{"id":"https://openalex.org/W2561042675","doi":"https://doi.org/10.1109/toh.2016.2640291","title":"A 3-RSR Haptic Wearable Device for Rendering Fingertip Contact Forces","display_name":"A 3-RSR Haptic Wearable Device for Rendering Fingertip Contact Forces","publication_year":2016,"publication_date":"2016-12-17","ids":{"openalex":"https://openalex.org/W2561042675","doi":"https://doi.org/10.1109/toh.2016.2640291","mag":"2561042675","pmid":"https://pubmed.ncbi.nlm.nih.gov/28113306"},"language":"en","primary_location":{"id":"doi:10.1109/toh.2016.2640291","is_oa":false,"landing_page_url":"https://doi.org/10.1109/toh.2016.2640291","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/A5041878402","display_name":"Daniele Leonardis","orcid":"https://orcid.org/0000-0002-9868-5524"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Daniele Leonardis","raw_affiliation_strings":["Perceptual Robotics Laboratory, Scuola Superiore Sant\u2019Anna, Pisa, PI, Italy"],"affiliations":[{"raw_affiliation_string":"Perceptual Robotics Laboratory, Scuola Superiore Sant\u2019Anna, Pisa, PI, Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089138290","display_name":"Massimiliano Solazzi","orcid":"https://orcid.org/0000-0002-9053-2814"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Massimiliano Solazzi","raw_affiliation_strings":["Perceptual Robotics Laboratory, Scuola Superiore Sant\u2019Anna, Pisa, PI, Italy"],"affiliations":[{"raw_affiliation_string":"Perceptual Robotics Laboratory, Scuola Superiore Sant\u2019Anna, Pisa, PI, Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065276541","display_name":"Ilaria Bortone","orcid":"https://orcid.org/0000-0002-4767-5334"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Ilaria Bortone","raw_affiliation_strings":["Perceptual Robotics Laboratory, Scuola Superiore Sant\u2019Anna, Pisa, PI, Italy"],"affiliations":[{"raw_affiliation_string":"Perceptual Robotics Laboratory, Scuola Superiore Sant\u2019Anna, Pisa, PI, Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5090204404","display_name":"Antonio Frisoli","orcid":"https://orcid.org/0000-0002-7126-4113"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Antonio Frisoli","raw_affiliation_strings":["Perceptual Robotics Laboratory, Scuola Superiore Sant\u2019Anna, Pisa, PI, Italy"],"affiliations":[{"raw_affiliation_string":"Perceptual Robotics Laboratory, Scuola Superiore Sant\u2019Anna, Pisa, PI, Italy","institution_ids":["https://openalex.org/I162290304"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5041878402"],"corresponding_institution_ids":["https://openalex.org/I162290304"],"apc_list":null,"apc_paid":null,"fwci":5.9516,"has_fulltext":false,"cited_by_count":107,"citation_normalized_percentile":{"value":0.96934072,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":"10","issue":"3","first_page":"305","last_page":"316"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"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"}},"topics":[{"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9988999962806702,"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/T10648","display_name":"Virtual Reality Applications and Impacts","score":0.9973000288009644,"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":0.7935692071914673},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.753467321395874},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.626123309135437},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.5938293933868408},{"id":"https://openalex.org/keywords/wearable-computer","display_name":"Wearable computer","score":0.5464325547218323},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5421733260154724},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.4891948699951172},{"id":"https://openalex.org/keywords/revolute-joint","display_name":"Revolute joint","score":0.4756048619747162},{"id":"https://openalex.org/keywords/rendering","display_name":"Rendering (computer graphics)","score":0.46008753776550293},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3568490743637085},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.33921384811401367},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2717585265636444},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.19836291670799255},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12519881129264832}],"concepts":[{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.7935692071914673},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.753467321395874},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.626123309135437},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.5938293933868408},{"id":"https://openalex.org/C150594956","wikidata":"https://www.wikidata.org/wiki/Q1334829","display_name":"Wearable computer","level":2,"score":0.5464325547218323},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5421733260154724},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.4891948699951172},{"id":"https://openalex.org/C5643039","wikidata":"https://www.wikidata.org/wiki/Q3819341","display_name":"Revolute joint","level":3,"score":0.4756048619747162},{"id":"https://openalex.org/C205711294","wikidata":"https://www.wikidata.org/wiki/Q176953","display_name":"Rendering (computer graphics)","level":2,"score":0.46008753776550293},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3568490743637085},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.33921384811401367},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2717585265636444},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.19836291670799255},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12519881129264832},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","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}],"mesh":[{"descriptor_ui":"D000076251","descriptor_name":"Wearable Electronic Devices","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D000076251","descriptor_name":"Wearable Electronic Devices","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D000076251","descriptor_name":"Wearable Electronic Devices","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D000328","descriptor_name":"Adult","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000328","descriptor_name":"Adult","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000328","descriptor_name":"Adult","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D001696","descriptor_name":"Biomechanical Phenomena","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D001696","descriptor_name":"Biomechanical Phenomena","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D001696","descriptor_name":"Biomechanical