{"id":"https://openalex.org/W2160001738","doi":"https://doi.org/10.1109/tie.2012.2189537","title":"Gain-Scheduling Control of Teleoperation Systems Interacting With Soft Tissues","display_name":"Gain-Scheduling Control of Teleoperation Systems Interacting With Soft Tissues","publication_year":2012,"publication_date":"2012-03-02","ids":{"openalex":"https://openalex.org/W2160001738","doi":"https://doi.org/10.1109/tie.2012.2189537","mag":"2160001738"},"language":"en","primary_location":{"id":"doi:10.1109/tie.2012.2189537","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2012.2189537","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"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 Industrial Electronics","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/A5058103274","display_name":"Jang Ho Cho","orcid":"https://orcid.org/0000-0003-3268-960X"},"institutions":[{"id":"https://openalex.org/I187531555","display_name":"Lund University","ror":"https://ror.org/012a77v79","country_code":"SE","type":"education","lineage":["https://openalex.org/I187531555"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Jang Ho Cho","raw_affiliation_strings":["Department of Automatic Control, Lund University, Lund, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Automatic Control, Lund University, Lund, Sweden","institution_ids":["https://openalex.org/I187531555"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037876636","display_name":"Hyoung Il Son","orcid":"https://orcid.org/0000-0002-7249-907X"},"institutions":[{"id":"https://openalex.org/I4210112925","display_name":"Max Planck Institute for Biological Cybernetics","ror":"https://ror.org/026nmvv73","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210112925"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Hyoung Il Son","raw_affiliation_strings":["Max-Planck Institute of Biological Cybernetics, Tubingen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Max-Planck Institute of Biological Cybernetics, Tubingen, Germany","institution_ids":["https://openalex.org/I4210112925"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063799437","display_name":"Dong\u2010Gun Lee","orcid":"https://orcid.org/0000-0003-4655-0641"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]},{"id":"https://openalex.org/I2250650973","display_name":"Samsung (South Korea)","ror":"https://ror.org/04w3jy968","country_code":"KR","type":"company","lineage":["https://openalex.org/I2250650973"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Dong Gun Lee","raw_affiliation_strings":["Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, Daejeon, South Korea","Samsung Heavy Industries Company Limited, Seoul, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]},{"raw_affiliation_string":"Samsung Heavy Industries Company Limited, Seoul, South Korea","institution_ids":["https://openalex.org/I2250650973"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026083794","display_name":"Tapomayukh Bhattacharjee","orcid":"https://orcid.org/0000-0001-9457-5726"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tapomayukh Bhattacharjee","raw_affiliation_strings":["Georgia Institute of Technology, Atlanta, GA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5007964198","display_name":"Doo Yong Lee","orcid":"https://orcid.org/0000-0003-4769-1331"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]},{"id":"https://openalex.org/I2250650973","display_name":"Samsung (South Korea)","ror":"https://ror.org/04w3jy968","country_code":"KR","type":"company","lineage":["https://openalex.org/I2250650973"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Doo Yong Lee","raw_affiliation_strings":["Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, Daejeon, South Korea","Samsung Heavy Industries Company Limited, Seoul, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]},{"raw_affiliation_string":"Samsung Heavy Industries Company Limited, Seoul, South Korea","institution_ids":["https://openalex.org/I2250650973"]}]}],"institutions":[],"countries_distinct_count":4,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":9.075,"has_fulltext":false,"cited_by_count":37,"citation_normalized_percentile":{"value":0.97994869,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"60","issue":"3","first_page":"946","last_page":"957"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9994999766349792,"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":0.9994999766349792,"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":0.9801999926567078,"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/T12476","display_name":"Intraoperative Neuromonitoring and Anesthetic Effects","score":0.9692000150680542,"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/teleoperation","display_name":"Teleoperation","score":0.8240162134170532},{"id":"https://openalex.org/keywords/gain-scheduling","display_name":"Gain scheduling","score":0.6684287190437317},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6398898959159851},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5833227634429932},{"id":"https://openalex.org/keywords/scheduling","display_name":"Scheduling (production processes)","score":0.515077531337738},{"id":"https://openalex.org/keywords/telerobotics","display_name":"Telerobotics","score":0.48773083090782166},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.44861239194869995},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4448012113571167},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.42114049196243286},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.4139152765274048},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3572887182235718},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.25095871090888977},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.19660302996635437},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.14951232075691223},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1414317786693573}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.8240162134170532},{"id":"https://openalex.org/C97090092","wikidata":"https://www.wikidata.org/wiki/Q764612","display_name":"Gain scheduling","level":3,"score":0.6684287190437317},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6398898959159851},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5833227634429932},{"id":"https://openalex.org/C206729178","wikidata":"https://www.wikidata.org/wiki/Q2271896","display_name":"Scheduling (production