{"id":"https://openalex.org/W2126590051","doi":"https://doi.org/10.1109/toh.2009.48","title":"Bounded-Impedance Absolute Stability of Bilateral Teleoperation Control Systems","display_name":"Bounded-Impedance Absolute Stability of Bilateral Teleoperation Control Systems","publication_year":2009,"publication_date":"2009-11-03","ids":{"openalex":"https://openalex.org/W2126590051","doi":"https://doi.org/10.1109/toh.2009.48","mag":"2126590051","pmid":"https://pubmed.ncbi.nlm.nih.gov/27788086"},"language":"en","primary_location":{"id":"doi:10.1109/toh.2009.48","is_oa":false,"landing_page_url":"https://doi.org/10.1109/toh.2009.48","pdf_url":null,"source":{"id":"https://openalex.org/S38993383","display_name":"IEEE Transactions on Haptics","issn_l":"1939-1412","issn":["1939-1412","2329-4051","2334-0134"],"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 Haptics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","pubmed"],"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/A5080981031","display_name":"Amir Haddadi","orcid":"https://orcid.org/0000-0002-1093-6203"},"institutions":[{"id":"https://openalex.org/I204722609","display_name":"Queen's University","ror":"https://ror.org/02y72wh86","country_code":"CA","type":"education","lineage":["https://openalex.org/I204722609"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"A. Haddadi","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Queen''s University, Kingston, ONT, Canada","Dept. of Electr. & Comput. Eng., Queen''s Univ., Kingston, ON, Canada"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Queen''s University, Kingston, ONT, Canada","institution_ids":["https://openalex.org/I204722609"]},{"raw_affiliation_string":"Dept. of Electr. & Comput. Eng., Queen''s Univ., Kingston, ON, Canada","institution_ids":["https://openalex.org/I204722609"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5005410852","display_name":"Keyvan Hashtrudi-Zaad","orcid":"https://orcid.org/0000-0003-3567-5430"},"institutions":[{"id":"https://openalex.org/I204722609","display_name":"Queen's University","ror":"https://ror.org/02y72wh86","country_code":"CA","type":"education","lineage":["https://openalex.org/I204722609"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"K. Hashtrudi-Zaad","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Queen''s University, Kingston, ONT, Canada","Dept. of Electr. & Comput. Eng., Queen''s Univ., Kingston, ON, Canada"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Queen''s University, Kingston, ONT, Canada","institution_ids":["https://openalex.org/I204722609"]},{"raw_affiliation_string":"Dept. of Electr. & Comput. Eng., Queen''s Univ., Kingston, ON, Canada","institution_ids":["https://openalex.org/I204722609"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5080981031"],"corresponding_institution_ids":["https://openalex.org/I204722609"],"apc_list":null,"apc_paid":null,"fwci":14.7193,"has_fulltext":false,"cited_by_count":97,"citation_normalized_percentile":{"value":0.99202276,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"3","issue":"1","first_page":"15","last_page":"27"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9998000264167786,"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":0.9998000264167786,"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/T13885","display_name":"Geophysics and Sensor Technology","score":0.9847999811172485,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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":0.8892644643783569},{"id":"https://openalex.org/keywords/passivity","display_name":"Passivity","score":0.7935442924499512},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7466449737548828},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.6806943416595459},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.5359690189361572},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.48153358697891235},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.41128450632095337},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2787743806838989},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2740786373615265},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.17834508419036865},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11871495842933655},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.08557567000389099}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.8892644643783569},{"id":"https://openalex.org/C2778809601","wikidata":"https://www.wikidata.org/wiki/Q1045736","display_name":"Passivity","level":2,"score":0.7935442924499512},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7466449737548828},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.6806943416595459},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.5359690189361572},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.48153358697891235},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.41128450632095337},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2787743806838989},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2740786373615265},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.17834508419036865},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11871495842933655},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.08557567000389099},{"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/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/toh.2009.48","is_oa":false,"landing_page_url":"https://doi.org/10.1109/toh.2009.48","pdf_url":null,"source":{"id":"https://openalex.org/S38993383","display_name":"IEEE