Phenomena","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D005260","descriptor_name":"Female","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D005260","descriptor_name":"Female","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D005260","descriptor_name":"Female","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D005385","descriptor_name":"Fingers","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D005385","descriptor_name":"Fingers","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D005385","descriptor_name":"Fingers","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D008297","descriptor_name":"Male","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D008297","descriptor_name":"Male","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D008297","descriptor_name":"Male","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D055698","descriptor_name":"Touch Perception","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D055698","descriptor_name":"Touch Perception","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D055698","descriptor_name":"Touch Perception","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D056228","descriptor_name":"Feedback, Sensory","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D056228","descriptor_name":"Feedback, Sensory","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D056228","descriptor_name":"Feedback, Sensory","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false}],"locations_count":3,"locations":[{"id":"doi:10.1109/toh.2016.2640291","is_oa":false,"landing_page_url":"https://doi.org/10.1109/toh.2016.2640291","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:28113306","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/28113306","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},{"id":"pmh:oai:www.iris.sssup.it:11382/514937","is_oa":false,"landing_page_url":"http://hdl.handle.net/11382/514937","pdf_url":null,"source":{"id":"https://openalex.org/S4377196376","display_name":"CINECA IRIS Institutional Research Information System (Sant'Anna School of Advanced Studies)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I162290304","host_organization_name":"Scuola Superiore Sant'Anna","host_organization_lineage":["https://openalex.org/I162290304"],"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"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5299999713897705,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"},{"score":0.41999998688697815,"display_name":"Reduced inequalities","id":"https://metadata.un.org/sdg/10"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W1256870269","https://openalex.org/W1485633210","https://openalex.org/W1561772885","https://openalex.org/W1898175507","https://openalex.org/W1975986480","https://openalex.org/W1978512749","https://openalex.org/W1990891740","https://openalex.org/W1996264022","https://openalex.org/W1996470592","https://openalex.org/W2022630347","https://openalex.org/W2023659027","https://openalex.org/W2030898082","https://openalex.org/W2051066568","https://openalex.org/W2051127009","https://openalex.org/W2052274174","https://openalex.org/W2061696957","https://openalex.org/W2070328658","https://openalex.org/W2073409490","https://openalex.org/W2075583668","https://openalex.org/W2076357536","https://openalex.org/W2081518873","https://openalex.org/W2092168362","https://openalex.org/W2103495837","https://openalex.org/W2106250937","https://openalex.org/W2112418710","https://openalex.org/W2116189780","https://openalex.org/W2117292300","https://openalex.org/W2125068540","https://openalex.org/W2136757566","https://openalex.org/W2141393500","https://openalex.org/W2144571703","https://openalex.org/W2155729579","https://openalex.org/W2160250688","https://openalex.org/W2160509387","https://openalex.org/W3121386509","https://openalex.org/W4243166379","https://openalex.org/W6675783126"],"related_works":["https://openalex.org/W2186532640","https://openalex.org/W2129430446","https://openalex.org/W2247004253","https://openalex.org/W2344246810","https://openalex.org/W2163223579","https://openalex.org/W1506846563","https://openalex.org/W3040978121","https://openalex.org/W2890382661","https://openalex.org/W4383097442","https://openalex.org/W2561042675"],"abstract_inverted_index":{"A":[0,78],"novel":[1,37],"wearable":[2],"haptic":[3],"device":[4,54,136],"for":[5,81,94],"modulating":[6],"contact":[7,28],"forces":[8,16,157,180],"at":[9],"the":[10,50,65,83,96,133,143,146,168,182,191],"fingertip":[11],"is":[12,87],"presented.":[13],"Rendering":[14],"of":[15,23,49,64,104,112,132,145],"by":[17],"skin":[18],"deformation":[19,63],"in":[20,67,91,109,125,158,167],"three":[21,39,68],"degrees":[22],"freedom":[24],"(DoF),":[25],"with":[26,46,73,152,164,187],"contact-no":[27],"capabilities,":[29],"was":[30,55,137,185],"implemented":[31,90],"through":[32],"rigid":[33],"parallel":[34],"kinematics.":[35],"The":[36,53,98,115,149],"asymmetrical":[38],"revolute-spherical-revolute":[40],"(3-RSR)":[41],"configuration":[42],"allowed":[43],"compact":[44],"dimensions":[45],"minimum":[47],"encumbrance":[48],"hand":[51],"workspace.":[52],"designed":[56],"to":[57,60,141],"render":[58],"constant":[59],"low":[61],"frequency":[62],"fingerpad":[66,106,134],"DoF,":[69],"combining":[70],"light":[71],"weight":[72],"relatively":[74],"high":[75],"output":[76],"forces.":[77],"differential":[79],"method":[80],"solving":[82],"non-trivial":[84],"inverse":[85],"kinematics":[86],"proposed":[88],"and":[89,139,193],"real":[92],"time":[93],"controlling":[95],"device.":[97],"first":[99],"experimental":[100,195],"activity":[101],"evaluated":[102,121,155],"discrimination":[103],"different":[105,165],"stretch":[107],"directions":[108],"a":[110,126,159],"group":[111],"five":[113],"subjects.":[114],"second":[116],"experiment,":[117],"enrolling":[118],"19":[119],"subjects,":[120],"cutaneous":[122,183],"feedback":[123,184],"provided":[124],"virtual":[127,147,160],"pick-and-place":[128],"manipulation":[129,170],"task.":[130,162],"Stiffness":[131],"plus":[135],"measured":[138],"used":[140],"calibrate":[142],"physics":[144],"environment.":[148],"third":[150],"experiment":[151],"10":[153],"subjects":[154],"interaction":[156,179],"lift-and-hold":[161],"Although":[163],"performance":[166],"two":[169],"experiments,":[171],"overall":[172],"results":[173],"show":[174],"that":[175],"participants":[176],"better":[177],"controlled":[178],"when":[181],"active,":[186],"significant":[188],"differences":[189],"between":[190],"visual":[192],"visuo-haptic":[194],"conditions.":[196]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":12},{"year":2023,"cited_by_count":11},{"year":2022,"cited_by_count":16},{"year":2021,"cited_by_count":9},{"year":2020,"cited_by_count":16},{"year":2019,"cited_by_count":15},{"year":2018,"cited_by_count":12},{"year":2017,"cited_by_count":9}],"updated_date":"2026-03-03T08:47:05.690250","created_date":"2025-10-10T00:00:00"}
