{"id":"https://openalex.org/W4402401283","doi":"https://doi.org/10.1109/thms.2024.3442537","title":"Design of a Robotic System Featured With High Operation Transparency for Quantifying Arm Impedance During Ultrasound Scanning","display_name":"Design of a Robotic System Featured With High Operation Transparency for Quantifying Arm Impedance During Ultrasound Scanning","publication_year":2024,"publication_date":"2024-09-10","ids":{"openalex":"https://openalex.org/W4402401283","doi":"https://doi.org/10.1109/thms.2024.3442537"},"language":"en","primary_location":{"id":"doi:10.1109/thms.2024.3442537","is_oa":false,"landing_page_url":"https://doi.org/10.1109/thms.2024.3442537","pdf_url":null,"source":{"id":"https://openalex.org/S2476799526","display_name":"IEEE Transactions on Human-Machine Systems","issn_l":"2168-2291","issn":["2168-2291","2168-2305"],"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 Human-Machine Systems","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/A5057760685","display_name":"Baoshan Niu","orcid":"https://orcid.org/0009-0006-5468-4868"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I4391767639","display_name":"State Key Laboratory of Robotics and Systems","ror":"https://ror.org/015m77g16","country_code":null,"type":"facility","lineage":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Baoshan Niu","raw_affiliation_strings":["State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0009-0006-5468-4868","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088073141","display_name":"Dapeng Yang","orcid":"https://orcid.org/0000-0003-2884-3854"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I4391767639","display_name":"State Key Laboratory of Robotics and Systems","ror":"https://ror.org/015m77g16","country_code":null,"type":"facility","lineage":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dapeng Yang","raw_affiliation_strings":["State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0003-2884-3854","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055071956","display_name":"Yangjunjian Zhou","orcid":null},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I4391767639","display_name":"State Key Laboratory of Robotics and Systems","ror":"https://ror.org/015m77g16","country_code":null,"type":"facility","lineage":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yangjunjian Zhou","raw_affiliation_strings":["State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101179818","display_name":"Le Zhang","orcid":"https://orcid.org/0009-0000-8383-9650"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I4391767639","display_name":"State Key Laboratory of Robotics and Systems","ror":"https://ror.org/015m77g16","country_code":null,"type":"facility","lineage":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Le Zhang","raw_affiliation_strings":["State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0009-0000-8383-9650","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041446816","display_name":"Qi Huang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Qi Huang","raw_affiliation_strings":["Hebin Intelligent Robots Company Ltd., Hefei, China"],"raw_orcid":"https://orcid.org/0000-0003-0625-0126","affiliations":[{"raw_affiliation_string":"Hebin Intelligent Robots Company Ltd., Hefei, China","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024880975","display_name":"Yikun Gu","orcid":"https://orcid.org/0000-0002-7645-3386"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I4391767639","display_name":"State Key Laboratory of Robotics and Systems","ror":"https://ror.org/015m77g16","country_code":null,"type":"facility","lineage":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yikun Gu","raw_affiliation_strings":["State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0002-7645-3386","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5057760685"],"corresponding_institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"],"apc_list":null,"apc_paid":null,"fwci":2.7143,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.9040634,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":98},"biblio":{"volume":"54","issue":"6","first_page":"798","last_page":"807"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11700","display_name":"Hemodynamic Monitoring and Therapy","score":0.41449999809265137,"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"}},"topics":[{"id":"https://openalex.org/T11700","display_name":"Hemodynamic Monitoring and Therapy","score":0.41449999809265137,"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"}},{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.4115000069141388,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/transparency","display_name":"Transparency (behavior)","score":0.7791827321052551},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.5869284272193909},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.586527943611145},{"id":"https://openalex.org/keywords/ultrasound","display_name":"Ultrasound","score":0.5646114945411682},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4201257824897766},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.36463791131973267},{"id":"https://openalex.org/keywords/biomedical-engineering","display_name":"Biomedical