{"id":"https://openalex.org/W2116822311","doi":"https://doi.org/10.1109/tro.2011.2142430","title":"Bilateral Telemanipulation With Time Delays: A Two-Layer Approach Combining Passivity and Transparency","display_name":"Bilateral Telemanipulation With Time Delays: A Two-Layer Approach Combining Passivity and Transparency","publication_year":2011,"publication_date":"2011-06-10","ids":{"openalex":"https://openalex.org/W2116822311","doi":"https://doi.org/10.1109/tro.2011.2142430","mag":"2116822311"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2011.2142430","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2011.2142430","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"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 Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://research.utwente.nl/en/publications/95145950-0ce4-4267-aaf2-1f2efb902be1","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5017713392","display_name":"Michel Franken","orcid":null},"institutions":[{"id":"https://openalex.org/I94624287","display_name":"University of Twente","ror":"https://ror.org/006hf6230","country_code":"NL","type":"education","lineage":["https://openalex.org/I94624287"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Michel Franken","raw_affiliation_strings":["Institute for Biomedical Technology and Technical Medicine, Control Engineering Group, University of Twente, Enschede, Netherlands","Control Engineering group, University of Twente, Enschede, Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Biomedical Technology and Technical Medicine, Control Engineering Group, University of Twente, Enschede, Netherlands","institution_ids":["https://openalex.org/I94624287"]},{"raw_affiliation_string":"Control Engineering group, University of Twente, Enschede, Netherlands","institution_ids":["https://openalex.org/I94624287"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047812798","display_name":"Stefano Stramigioli","orcid":"https://orcid.org/0000-0001-8212-7387"},"institutions":[{"id":"https://openalex.org/I94624287","display_name":"University of Twente","ror":"https://ror.org/006hf6230","country_code":"NL","type":"education","lineage":["https://openalex.org/I94624287"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Stefano Stramigioli","raw_affiliation_strings":["Institute for Biomedical Technology and Technical Medicine, Control Engineering Group, University of Twente, Enschede, Netherlands","Control Engineering group, University of Twente, Enschede, Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Biomedical Technology and Technical Medicine, Control Engineering Group, University of Twente, Enschede, Netherlands","institution_ids":["https://openalex.org/I94624287"]},{"raw_affiliation_string":"Control Engineering group, University of Twente, Enschede, Netherlands","institution_ids":["https://openalex.org/I94624287"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050730423","display_name":"Sarthak Misra","orcid":"https://orcid.org/0000-0003-4961-0144"},"institutions":[{"id":"https://openalex.org/I94624287","display_name":"University of Twente","ror":"https://ror.org/006hf6230","country_code":"NL","type":"education","lineage":["https://openalex.org/I94624287"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Sarthak Misra","raw_affiliation_strings":["Institute for Biomedical Technology and Technical Medicine, Control Engineering Group, University of Twente, Enschede, Netherlands","Control Engineering group, University of Twente, Enschede, Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Biomedical Technology and Technical Medicine, Control Engineering Group, University of Twente, Enschede, Netherlands","institution_ids":["https://openalex.org/I94624287"]},{"raw_affiliation_string":"Control Engineering group, University of Twente, Enschede, Netherlands","institution_ids":["https://openalex.org/I94624287"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032100434","display_name":"Cristian Secchi","orcid":"https://orcid.org/0000-0002-2098-0099"},"institutions":[{"id":"https://openalex.org/I122346577","display_name":"University of Modena and Reggio Emilia","ror":"https://ror.org/02d4c4y02","country_code":"IT","type":"education","lineage":["https://openalex.org/I122346577"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Cristian Secchi","raw_affiliation_strings":["Department of Sciences and Methods of Engineering, University of Modena and Reggio Emilia and INFM, Reggio Emilia, Italy","Dept. of Sci. & Methods of Eng., Univ. of Modena & Reggio Emilia, Reggio Emilia, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Sciences and Methods of Engineering, University of Modena and Reggio Emilia and INFM, Reggio Emilia, Italy","institution_ids":["https://openalex.org/I122346577"]},{"raw_affiliation_string":"Dept. of Sci. & Methods of Eng., Univ. of Modena & Reggio Emilia, Reggio Emilia, Italy","institution_ids":["https://openalex.org/I122346577"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5049795832","display_name":"Alessandro Macchelli","orcid":"https://orcid.org/0000-0003-2258-9699"},"institutions":[{"id":"https://openalex.org/I9360294","display_name":"University of Bologna","ror":"https://ror.org/01111rn36","country_code":"IT","type":"education","lineage":["https://openalex.org/I9360294"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Alessandro Macchelli","raw_affiliation_strings":["Department of Electronics, Informatics and Systems, University of Bolgona, Bologna, Italy","Dept. of Electron., Inf. & Syst., Univ. of Bolgona, Bolgona, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electronics, Informatics and