Transactions on Haptics","issn_l":"1939-1412","issn":["1939-1412","2329-4051","2334-0134"],"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 Haptics","raw_type":"journal-article"},{"id":"pmid:27788086","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/27788086","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE transactions on haptics","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1550889029","https://openalex.org/W1967390389","https://openalex.org/W1974357213","https://openalex.org/W1992648685","https://openalex.org/W1994183344","https://openalex.org/W2001852229","https://openalex.org/W2010207966","https://openalex.org/W2024439876","https://openalex.org/W2070927739","https://openalex.org/W2081814343","https://openalex.org/W2085160992","https://openalex.org/W2099914424","https://openalex.org/W2105853760","https://openalex.org/W2118166401","https://openalex.org/W2120654179","https://openalex.org/W2120725765","https://openalex.org/W2128427010","https://openalex.org/W2129669049","https://openalex.org/W2130693052","https://openalex.org/W2135464393","https://openalex.org/W2141282574","https://openalex.org/W2561111412","https://openalex.org/W2798875205","https://openalex.org/W4248288458"],"related_works":["https://openalex.org/W2090171584","https://openalex.org/W2141321389","https://openalex.org/W2063905323","https://openalex.org/W2099914424","https://openalex.org/W2914607567","https://openalex.org/W3207600904","https://openalex.org/W2126456812","https://openalex.org/W4390338938","https://openalex.org/W2017331141","https://openalex.org/W1969993920"],"abstract_inverted_index":{"Available":[0],"passivity-based":[1],"robust":[2,42],"stability":[3,43,170,180,193],"methods":[4],"for":[5,21,69,79,109,128,202],"bilateral":[6,132,204],"teleoperation":[7,80],"control":[8,205],"systems":[9,68],"are":[10,137,148],"generally":[11],"conservative,":[12],"as":[13],"they":[14],"consider":[15],"an":[16,158],"unbounded":[17],"range":[18],"of":[19,24,50,103,131],"dynamics":[20,147],"the":[22,30,48,99,104,125,129,145,184],"class":[23],"passive":[25,105,118],"operators":[26],"and":[27,53,81,90,122,194],"environments":[28],"in":[29,66,76,176],"complex":[31,100],"plane.":[32],"In":[33],"this":[34,77],"paper,":[35],"we":[36],"introduce":[37],"a":[38,61,111,168,189],"powerful":[39],"3D":[40],"geometrical":[41,151],"analysis":[44,71],"method":[45,64,86,126,174,198],"based":[46],"on":[47,98],"notions":[49],"wave":[51],"variables":[52],"scattering":[54],"parameters.":[55],"The":[56,84,150,172,196],"methodology,":[57],"which":[58,110,162],"was":[59],"originally":[60],"2D":[62],"graphical":[63],"used":[65],"microwave":[67],"single-frequency":[70],"[1],":[72],"is":[73,120,199],"further":[74],"developed":[75],"paper":[78],"haptic":[82],"systems.":[83],"proposed":[85,173],"provides":[87],"both":[88],"mathematical":[89,160],"visual":[91],"aids":[92],"to":[93,116,183],"determine":[94],"bounds":[95,136],"or":[96,139],"regions":[97],"frequency":[101],"response":[102],"environment":[106,146],"impedance":[107],"parameters":[108],"potentially":[112],"unstable":[113],"system":[114],"connected":[115],"any":[117],"operator":[119],"stable,":[121],"vice-versa.":[123],"Furthermore,":[124],"allows":[127],"design":[130],"controllers":[133],"when":[134,144],"such":[135],"known,":[138],"can":[140,153,163],"even":[141],"be":[142,155,165],"utilized":[143],"active.":[149],"test":[152],"also":[154],"replaced":[156],"by":[157],"equivalent":[159],"condition,":[161],"easily":[164],"checked":[166],"via":[167],"new":[169,197],"parameter.":[171],"results":[175],"less":[177],"conservative":[178],"guaranteed":[179],"conditions":[181],"compared":[182],"Llewellyn's":[185],"criterion;":[186],"thus,":[187],"promising":[188],"better":[190],"compromise":[191],"between":[192],"performance.":[195],"numerically":[200],"evaluated":[201],"two":[203],"architectures.":[206]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":7},{"year":2016,"cited_by_count":6},{"year":2015,"cited_by_count":12},{"year":2014,"cited_by_count":15},{"year":2013,"cited_by_count":10},{"year":2012,"cited_by_count":13}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
