},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.637679934501648},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.5724977850914001},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.548772931098938},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.5117921233177185},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.45836979150772095},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.45488691329956055},{"id":"https://openalex.org/keywords/interface","display_name":"Interface (matter)","score":0.44380876421928406},{"id":"https://openalex.org/keywords/rendering","display_name":"Rendering (computer graphics)","score":0.4293302893638611},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.38355201482772827},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.31202924251556396},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1435488760471344},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.12363415956497192},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11620905995368958},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.08507522940635681}],"concepts":[{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.9024693369865417},{"id":"https://openalex.org/C198394728","wikidata":"https://www.wikidata.org/wiki/Q3695508","display_name":"Vibration","level":2,"score":0.6577702760696411},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.637679934501648},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.5724977850914001},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.548772931098938},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.5117921233177185},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.45836979150772095},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.45488691329956055},{"id":"https://openalex.org/C113843644","wikidata":"https://www.wikidata.org/wiki/Q901882","display_name":"Interface (matter)","level":4,"score":0.44380876421928406},{"id":"https://openalex.org/C205711294","wikidata":"https://www.wikidata.org/wiki/Q176953","display_name":"Rendering (computer graphics)","level":2,"score":0.4293302893638611},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.38355201482772827},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.31202924251556396},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1435488760471344},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.12363415956497192},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11620905995368958},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.08507522940635681},{"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/C173608175","wikidata":"https://www.wikidata.org/wiki/Q232661","display_name":"Parallel computing","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C157915830","wikidata":"https://www.wikidata.org/wiki/Q2928001","display_name":"Bubble","level":2,"score":0.0},{"id":"https://openalex.org/C129307140","wikidata":"https://www.wikidata.org/wiki/Q6795880","display_name":"Maximum bubble pressure method","level":3,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tcst.2013.2271931","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2013.2271931","pdf_url":null,"source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"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":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Control Systems Technology","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W66350117","https://openalex.org/W1529020276","https://openalex.org/W1582137406","https://openalex.org/W1592853329","https://openalex.org/W1967538012","https://openalex.org/W1984343324","https://openalex.org/W2009013352","https://openalex.org/W2009080312","https://openalex.org/W2048031432","https://openalex.org/W2058799718","https://openalex.org/W2067522535","https://openalex.org/W2107207454","https://openalex.org/W2108537617","https://openalex.org/W2114987226","https://openalex.org/W2122450892","https://openalex.org/W2125137771","https://openalex.org/W2129981791","https://openalex.org/W2130368709","https://openalex.org/W2140968721","https://openalex.org/W2142695785","https://openalex.org/W2147618425","https://openalex.org/W2148962693","https://openalex.org/W2150207874","https://openalex.org/W2150251204","https://openalex.org/W2153681681","https://openalex.org/W2167932216","https://openalex.org/W2168120373","https://openalex.org/W2170359756","https://openalex.org/W2171094356","https://openalex.org/W2254352181","https://openalex.org/W2283952362","https://openalex.org/W2313564472","https://openalex.org/W2989192843","https://openalex.org/W6602700444","https://openalex.org/W6635418186"],"related_works":["https://openalex.org/W156716224","https://openalex.org/W2111871955","https://openalex.org/W3175380930","https://openalex.org/W1989694608","https://openalex.org/W2139876914","https://openalex.org/W2108167108","https://openalex.org/W4233260495","https://openalex.org/W3094485622","https://openalex.org/W2642061445","https://openalex.org/W2312629420"],"abstract_inverted_index":{"The":[0,106],"stability":[1,38,50],"of":[2,14,28,32,39,63,74,82,108,118],"haptic":[3,34,65,120,141,147,184],"rendering":[4],"is":[5,45,100],"affected":[6],"by":[7],"many":[8],"factors":[9],"that":[10,16,48,177],"limit":[11],"the":[12,26,29,33,37,40,60,64,71,75,80,83,90,96,109,115,119,123,135,140,175],"range":[13],"impedances":[15,137],"can":[17,178],"be":[18,179],"applied":[19],"to":[20,58,133,155],"virtual":[21,92,97],"objects.":[22],"This":[23,67],"paper":[24,68,169],"addresses":[25],"effect":[27],"vibration":[30,72,112],"modes":[31,73,113],"interface":[35,77,148],"on":[36,165],"impedance":[41],"control":[42],"loop.":[43],"It":[44],"well":[46],"known":[47],"experimental":[49],"boundaries":[51],"present":[52],"complex":[53],"shapes,":[54],"making":[55],"it":[56,131],"difficult":[57],"predict":[59],"final":[61],"Z-width":[62,176],"system.":[66,185],"shows":[69],"how":[70],"mechanical":[76],"highly":[78],"affect":[79],"size":[81],"Z-width,":[84],"causing":[85],"a":[86,103,152,171],"sudden":[87],"reduction":[88],"in":[89,114],"critical":[91],"stiffness":[93],"K":[94],"if":[95],"damping":[98],"B":[99],"increased":[101],"beyond":[102],"certain":[104],"value.":[105],"inclusion":[107],"most":[110],"significant":[111],"theoretical":[116],"model":[117],"system-together":[121],"with":[122,139],"viscous":[124],"damping,":[125],"time":[126],"delay":[127],"and":[128],"sampling":[129],"rate-makes":[130],"possible":[132],"obtain":[134],"stable":[136],"associated":[138],"device.":[142],"A":[143],"PHANToM":[144],"Premium":[145],"1.0":[146],"was":[149],"used":[150],"as":[151],"test":[153],"bed":[154],"validate":[156],"this":[157,166,168],"paper.":[158],"Although":[159],"results":[160],"have":[161],"been":[162],"tested":[163],"only":[164],"device,":[167],"proposes":[170],"methodology":[172],"for":[173,181],"obtaining":[174],"generalized":[180],"any":[182],"other":[183]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2015,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