Systems, University of Bolgona, Bologna, Italy","institution_ids":["https://openalex.org/I9360294"]},{"raw_affiliation_string":"Dept. of Electron., Inf. & Syst., Univ. of Bolgona, Bolgona, Italy","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":2645,"currency":"USD","value_usd":2645},"apc_paid":null,"fwci":26.5259,"has_fulltext":true,"cited_by_count":282,"citation_normalized_percentile":{"value":0.99799577,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"27","issue":"4","first_page":"741","last_page":"756"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9998999834060669,"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":0.9998999834060669,"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/T10868","display_name":"Soft Robotics and Applications","score":0.939300000667572,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/passivity","display_name":"Passivity","score":0.8971186876296997},{"id":"https://openalex.org/keywords/transparency","display_name":"Transparency (behavior)","score":0.6820811033248901},{"id":"https://openalex.org/keywords/layer","display_name":"Layer (electronics)","score":0.6303703188896179},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6185443997383118},{"id":"https://openalex.org/keywords/channel","display_name":"Channel (broadcasting)","score":0.47491440176963806},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4577873945236206},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.44954484701156616},{"id":"https://openalex.org/keywords/energy","display_name":"Energy (signal processing)","score":0.4441138505935669},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4366244077682495},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3493478298187256},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.34892717003822327},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23504579067230225},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.2224004864692688},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.09912163019180298}],"concepts":[{"id":"https://openalex.org/C2778809601","wikidata":"https://www.wikidata.org/wiki/Q1045736","display_name":"Passivity","level":2,"score":0.8971186876296997},{"id":"https://openalex.org/C2780233690","wikidata":"https://www.wikidata.org/wiki/Q535347","display_name":"Transparency (behavior)","level":2,"score":0.6820811033248901},{"id":"https://openalex.org/C2779227376","wikidata":"https://www.wikidata.org/wiki/Q6505497","display_name":"Layer (electronics)","level":2,"score":0.6303703188896179},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6185443997383118},{"id":"https://openalex.org/C127162648","wikidata":"https://www.wikidata.org/wiki/Q16858953","display_name":"Channel (broadcasting)","level":2,"score":0.47491440176963806},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4577873945236206},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.44954484701156616},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.4441138505935669},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4366244077682495},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3493478298187256},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.34892717003822327},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23504579067230225},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.2224004864692688},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.09912163019180298},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"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/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C178790620","wikidata":"https://www.wikidata.org/wiki/Q11351","display_name":"Organic chemistry","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1109/tro.2011.2142430","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2011.2142430","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"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 Robotics","raw_type":"journal-article"},{"id":"pmh:oai:ris.utwente.nl:openaire/95145950-0ce4-4267-aaf2-1f2efb902be1","is_oa":true,"landing_page_url":"https://research.utwente.nl/en/publications/95145950-0ce4-4267-aaf2-1f2efb902be1","pdf_url":null,"source":{"id":"https://openalex.org/S4406922991","display_name":"University of Twente Research Information","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Franken, M C J, Stramigioli, S, Misra, S, Secchi, C & Macchelli, A 2011, 'Bilateral telemanipulation With time delays : a two-layer approach combining passivity and transparency', IEEE transactions on robotics, vol. 27, no. 4, pp. 741-756. https://doi.org/10.1109/TRO.2011.2142430","raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:cris.unibo.it:11585/104462","is_oa":false,"landing_page_url":"http://hdl.handle.net/11585/104462","pdf_url":null,"source":{"id":"https://openalex.org/S4306402579","display_name":"Archivio istituzionale della ricerca (Alma Mater Studiorum Universit\u00e0 di Bologna)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210117483","host_organization_name":"Istituto di Ematologia di Bologna","host_organization_lineage":["https://openalex.org/I4210117483"],"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"},{"id":"pmh:oai:iris.unimore.it:11380/738061","is_oa":true,"landing_page_url":"http://hdl.handle.net/11380/738061","pdf_url":null,"source":{"id":"https://openalex.org/S4306400718","display_name":"IRIS UNIMORE (University of Modena and Reggio Emilia)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I122346577","host_organization_name":"University of Modena and Reggio