{"id":"https://openalex.org/W2999140257","doi":"https://doi.org/10.1109/toh.2020.2967694","title":"VnStylus: A Haptic Stylus With Variable Tip Compliance","display_name":"VnStylus: A Haptic Stylus With Variable Tip Compliance","publication_year":2020,"publication_date":"2020-01-17","ids":{"openalex":"https://openalex.org/W2999140257","doi":"https://doi.org/10.1109/toh.2020.2967694","mag":"2999140257","pmid":"https://pubmed.ncbi.nlm.nih.gov/31976909"},"language":"en","primary_location":{"id":"doi:10.1109/toh.2020.2967694","is_oa":false,"landing_page_url":"https://doi.org/10.1109/toh.2020.2967694","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/A5028686782","display_name":"\u00d6zdemir Can Kara","orcid":"https://orcid.org/0000-0003-3717-2570"},"institutions":[{"id":"https://openalex.org/I134235054","display_name":"Sabanc\u0131 \u00dcniversitesi","ror":"https://ror.org/049asqa32","country_code":"TR","type":"education","lineage":["https://openalex.org/I134235054"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"Ozdemir Can Kara","raw_affiliation_strings":["Faculty of Engineering and Natural Sciences, Sabanci University, Istanbul, Turkey"],"raw_orcid":"https://orcid.org/0000-0003-3717-2570","affiliations":[{"raw_affiliation_string":"Faculty of Engineering and Natural Sciences, Sabanci University, Istanbul, Turkey","institution_ids":["https://openalex.org/I134235054"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5017793258","display_name":"Volkan Pato\u011flu","orcid":"https://orcid.org/0000-0001-6644-3937"},"institutions":[{"id":"https://openalex.org/I134235054","display_name":"Sabanc\u0131 \u00dcniversitesi","ror":"https://ror.org/049asqa32","country_code":"TR","type":"education","lineage":["https://openalex.org/I134235054"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"Volkan Patoglu","raw_affiliation_strings":["Faculty of Engineering and Natural Sciences, Sabanci University, Istanbul, Turkey"],"raw_orcid":"https://orcid.org/0000-0001-6644-3937","affiliations":[{"raw_affiliation_string":"Faculty of Engineering and Natural Sciences, Sabanci University, Istanbul, Turkey","institution_ids":["https://openalex.org/I134235054"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I134235054"],"apc_list":null,"apc_paid":null,"fwci":0.3963,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.5370614,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"13","issue":"4","first_page":"777","last_page":"790"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10914","display_name":"Tactile and Sensory Interactions","score":0.9983999729156494,"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":0.9983999729156494,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9965999722480774,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9959999918937683,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/stylus","display_name":"Stylus","score":0.9282767176628113},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.8126619458198547},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.5127752423286438},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.47480693459510803},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4689618647098541},{"id":"https://openalex.org/keywords/bending-stiffness","display_name":"Bending stiffness","score":0.4321897625923157},{"id":"https://openalex.org/keywords/modulation","display_name":"Modulation (music)","score":0.4303544759750366},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.40011560916900635},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3286604881286621},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.24856874346733093},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.1976492702960968},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.17574962973594666},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.15867289900779724},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11919653415679932}],"concepts":[{"id":"https://openalex.org/C164086593","wikidata":"https://www.wikidata.org/wiki/Q1227035","display_name":"Stylus","level":2,"score":0.9282767176628113},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.8126619458198547},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.5127752423286438},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.47480693459510803},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4689618647098541},{"id":"https://openalex.org/C128172907","wikidata":"https://www.wikidata.org/wiki/Q4887116","display_name":"Bending stiffness","level":3,"score":0.4321897625923157},{"id":"https://openalex.org/C123079801","wikidata":"https://www.wikidata.org/wiki/Q750240","display_name":"Modulation (music)","level":2,"score":0.4303544759750366},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.40011560916900635},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3286604881286621},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.24856874346733093},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.1976492702960968},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.17574962973594666},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.15867289900779724},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11919653415679932}],"mesh":[{"descriptor_ui":"D004867","descriptor_name":"Equipment Design","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D004867","descriptor_name":"Equipment Design","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D004867","descriptor_name":"Equipment Design","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":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D008962","descriptor_name":"Models, Theoretical","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D008962","descriptor_name":"Models, Theoretical","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D008962","descriptor_name":"Models, Theoretical","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D017097","descriptor_name":"Electric Impedance","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D017097","descriptor_name":"Electric Impedance","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D017097","descriptor_name":"Electric