{"id":"https://openalex.org/W2947540134","doi":"https://doi.org/10.1109/tie.2019.2918500","title":"Enhancing the Rate-Hardness of Haptic Interaction: Successive Force Augmentation Approach","display_name":"Enhancing the Rate-Hardness of Haptic Interaction: Successive Force Augmentation Approach","publication_year":2019,"publication_date":"2019-05-29","ids":{"openalex":"https://openalex.org/W2947540134","doi":"https://doi.org/10.1109/tie.2019.2918500","mag":"2947540134"},"language":"en","primary_location":{"id":"doi:10.1109/tie.2019.2918500","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2019.2918500","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":true,"oa_status":"green","oa_url":"http://eprints.uwe.ac.uk/40743/1/ALL_xx-TIE-xxxx.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5061291919","display_name":"Harsimran Singh","orcid":"https://orcid.org/0000-0002-6735-9945"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Harsimran Singh","raw_affiliation_strings":["Institute of Robotics and Mechatronics in the German Aerospace Center (DLR), Wessling, Germany","[Institute of Robotics and Mechatronics in the German Aerospace Center (DLR), Wessling, Germany]"],"raw_orcid":"https://orcid.org/0000-0002-6735-9945","affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics in the German Aerospace Center (DLR), Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"[Institute of Robotics and Mechatronics in the German Aerospace Center (DLR), Wessling, Germany]","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000890740","display_name":"Dominik Janetzko","orcid":"https://orcid.org/0000-0002-3001-9410"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Dominik Janetzko","raw_affiliation_strings":["Institute of Robotics and Mechatronics in the German Aerospace Center (DLR), Wessling, Germany","[Institute of Robotics and Mechatronics in the German Aerospace Center (DLR), Wessling, Germany]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics in the German Aerospace Center (DLR), Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"[Institute of Robotics and Mechatronics in the German Aerospace Center (DLR), Wessling, Germany]","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050651177","display_name":"Aghil Jafari","orcid":"https://orcid.org/0000-0002-7643-1822"},"institutions":[{"id":"https://openalex.org/I178535277","display_name":"University of the West of England","ror":"https://ror.org/02nwg5t34","country_code":"GB","type":"education","lineage":["https://openalex.org/I178535277"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Aghil Jafari","raw_affiliation_strings":["Faculty of Environment and Technology, University of the West of England, Bristol, U.K","[Faculty of Environment and Technology, University of the West of England, Bristol, U.K.]"],"raw_orcid":"https://orcid.org/0000-0002-7643-1822","affiliations":[{"raw_affiliation_string":"Faculty of Environment and Technology, University of the West of England, Bristol, U.K","institution_ids":["https://openalex.org/I178535277"]},{"raw_affiliation_string":"[Faculty of Environment and Technology, University of the West of England, Bristol, U.K.]","institution_ids":["https://openalex.org/I178535277"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027282431","display_name":"Bernhard Weber","orcid":"https://orcid.org/0000-0002-7857-0201"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Bernhard Weber","raw_affiliation_strings":["Institute of Robotics and Mechatronics in the German Aerospace Center (DLR), Wessling, Germany","[Institute of Robotics and Mechatronics in the German Aerospace Center (DLR), Wessling, Germany]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics in the German Aerospace Center (DLR), Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"[Institute of Robotics and Mechatronics in the German Aerospace Center (DLR), Wessling, Germany]","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044578774","display_name":"Chan-Il Lee","orcid":null},"institutions":[{"id":"https://openalex.org/I35886859","display_name":"Korea University of Technology and Education","ror":"https://ror.org/053nycv62","country_code":"KR","type":"education","lineage":["https://openalex.org/I35886859"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Chan-Il Lee","raw_affiliation_strings":["School of Mechanical Engineering, Korea University of Technology and Education, Cheonan, South Korea","School of Mechanical Engineering Korea University of Technology and Education  Cheonan South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Korea University of Technology and Education, Cheonan, South Korea","institution_ids":["https://openalex.org/I35886859"]},{"raw_affiliation_string":"School of Mechanical Engineering Korea University of Technology and Education  Cheonan South Korea","institution_ids":["https://openalex.org/I35886859"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5019438521","display_name":"Jee-Hwan Ryu","orcid":"https://orcid.org/0000-0002-6497-7115"},"institutions":[{"id":"https://openalex.org/I35886859","display_name":"Korea University of Technology and Education","ror":"https://ror.org/053nycv62","country_code":"KR","type":"education","lineage":["https://openalex.org/I35886859"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jee-Hwan Ryu","raw_affiliation_strings":["School of Mechanical Engineering, Korea University of Technology and Education, Cheonan, South Korea","School of Mechanical Engineering Korea University of Technology and Education  Cheonan South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Korea University of Technology and Education, Cheonan, South Korea","institution_ids":["https://openalex.org/I35886859"]},{"raw_affiliation_string":"School of Mechanical Engineering Korea University of Technology and Education  Cheonan South Korea","institution_ids":["https://openalex.org/I35886859"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.4827,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.80097257,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"67","issue":"1","first_page":"809","last_page":"819"},"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":0.9995999932289124,"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":0.9933000206947327,"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/stiffness","display_name":"Stiffness","score":0.8574956655502319},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.8219996690750122},{"id":"https://openalex.org/keywords/offset","display_name":"Offset (computer science)","score":0.6789585947990417},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.5429021120071411},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.5066877007484436},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4896426796913147},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.4508204758167267},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.424270361661911},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.36081230640411377},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.32431337237358093},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21115905046463013},{"id":"https://openalex.org/keywords/composite-material","display_name":"Composite