Emilia","host_organization_lineage":["https://openalex.org/I122346577"],"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":null,"raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:ris.utwente.nl:publications/95145950-0ce4-4267-aaf2-1f2efb902be1","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":""}],"best_oa_location":{"id":"pmh:oai:ris.utwente.nl:openaire/95145950-0ce4-4267-aaf2-1f2efb902be1","is_oa":true,"landing_page_url":"https://research.utwente.nl/en/publications/95145950-0ce4-4267-aaf2-1f2efb902be1","pdf_url":null,"source":{"id":"https://openalex.org/S4406922991","display_name":"University of Twente Research Information","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Franken, M C J, Stramigioli, S, Misra, S, Secchi, C & Macchelli, A 2011, 'Bilateral telemanipulation With time delays : a two-layer approach combining passivity and transparency', IEEE transactions on robotics, vol. 27, no. 4, pp. 741-756. https://doi.org/10.1109/TRO.2011.2142430","raw_type":"info:eu-repo/semantics/article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":47,"referenced_works":["https://openalex.org/W146858336","https://openalex.org/W1499117269","https://openalex.org/W1597447248","https://openalex.org/W1835291487","https://openalex.org/W1967390389","https://openalex.org/W1995349561","https://openalex.org/W2005505771","https://openalex.org/W2017280345","https://openalex.org/W2018906178","https://openalex.org/W2024439876","https://openalex.org/W2027171201","https://openalex.org/W2068829920","https://openalex.org/W2089940169","https://openalex.org/W2090972408","https://openalex.org/W2098393146","https://openalex.org/W2099914424","https://openalex.org/W2101089421","https://openalex.org/W2117206651","https://openalex.org/W2122110426","https://openalex.org/W2130693052","https://openalex.org/W2131554620","https://openalex.org/W2132837339","https://openalex.org/W2134927525","https://openalex.org/W2135464393","https://openalex.org/W2138947495","https://openalex.org/W2142034596","https://openalex.org/W2142380406","https://openalex.org/W2143226297","https://openalex.org/W2146632392","https://openalex.org/W2149925599","https://openalex.org/W2151316852","https://openalex.org/W2153631465","https://openalex.org/W2153681681","https://openalex.org/W2158261881","https://openalex.org/W2162569093","https://openalex.org/W2166083889","https://openalex.org/W2168676985","https://openalex.org/W2169130436","https://openalex.org/W2294887244","https://openalex.org/W2561111412","https://openalex.org/W4233255055","https://openalex.org/W4250047768","https://openalex.org/W4252590972","https://openalex.org/W6679618099","https://openalex.org/W6680473703","https://openalex.org/W6684494211","https://openalex.org/W6697278151"],"related_works":["https://openalex.org/W4239268637","https://openalex.org/W1977819874","https://openalex.org/W2952841825","https://openalex.org/W2051296765","https://openalex.org/W2960878236","https://openalex.org/W153449849","https://openalex.org/W2792365087","https://openalex.org/W4288558741","https://openalex.org/W4288281267","https://openalex.org/W3088040463"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"a":[3,55,83],"two-layer":[4],"approach":[5,38],"is":[6,51,71,105],"presented":[7],"to":[8,53,102],"guarantee":[9],"the":[10,18,40,59,63,90,93,111,115,127,131,138,165,168],"stable":[11],"behavior":[12],"of":[13,20,124,137,140,150,167],"bilateral":[14,77],"telemanipulation":[15],"systems":[16],"in":[17,82,130],"presence":[19],"time-varying":[21],"destabilizing":[22],"factors":[23],"such":[24],"as":[25],"hard":[26],"contacts,":[27],"relaxed":[28],"user":[29],"grasps,":[30],"stiff":[31],"control":[32,41],"settings,":[33],"and/or":[34],"communication":[35,87,132],"delays.":[36],"The":[37,47],"splits":[39],"architecture":[42],"into":[43],"two":[44],"separate":[45],"layers.":[46],"hierarchical":[48],"top":[49],"layer":[50,65,145],"used":[52],"implement":[54],"strategy":[56],"that":[57,67,75,99,153],"addresses":[58],"desired":[60,112],"transparency,":[61,143],"and":[62,95,142],"lower":[64],"ensures":[66],"no":[68],"\u201cvirtual\u201d":[69],"energy":[70,104],"generated.":[72],"This":[73],"means":[74],"any":[76,122,148],"controller":[78],"can":[79,146],"be":[80],"implemented":[81],"passive":[84],"manner.":[85],"Separate":[86],"channels":[88],"connect":[89],"layers":[91],"at":[92],"slave":[94],"master":[96],"sides":[97],"so":[98],"information":[100,109],"related":[101],"exchanged":[103],"completely":[106],"separated":[107],"from":[108],"about":[110,126],"behavior.":[113],"Furthermore,":[114],"proposed":[116,169],"implementation":[117],"does":[118],"not":[119],"depend":[120],"on":[121],"type":[123],"assumption":[125],"time":[128],"delay":[129],"channel.":[133],"By":[134],"complete":[135],"separation":[136],"properties":[139],"passivity":[141],"each":[144],"accommodate":[147],"number":[149],"different":[151],"implementations":[152],"allow":[154],"for":[155],"almost":[156],"independent":[157],"optimization.":[158],"Experimental":[159],"results":[160],"are":[161],"presented,":[162],"which":[163],"highlight":[164],"benefit":[166],"framework.":[170]},"counts_by_year":[{"year":2026,"cited_by_count":6},{"year":2025,"cited_by_count":15},{"year":2024,"cited_by_count":13},{"year":2023,"cited_by_count":10},{"year":2022,"cited_by_count":18},{"year":2021,"cited_by_count":28},{"year":2020,"cited_by_count":21},{"year":2019,"cited_by_count":26},{"year":2018,"cited_by_count":25},{"year":2017,"cited_by_count":15},{"year":2016,"cited_by_count":22},{"year":2015,"cited_by_count":28},{"year":2014,"cited_by_count":28},{"year":2013,"cited_by_count":18},{"year":2012,"cited_by_count":8}],"updated_date":"2026-09-02T18:50:13.731487","created_date":"2025-10-10T00:00:00"}
