{"id":"https://openalex.org/W4282941302","doi":"https://doi.org/10.1109/toh.2022.3178426","title":"Chattering-Free Time Domain Passivity Approach","display_name":"Chattering-Free Time Domain Passivity Approach","publication_year":2022,"publication_date":"2022-05-27","ids":{"openalex":"https://openalex.org/W4282941302","doi":"https://doi.org/10.1109/toh.2022.3178426","pmid":"https://pubmed.ncbi.nlm.nih.gov/35622789"},"language":"en","primary_location":{"id":"doi:10.1109/toh.2022.3178426","is_oa":false,"landing_page_url":"https://doi.org/10.1109/toh.2022.3178426","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/A5101583272","display_name":"Hyeonseok Choi","orcid":"https://orcid.org/0000-0002-6881-4356"},"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"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Hyeonseok Choi","raw_affiliation_strings":["Department of Civil and Environmental Engineering, Korea Advanced Institute of Science and Technology, Daejeon, South Korea"],"affiliations":[{"raw_affiliation_string":"Department of Civil and Environmental Engineering, Korea Advanced Institute of Science and Technology, Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071216935","display_name":"Ribin Balachandran","orcid":"https://orcid.org/0000-0002-7560-471X"},"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":"Ribin Balachandran","raw_affiliation_strings":["Department for Analysis and Control of Advanced Robotic Systems, German Aerospace Center, Wessling, Germany"],"affiliations":[{"raw_affiliation_string":"Department for Analysis and Control of Advanced Robotic Systems, German Aerospace Center, Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"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/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"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jee-Hwan Ryu","raw_affiliation_strings":["Department of Civil and Environmental Engineering, Korea Advanced Institute of Science and Technology, Daejeon, South Korea"],"affiliations":[{"raw_affiliation_string":"Department of Civil and Environmental Engineering, Korea Advanced Institute of Science and Technology, Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5101583272"],"corresponding_institution_ids":["https://openalex.org/I157485424"],"apc_list":null,"apc_paid":null,"fwci":1.1913,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.74938024,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":98},"biblio":{"volume":"15","issue":"3","first_page":"572","last_page":"581"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9979000091552734,"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":0.9979000091552734,"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":0.9955999851226807,"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/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9649999737739563,"subfield":{"id":"https://openalex.org/subfields/2742","display_name":"Rehabilitation"},"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":0.8833290338516235},{"id":"https://openalex.org/keywords/passivity","display_name":"Passivity","score":0.8371806740760803},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6500204801559448},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6351121664047241},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.5947312712669373},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4105282425880432},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3693997263908386},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2772451639175415},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2281123399734497},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1903122067451477},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11651080846786499}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.8833290338516235},{"id":"https://openalex.org/C2778809601","wikidata":"https://www.wikidata.org/wiki/Q1045736","display_name":"Passivity","level":2,"score":0.8371806740760803},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6500204801559448},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6351121664047241},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.5947312712669373},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4105282425880432},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3693997263908386},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2772451639175415},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2281123399734497},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1903122067451477},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11651080846786499},{"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/toh.2022.3178426","is_oa":false,"landing_page_url":"https://doi.org/10.1109/toh.2022.3178426","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:35622789","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/35622789","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:elib.dlr.de:189588","is_oa":false,"landing_page_url":"https://doi.org/10.1109/TOH.2022.3178426>.","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"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5,"display_name":"Partnerships for the goals","id":"https://metadata.un.org/sdg/17"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320322033","display_name":"Ministry of Agriculture, Food and Rural Affairs","ror":"https://ror.org/009g8rq41"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W53978591","https://openalex.org/W1978822924","https://openalex.org/W1984453504","https://openalex.org/W2003137624","https://openalex.org/W2014317256","https://openalex.org/W2023364838","https://openalex.org/W2028720893","https://openalex.org/W2095477585","https://openalex.org/W2098393146","https://openalex.org/W2099914424","https://openalex.org/W2117417783","https://openalex.org/W2125137771","https://openalex.org/W2153631465","https://openalex.org/W2167139680","https://openalex.org/W2419152648","https://openalex.org/W2560970536","https://openalex.org/W2735902434","https://openalex.org/W4214690803"],"related_works":["https://openalex.org/W2090171584","https://openalex.org/W2141321389","https://openalex.org/W2126456812","https://openalex.org/W2099914424","https://openalex.org/W2063905323","https://openalex.org/W3207600904","https://openalex.org/W3080989239","https://openalex.org/W2914607567","https://openalex.org/W2017331141","https://openalex.org/W1969993920"],"abstract_inverted_index":{"The":[0,115],"time-domain":[1],"passivity":[2,21],"approach":[3],"(TDPA)":[4],"has":[5],"gained":[6],"considerable":[7],"attention":[8],"(even":[9],"beyond":[10],"the":[11,32,68,78,81,96,100,107,120,134,140],"fields":[12],"of":[13,35,80,99,119],"haptics":[14],"and":[15,30,117,142],"teleoperation)":[16],"because":[17],"it":[18],"can":[19,137],"ensure":[20],"while":[22,83,109],"maintaining":[23,110],"high":[24],"system":[25],"performance.":[26],"Despite":[27],"its":[28,41,86],"simplicity":[29],"effectiveness,":[31],"practical":[33],"applications":[34],"this":[36,56],"method":[37,75,122,136],"are":[38,123],"limited":[39],"by":[40],"high-frequency":[42],"force":[43],"modification,":[44],"so-called":[45],"chattering.":[46],"Virtual":[47],"mass-spring":[48],"(VMS)":[49],"filters":[50],"have":[51],"been":[52],"proposed":[53,121,135],"to":[54,67,76,105],"overcome":[55],"limitation.":[57],"However,":[58],"such":[59],"approaches":[60],"also":[61,84],"suffer":[62],"from":[63],"certain":[64],"limitations":[65],"attributable":[66],"distorted":[69],"forces.":[70],"Herein,":[71],"we":[72],"propose":[73],"a":[74,90,111,126],"mitigate":[77],"chattering":[79,108],"TDPA,":[82],"retaining":[85],"merits.":[87],"We":[88,131],"introduce":[89],"non-zero":[91],"velocity":[92],"threshold,":[93],"within":[94],"which":[95],"adaptive":[97],"damping":[98],"TDPA":[101],"is":[102],"scaled":[103],"down,":[104],"attenuate":[106],"stable":[112],"response":[113],"significantly.":[114],"feasibility":[116],"effectiveness":[118],"evaluated":[124],"using":[125],"time-delayed":[127],"bilateral":[128],"teleoperation":[129],"system.":[130],"confirm":[132],"that":[133],"significantly":[138],"outperform":[139],"conventional":[141],"VMS":[143],"filter-based":[144],"TDPAs.":[145]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":3}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