Impedance","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D017276","descriptor_name":"Friction","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D017276","descriptor_name":"Friction","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D017276","descriptor_name":"Friction","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false}],"locations_count":4,"locations":[{"id":"doi:10.1109/toh.2020.2967694","is_oa":false,"landing_page_url":"https://doi.org/10.1109/toh.2020.2967694","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:31976909","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/31976909","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:research.sabanciuniv.edu:40871","is_oa":false,"landing_page_url":"http://research.sabanciuniv.edu/40871/","pdf_url":null,"source":{"id":"https://openalex.org/S4306402254","display_name":"Sabanci University","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I134235054","host_organization_name":"Sabanc\u0131 \u00dcniversitesi","host_organization_lineage":["https://openalex.org/I134235054"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article"},{"id":"pmh:oai:research.sabanciuniv.edu:43110","is_oa":false,"landing_page_url":"https://research.sabanciuniv.edu/id/eprint/43110/","pdf_url":null,"source":{"id":"https://openalex.org/S4306402254","display_name":"Sabanci University","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I134235054","host_organization_name":"Sabanc\u0131 \u00dcniversitesi","host_organization_lineage":["https://openalex.org/I134235054"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.9100000262260437,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":65,"referenced_works":["https://openalex.org/W1492704411","https://openalex.org/W1529008701","https://openalex.org/W1572638711","https://openalex.org/W1578038264","https://openalex.org/W1655329207","https://openalex.org/W1823472380","https://openalex.org/W1967377907","https://openalex.org/W1973557810","https://openalex.org/W1979852806","https://openalex.org/W1991182309","https://openalex.org/W2003188298","https://openalex.org/W2006199627","https://openalex.org/W2017239762","https://openalex.org/W2017514441","https://openalex.org/W2021455339","https://openalex.org/W2035249057","https://openalex.org/W2041737075","https://openalex.org/W2054148274","https://openalex.org/W2058563472","https://openalex.org/W2073681111","https://openalex.org/W2076598966","https://openalex.org/W2080638318","https://openalex.org/W2096178249","https://openalex.org/W2096816790","https://openalex.org/W2105941634","https://openalex.org/W2107967489","https://openalex.org/W2111578317","https://openalex.org/W2111609166","https://openalex.org/W2113899190","https://openalex.org/W2115406409","https://openalex.org/W2128137193","https://openalex.org/W2128935791","https://openalex.org/W2131106602","https://openalex.org/W2131326336","https://openalex.org/W2131404784","https://openalex.org/W2134505938","https://openalex.org/W2140543225","https://openalex.org/W2146448465","https://openalex.org/W2147189016","https://openalex.org/W2153366512","https://openalex.org/W2162659096","https://openalex.org/W2169100281","https://openalex.org/W2202494772","https://openalex.org/W2241300932","https://openalex.org/W2294099504","https://openalex.org/W2415529945","https://openalex.org/W2475997442","https://openalex.org/W2490168164","https://openalex.org/W2538577440","https://openalex.org/W2548966129","https://openalex.org/W2610283430","https://openalex.org/W2739258182","https://openalex.org/W2781761215","https://openalex.org/W2802031223","https://openalex.org/W2809126097","https://openalex.org/W2981873899","https://openalex.org/W2982015165","https://openalex.org/W3001115386","https://openalex.org/W4288089054","https://openalex.org/W4297803499","https://openalex.org/W6631617743","https://openalex.org/W6674656577","https://openalex.org/W6676539191","https://openalex.org/W6769797794","https://openalex.org/W6769805119"],"related_works":["https://openalex.org/W1514950410","https://openalex.org/W4310506326","https://openalex.org/W2047065129","https://openalex.org/W2401480642","https://openalex.org/W3022681545","https://openalex.org/W2484086337","https://openalex.org/W2072361192","https://openalex.org/W2499398221","https://openalex.org/W2365121631","https://openalex.org/W2076571966"],"abstract_inverted_index":{"Variable":[0],"stiffness":[1,47,57,67,74,101,107,162,174,191],"tools":[2],"have":[3],"been":[4],"shown":[5],"to":[6,110],"be":[7,79,166],"advantageous":[8,70],"for":[9,71,98,104],"ensuring":[10],"safety":[11],"and":[12,17,34,96,123,153,168],"improving":[13],"stability,":[14],"dynamic":[15],"performance":[16,194],"energy":[18],"efficiency":[19],"of":[20,37,49,59,65,90,129,161,171,176,184,187],"interaction":[21],"tasks.":[22],"In":[23],"this":[24],"article,":[25],"we":[26],"present":[27],"the":[28,50,88,115,121,124,139,158,169,172,177,185,188],"design,":[29],"mathematical":[30],"modeling,":[31],"implementation,":[32],"characterization":[33],"user":[35],"evaluations":[36],"VnStylus,":[38],"a":[39,72,82,135],"stylus":[40,51,190],"with":[41,199],"hardware-based":[42,112],"tip":[43,52],"compliance":[44],"modulation.":[45],"The":[46],"modulation":[48,163],"is":[53,69,149],"achieved":[54,167],"through":[55],"transverse":[56],"variations":[58],"axially":[60],"loaded":[61],"beams.":[62],"This":[63],"approach":[64],"mechanically-controlled":[66],"variation":[68],"variable":[73],"stylus,":[75],"as":[76],"it":[77],"can":[78,165],"implemented":[80],"using":[81],"fully":[83],"compliant":[84],"mechanism":[85],"that":[86,164],"alleviates":[87],"problem":[89],"friction":[91],"forces":[92],"dominating":[93],"under":[94],"miniaturization":[95],"allows":[97],"high":[99],"fidelity":[100],"display":[102],"even":[103],"very":[105],"low":[106,151],"values.":[108],"Thanks":[109],"its":[111],"impedance":[113,126,131],"modulation,":[114],"device":[116,140],"does":[117,141],"not":[118,142],"suffer":[119],"from":[120],"bandwidth":[122],"stable":[125],"rendering":[127],"limitations":[128],"software-based":[130],"control":[132],"strategies.":[133],"Featuring":[134],"manual":[136],"adjustment":[137],"mechanism,":[138],"necessitate":[143],"actuators,":[144],"sensor":[145],"or":[146],"electronics;":[147],"hence,":[148],"lightweight,":[150],"cost,":[152],"robust.":[154],"Experimental":[155],"characterizations":[156],"verify":[157],"large":[159],"range":[160],"accuracy":[170],"equivalent":[173],"model":[175],"system.":[178],"Human":[179],"subject":[180],"experiments":[181],"provide":[182],"evidence":[183],"efficacy":[186],"modulated":[189],"on":[192],"human":[193],"during":[195],"several":[196],"common":[197],"interactions":[198],"styli.":[200]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1}],"updated_date":"2026-07-29T09:40:50.615796","created_date":"2025-10-10T00:00:00"}