material","score":0.20143264532089233},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16111505031585693},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1244615912437439}],"concepts":[{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.8574956655502319},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.8219996690750122},{"id":"https://openalex.org/C175291020","wikidata":"https://www.wikidata.org/wiki/Q1156822","display_name":"Offset (computer science)","level":2,"score":0.6789585947990417},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.5429021120071411},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.5066877007484436},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4896426796913147},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.4508204758167267},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.424270361661911},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.36081230640411377},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.32431337237358093},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21115905046463013},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.20143264532089233},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16111505031585693},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1244615912437439},{"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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":3,"locations":[{"id":"doi:10.1109/tie.2019.2918500","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2019.2918500","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:elib.dlr.de:132728","is_oa":false,"landing_page_url":"https://doi.org/10.1109/TIE.2019.2918500>.","pdf_url":null,"source":{"id":"https://openalex.org/S4377196266","display_name":"elib (German Aerospace Center)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2898391981","host_organization_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","host_organization_lineage":["https://openalex.org/I2898391981"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"PeerReviewed"},{"id":"pmh:oai:eprints.uwe.ac.uk:40743","is_oa":true,"landing_page_url":"http://eprints.uwe.ac.uk/40743/1/ALL_xx-TIE-xxxx.pdf","pdf_url":null,"source":{"id":"https://openalex.org/S4306401464","display_name":"UWE Research Repository (UWE Bristol)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I178535277","host_organization_name":"University of the West of England","host_organization_lineage":["https://openalex.org/I178535277"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article"}],"best_oa_location":{"id":"pmh:oai:eprints.uwe.ac.uk:40743","is_oa":true,"landing_page_url":"http://eprints.uwe.ac.uk/40743/1/ALL_xx-TIE-xxxx.pdf","pdf_url":null,"source":{"id":"https://openalex.org/S4306401464","display_name":"UWE Research Repository (UWE Bristol)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I178535277","host_organization_name":"University of the West of England","host_organization_lineage":["https://openalex.org/I178535277"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article"},"sustainable_development_goals":[{"display_name":"Reduced inequalities","score":0.6700000166893005,"id":"https://metadata.un.org/sdg/10"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321681","display_name":"Ministry of Trade, Industry and Energy","ror":"https://ror.org/008nkqk13"},{"id":"https://openalex.org/F4320322120","display_name":"National Research Foundation of Korea","ror":"https://ror.org/013aysd81"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1515056303","https://openalex.org/W1545137321","https://openalex.org/W1562573538","https://openalex.org/W1984343324","https://openalex.org/W1994576715","https://openalex.org/W2033001785","https://openalex.org/W2091354492","https://openalex.org/W2094933147","https://openalex.org/W2144415816","https://openalex.org/W2150207874","https://openalex.org/W2163937441","https://openalex.org/W2288921814","https://openalex.org/W2573990343","https://openalex.org/W2626609912","https://openalex.org/W2739970940","https://openalex.org/W2740167173","https://openalex.org/W2836867330","https://openalex.org/W2915026042","https://openalex.org/W4214690803","https://openalex.org/W4239181501","https://openalex.org/W4285719527","https://openalex.org/W6732731744","https://openalex.org/W6738996189"],"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/W2731583012","https://openalex.org/W2116848172","https://openalex.org/W28635375"],"abstract_inverted_index":{"There":[0],"have":[1,6,163],"been":[2,7,40],"numerous":[3],"approaches":[4],"that":[5,151],"proposed":[8,86],"to":[9,48,72,88,93,103,144,157,162,168],"enlarge":[10],"the":[11,22,45,55,63,73,85,106,110,122,152,160],"impedance":[12,64],"range":[13,65],"of":[14,24,91,113,154,183],"haptic":[15,25],"interaction":[16,26],"while":[17,27],"maintaining":[18,28],"stability.":[19],"However,":[20],"enhancing":[21],"rate-hardness":[23,38,107,142,155],"stability":[29],"is":[30],"still":[31],"a":[32,68,79,136,164,173],"challenging":[33],"issue.":[34],"The":[35],"actual":[36],"perceived":[37],"has":[39],"much":[41,137],"lower":[42],"than":[43],"what":[44],"users":[46],"expect":[47],"feel.":[49],"In":[50],"this":[51],"paper,":[52],"we":[53],"propose":[54],"successive":[56],"force":[57,70,76,119],"augmentation":[58],"(SFA)":[59],"approach,":[60],"which":[61],"increases":[62],"by":[66,108,126],"adding":[67],"feed-forward":[69],"offset":[71],"state-dependent":[74],"feedback":[75,118],"rendered":[77],"using":[78,109],"low":[80],"stiffness":[81,90,116,140],"value.":[82],"This":[83],"allows":[84],"approach":[87],"display":[89],"up":[92],"10":[94],"N/mm":[95],"with":[96,172],"Phantom":[97],"Premium":[98],"1.5.":[99],"It":[100],"was":[101],"possible":[102],"further":[104],"enhance":[105],"original":[111],"value":[112],"virtual":[114,133,174,181],"environment":[115,134],"for":[117,131],"calculation":[120],"during":[121],"transient":[123],"response":[124],"followed":[125],"normal":[127],"SFA.":[128],"Experimental":[129],"evaluation":[130],"multi-DoF":[132],"exhibited":[135],"higher":[138],"displayed":[139],"and":[141,176],"compared":[143],"conventional":[145],"approaches.":[146],"Two":[147],"user":[148],"studies":[149],"revealed":[150],"increase":[153],"due":[156],"SFA":[158],"allowed":[159],"participants":[161],"faster":[165],"reaction":[166],"time":[167],"an":[169],"unexpected":[170],"collision":[171],"wall":[175],"accurately":[177],"discriminate":[178],"between":[179],"four":[180],"walls":[182],"different":[184],"stiffness.":[185]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