engineering","score":0.36308324337005615},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.3170660138130188},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2901992201805115},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.17878276109695435},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.168133944272995},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12164413928985596}],"concepts":[{"id":"https://openalex.org/C2780233690","wikidata":"https://www.wikidata.org/wiki/Q535347","display_name":"Transparency (behavior)","level":2,"score":0.7791827321052551},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.5869284272193909},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.586527943611145},{"id":"https://openalex.org/C143753070","wikidata":"https://www.wikidata.org/wiki/Q162564","display_name":"Ultrasound","level":2,"score":0.5646114945411682},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4201257824897766},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.36463791131973267},{"id":"https://openalex.org/C136229726","wikidata":"https://www.wikidata.org/wiki/Q327092","display_name":"Biomedical engineering","level":1,"score":0.36308324337005615},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.3170660138130188},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2901992201805115},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.17878276109695435},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.168133944272995},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12164413928985596},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/thms.2024.3442537","is_oa":false,"landing_page_url":"https://doi.org/10.1109/thms.2024.3442537","pdf_url":null,"source":{"id":"https://openalex.org/S2476799526","display_name":"IEEE Transactions on Human-Machine Systems","issn_l":"2168-2291","issn":["2168-2291","2168-2305"],"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 Human-Machine Systems","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":0,"referenced_works":[],"related_works":["https://openalex.org/W4382930947","https://openalex.org/W3081288631","https://openalex.org/W3152382318","https://openalex.org/W3004686567","https://openalex.org/W2738656338","https://openalex.org/W2603787370","https://openalex.org/W2555400967","https://openalex.org/W3214759741","https://openalex.org/W3174876210","https://openalex.org/W1935435487"],"abstract_inverted_index":{"Experienced":[0],"sonographers":[1],"can":[2,21,108,122],"adjust":[3],"their":[4],"arm":[5,117,147],"impedance":[6,118,148],"in":[7,55,172],"real-time":[8],"to":[9,78,95],"obtain":[10],"high-quality":[11],"ultrasound":[12],"(US)":[13],"images":[14],"during":[15,119],"US":[16],"scanning.":[17],"These":[18],"operational":[19,38],"skills":[20],"be":[22,109,123],"captured":[23],"through":[24,111,125],"robot":[25,46,186],"systems":[26],"with":[27,47,61,187,203],"multimodal":[28],"data":[29],"collection":[30],"capabilities":[31],"(position,":[32],"force,":[33],"and":[34,50,58,88,113,146],"impedance).":[35],"However,":[36],"low":[37],"transparency":[39,81,164,180,193],"between":[40],"the":[41,62,74,80,83,96,102,120,126,135,169,182,195],"system":[42,71,196],"(generally,":[43],"a":[44,69,89,104,176],"serial":[45,185],"admittance":[48,188],"control)":[49],"its":[51],"users":[52],"will":[53],"result":[54],"significant":[56],"delays":[57],"errors,":[59],"interfering":[60],"skill":[63],"acquisition":[64],"process.":[65],"The":[66,85,116,163,190],"paper":[67,174],"proposes":[68],"new":[70],"that":[72,154,168],"adopts":[73],"parallel":[75],"mechanism":[76],"(Omega.7)":[77],"improve":[79],"of":[82,98,143,179,184,194],"operation.":[84],"scanning":[86,121,156],"probe":[87],"6-axis":[90],"force":[91,127],"sensor":[92],"are":[93],"attached":[94],"end":[97],"Omega.7.":[99],"When":[100],"operating":[101],"probe,":[103],"zero-force":[105],"drag":[106],"effect":[107],"realized":[110],"gravity":[112],"torque":[114],"compensations.":[115],"measured":[124],"disturbance":[128],"method":[129],"by":[130],"analyzing":[131],"external":[132],"forces":[133],"on":[134,141],"device.":[136],"Ultrasonic":[137],"scans":[138],"were":[139],"conducted":[140],"phantoms":[142],"different":[144],"hardness,":[145],"was":[149],"measured.":[150],"Statistical":[151],"analysis":[152,165],"reveals":[153],"when":[155],"softer":[157],"phantoms,":[158],"arms":[159],"exhibit":[160],"higher":[161,177],"stiffness.":[162],"results":[166],"show":[167],"equipment":[170],"designed":[171],"this":[173],"has":[175],"level":[178],"than":[181],"scheme":[183],"control.":[189],"high":[191],"operation":[192],"makes":[197],"it":[198],"an":[199],"ideal":[200],"skill-acquisition":[201],"device":[202],"broad":[204],"applications.":[205]},"counts_by_year":[{"year":2025,"cited_by_count":5}],"updated_date":"2025-12-23T23:11:35.936235","created_date":"2025-10-10T00:00:00"}