processes)","level":2,"score":0.515077531337738},{"id":"https://openalex.org/C196467688","wikidata":"https://www.wikidata.org/wiki/Q1851985","display_name":"Telerobotics","level":4,"score":0.48773083090782166},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.44861239194869995},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4448012113571167},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.42114049196243286},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.4139152765274048},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3572887182235718},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.25095871090888977},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.19660302996635437},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.14951232075691223},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1414317786693573},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/tie.2012.2189537","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2012.2189537","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"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 Industrial Electronics","raw_type":"journal-article"},{"id":"pmh:oai:escidoc.org:escidoc:1787313","is_oa":false,"landing_page_url":"http://hdl.handle.net/11858/00-001M-0000-0013-B4B2-5","pdf_url":null,"source":{"id":"https://openalex.org/S7407052962","display_name":"Max Planck Digital Library","issn_l":null,"issn":[],"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:lup.lub.lu.se:f775e844-4072-469a-b63d-2cb9e8575b84","is_oa":false,"landing_page_url":"https://lup.lub.lu.se/record/3401267","pdf_url":null,"source":{"id":"https://openalex.org/S4306400536","display_name":"Lund University Publications (Lund University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I187531555","host_organization_name":"Lund University","host_organization_lineage":["https://openalex.org/I187531555"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"ISSN: 0278-0046","raw_type":"text"},{"id":"pmh:oai:pure.mpg.de:item_1787313","is_oa":false,"landing_page_url":"https://hdl.handle.net/11858/00-001M-0000-0013-B4B2-5","pdf_url":null,"source":{"id":"https://openalex.org/S4306400654","display_name":"MPG.PuRe (Max Planck Society)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I149899117","host_organization_name":"Max Planck Society","host_organization_lineage":["https://openalex.org/I149899117"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Transactions on Industrial Electronics","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W104660552","https://openalex.org/W1554541441","https://openalex.org/W1596634559","https://openalex.org/W1947506120","https://openalex.org/W1967390389","https://openalex.org/W1977598904","https://openalex.org/W1994183344","https://openalex.org/W1999869379","https://openalex.org/W2001852229","https://openalex.org/W2008718474","https://openalex.org/W2017280345","https://openalex.org/W2020036491","https://openalex.org/W2031711324","https://openalex.org/W2037732169","https://openalex.org/W2038730444","https://openalex.org/W2039867272","https://openalex.org/W2052122446","https://openalex.org/W2084399420","https://openalex.org/W2085160992","https://openalex.org/W2103036658","https://openalex.org/W2103304361","https://openalex.org/W2109465348","https://openalex.org/W2113436535","https://openalex.org/W2120622075","https://openalex.org/W2124237013","https://openalex.org/W2129669049","https://openalex.org/W2134927525","https://openalex.org/W2138652678","https://openalex.org/W2145439762","https://openalex.org/W2147287153","https://openalex.org/W2158928443","https://openalex.org/W2168779918","https://openalex.org/W2169924715","https://openalex.org/W2492570741","https://openalex.org/W2561111412","https://openalex.org/W6663501229"],"related_works":["https://openalex.org/W2046710269","https://openalex.org/W2097059456","https://openalex.org/W817518365","https://openalex.org/W2145103607","https://openalex.org/W2141648055","https://openalex.org/W4367662652","https://openalex.org/W2145960295","https://openalex.org/W2013463538","https://openalex.org/W2078176643","https://openalex.org/W2067221866"],"abstract_inverted_index":{"Surgical":[0],"teleoperation":[1],"systems":[2],"are":[3,95],"being":[4],"increasingly":[5],"deployed":[6],"recently.":[7],"There":[8],"are,":[9],"however,":[10],"some":[11],"unsolved":[12],"issues":[13,42,61],"such":[14],"as":[15],"nonlinear":[16,86,90],"characteristics":[17,91],"of":[18,38,92,101,171],"the":[19,22,35,39,55,85,172],"interaction":[20],"between":[21],"slave":[23],"robot":[24],"and":[25,28,75,163],"soft":[26,80,93],"tissues":[27,94],"difficulty":[29],"in":[30,34,135],"employing":[31],"force":[32,133],"sensors":[33],"surgical":[36,195],"end-effectors":[37],"slave.":[40],"These":[41],"make":[43],"it":[44],"difficult":[45],"to":[46,50,120],"generalize":[47],"any":[48,132],"approach":[49],"develop":[51],"a":[52,64,105,114,122],"control":[53,116,141,146,157,182],"for":[54,166,184,194],"system.":[56],"This":[57,89],"paper":[58],"addresses":[59],"these":[60],"by":[62],"proposing":[63],"<formula":[65],"formulatype=\"inline\"":[66],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[67],"xmlns:xlink=\"http://www.w3.org/1999/xlink\"><tex":[68],"Notation=\"TeX\">$H_{\\infty}$</tex></formula>":[69],"suboptimal":[70,123],"controller":[71,124],"preserving":[72],"robust":[73],"stability":[74],"performance.":[76],"The":[77,143,153],"environment,":[78],"i.e.,":[79],"tissues,":[81],"is":[82,118,147,175,191],"characterized":[83],"with":[84,97,149,179],"Hunt\u2013Crossley":[87],"model.":[88],"expressed":[96],"an":[98],"affine":[99],"combination":[100],"linear":[102,111],"models":[103],"within":[104],"predefined":[106],"parameter":[107],"polytope.":[108],"For":[109],"this":[110],"parameter-varying":[112],"system,":[113],"gain-scheduling":[115,145,155],"scheme":[117,158],"employed":[119],"design":[121],"while":[125],"guaranteeing":[126],"its":[127],"stability.":[128],"To":[129],"avoid":[130],"using":[131],"measurement":[134],"slave,":[136],"we":[137],"used":[138],"position\u2013position":[139],"(PP)":[140],"architecture.":[142],"developed":[144,154],"validated":[148],"quantitative":[150],"experimental":[151,168],"results.":[152],"PP":[156],"shows":[159],"good":[160],"tracking":[161],"capacity":[162],"high":[164],"transparency":[165],"varied":[167],"conditions.":[169],"Error":[170],"transmitted":[173],"impedance":[174],"significantly":[176],"lower":[177],"compared":[178],"other":[180],"conventional":[181],"schemes":[183],"frequencies":[185],"less":[186],"than":[187],"2":[188],"Hz,":[189],"which":[190],"frequently":[192],"recommended":[193],"teleoperation.":[196]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":8},{"year":2013,"cited_by_count":7},{"year":2012,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
