{"id":"https://openalex.org/W2090896547","doi":"https://doi.org/10.1109/vecims.2012.6273226","title":"iFeel6-BH1500: A large-scale 6-DOF haptic device","display_name":"iFeel6-BH1500: A large-scale 6-DOF haptic device","publication_year":2012,"publication_date":"2012-07-01","ids":{"openalex":"https://openalex.org/W2090896547","doi":"https://doi.org/10.1109/vecims.2012.6273226","mag":"2090896547"},"language":"en","primary_location":{"id":"doi:10.1109/vecims.2012.6273226","is_oa":false,"landing_page_url":"https://doi.org/10.1109/vecims.2012.6273226","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Virtual Environments Human-Computer Interfaces and Measurement Systems (VECIMS) Proceedings","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"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/A5020183585","display_name":"Zhongyuan Chen","orcid":"https://orcid.org/0000-0001-6887-2268"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhongyuan Chen","raw_affiliation_strings":["State Key Laboratory of Virtual Reality Technology and System, Beihang University, Beijing, China","State Key Laboratory of Virtual Reality Technology and System, Beihang University, 37th Xueyuan Road, Haidian District, 100191, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Virtual Reality Technology and System, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"State Key Laboratory of Virtual Reality Technology and System, Beihang University, 37th Xueyuan Road, Haidian District, 100191, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101471324","display_name":"Yuru Zhang","orcid":"https://orcid.org/0000-0003-2054-2483"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuru Zhang","raw_affiliation_strings":["State Key Laboratory of Virtual Reality Technology and System, Beihang University, Beijing, China","State Key Laboratory of Virtual Reality Technology and System, Beihang University, 37th Xueyuan Road, Haidian District, 100191, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Virtual Reality Technology and System, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"State Key Laboratory of Virtual Reality Technology and System, Beihang University, 37th Xueyuan Road, Haidian District, 100191, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007295700","display_name":"Dangxiao Wang","orcid":"https://orcid.org/0000-0002-3178-6494"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dangxiao Wang","raw_affiliation_strings":["State Key Laboratory of Virtual Reality Technology and System, Beihang University, Beijing, China","State Key Laboratory of Virtual Reality Technology and System, Beihang University, 37th Xueyuan Road, Haidian District, 100191, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Virtual Reality Technology and System, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"State Key Laboratory of Virtual Reality Technology and System, Beihang University, 37th Xueyuan Road, Haidian District, 100191, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027791629","display_name":"Chaobin Li","orcid":"https://orcid.org/0000-0001-7951-0350"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chaobin Li","raw_affiliation_strings":["State Key Laboratory of Virtual Reality Technology and System, Beihang University, Beijing, China","State Key Laboratory of Virtual Reality Technology and System, Beihang University, 37th Xueyuan Road, Haidian District, 100191, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Virtual Reality Technology and System, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"State Key Laboratory of Virtual Reality Technology and System, Beihang University, 37th Xueyuan Road, Haidian District, 100191, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5020613063","display_name":"Yaojun Zhang","orcid":"https://orcid.org/0000-0002-9752-4729"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yaojun Zhang","raw_affiliation_strings":["State Key Laboratory of Virtual Reality Technology and System, Beihang University, Beijing, China","State Key Laboratory of Virtual Reality Technology and System, Beihang University, 37th Xueyuan Road, Haidian District, 100191, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Virtual Reality Technology and System, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"State Key Laboratory of Virtual Reality Technology and System, Beihang University, 37th Xueyuan Road, Haidian District, 100191, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I82880672"],"apc_list":null,"apc_paid":null,"fwci":0.3889,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.66247379,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"37","issue":null,"first_page":"121","last_page":"125"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9976000189781189,"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"}},"topics":[{"id":"https://openalex.org/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9976000189781189,"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"}},{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9850999712944031,"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":0.9603000283241272,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.8460218906402588},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.7628592252731323},{"id":"https://openalex.org/keywords/statics","display_name":"Statics","score":0.7001165151596069},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.6645626425743103},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6496096253395081},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.5972498655319214},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5931090116500854},{"id":"https://openalex.org/keywords/tension","display_name":"Tension (geology)","score":0.5504869818687439},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4664689004421234},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.46283936500549316},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.33342182636260986},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.27571117877960205},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.16727671027183533},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.10065290331840515},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.07813626527786255},{"id":"https://openalex.org/keywords/compression","display_name":"Compression (physics)","score":0.07574349641799927},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.07110607624053955}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.8460218906402588},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.7628592252731323},{"id":"https://openalex.org/C35441770","wikidata":"https://www.wikidata.org/wiki/Q169019","display_name":"Statics","level":2,"score":0.7001165151596069},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.6645626425743103},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6496096253395081},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.5972498655319214},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5931090116500854},{"id":"https://openalex.org/C186068551","wikidata":"https://www.wikidata.org/wiki/Q13255585","display_name":"Tension (geology)","level":3,"score":0.5504869818687439},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4664689004421234},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.46283936500549316},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.33342182636260986},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.27571117877960205},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.16727671027183533},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.10065290331840515},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.07813626527786255},{"id":"https://openalex.org/C180016635","wikidata":"https://www.wikidata.org/wiki/Q2712821","display_name":"Compression (physics)","level":2,"score":0.07574349641799927},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.07110607624053955},{"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","level":1,"score":0.0},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/vecims.2012.6273226","is_oa":false,"landing_page_url":"https://doi.org/10.1109/vecims.2012.6273226","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Virtual Environments Human-Computer Interfaces and Measurement Systems (VECIMS) Proceedings","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W305219788","https://openalex.org/W1582799306","https://openalex.org/W2000094867","https://openalex.org/W2007301506","https://openalex.org/W2112867487","https://openalex.org/W2124780025","https://openalex.org/W2129580418","https://openalex.org/W2144627082","https://openalex.org/W2785856949","https://openalex.org/W6610798190","https://openalex.org/W6748192115"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2371519816","https://openalex.org/W2043154226","https://openalex.org/W2369529107","https://openalex.org/W2329043542","https://openalex.org/W2139993144","https://openalex.org/W2161214141","https://openalex.org/W2102645302","https://openalex.org/W2326117494","https://openalex.org/W1970280380"],"abstract_inverted_index":{"It":[0],"is":[1,32,61,79,102],"a":[2,6,10,17,26,35,74],"challenge":[3],"to":[4,81],"design":[5],"haptic":[7,28],"device":[8,29,60,135],"with":[9],"large":[11,138],"workspace,":[12,139],"high":[13,140],"stiffness":[14,141],"while":[15],"maintain":[16],"good":[18,88,143],"back":[19,89,144],"drivability.":[20,90,145],"In":[21],"this":[22],"paper,":[23],"we":[24],"present":[25],"large-scale":[27],"iFeel6BH1500,":[30],"which":[31],"based":[33],"on":[34],"cable-driven":[36],"parallel":[37],"mechanism":[38],"and":[39,55,70,125,142],"can":[40,136],"achieve":[41],"6":[42],"dimensional":[43],"force":[44],"feedback":[45],"by":[46,64,105],"controlling":[47],"the":[48,59,65,68,83,96,100,107,114,133],"tension":[49,84,97],"of":[50,58,67,76,99,116,122],"eight":[51],"cables.":[52],"The":[53,91,130],"components":[54],"working":[56],"principle":[57],"presented,":[62],"followed":[63],"analysis":[66],"statics":[69],"kinematic":[71],"models.":[72],"Moreover,":[73],"method":[75],"friction":[77,108],"compensation":[78],"proposed":[80,134],"decrease":[82],"error":[85,98],"for":[86,113,128],"achieving":[87],"measurement":[92],"results":[93],"show":[94,132],"that":[95],"cables":[101],"greatly":[103],"reduced":[104],"using":[106],"compensation.":[109],"Finally,":[110],"two":[111],"demos":[112,131],"application":[115],"iFeel6BH1500":[117],"are":[118],"presented:":[119],"virtual":[120,126],"assembly":[121],"aircraft":[123],"engine":[124],"shooting":[127],"entertainment.":[129],"provide":[137]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2014,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}