{"id":"https://openalex.org/W2022323637","doi":"https://doi.org/10.1109/whc.2009.4810808","title":"An energy bounding approach for directional transparency in multiple degree-of-freedom haptic interaction","display_name":"An energy bounding approach for directional transparency in multiple degree-of-freedom haptic interaction","publication_year":2009,"publication_date":"2009-03-01","ids":{"openalex":"https://openalex.org/W2022323637","doi":"https://doi.org/10.1109/whc.2009.4810808","mag":"2022323637"},"language":"en","primary_location":{"id":"doi:10.1109/whc.2009.4810808","is_oa":false,"landing_page_url":"https://doi.org/10.1109/whc.2009.4810808","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"World Haptics 2009 - Third Joint EuroHaptics conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems","raw_type":"proceedings-article"},"type":"article","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/A5015393579","display_name":"Jaeha Kim","orcid":"https://orcid.org/0000-0003-2237-3134"},"institutions":[{"id":"https://openalex.org/I39534123","display_name":"Gwangju Institute of Science and Technology","ror":"https://ror.org/024kbgz78","country_code":"KR","type":"education","lineage":["https://openalex.org/I39534123"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Jaeha Kim","raw_affiliation_strings":["Human-Machine-Computer Interface Laboratory, Department of Mechatronics, Gwangju Institute of Science and Technology, Gwangju, South Korea","Human-Machine-Computer Interface Laboratory, Department of Mechatronics, Gwangju Institute of Science and Technology (GIST), Korea"],"affiliations":[{"raw_affiliation_string":"Human-Machine-Computer Interface Laboratory, Department of Mechatronics, Gwangju Institute of Science and Technology, Gwangju, South Korea","institution_ids":["https://openalex.org/I39534123"]},{"raw_affiliation_string":"Human-Machine-Computer Interface Laboratory, Department of Mechatronics, Gwangju Institute of Science and Technology (GIST), Korea","institution_ids":["https://openalex.org/I39534123"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024410609","display_name":"Jong-Phil Kim","orcid":null},"institutions":[{"id":"https://openalex.org/I39534123","display_name":"Gwangju Institute of Science and Technology","ror":"https://ror.org/024kbgz78","country_code":"KR","type":"education","lineage":["https://openalex.org/I39534123"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jong-Phil Kim","raw_affiliation_strings":["Human-Machine-Computer Interface Laboratory, Department of Mechatronics, Gwangju Institute of Science and Technology, Gwangju, South Korea","Human-Machine-Computer Interface Laboratory, Department of Mechatronics, Gwangju Institute of Science and Technology (GIST), Korea"],"affiliations":[{"raw_affiliation_string":"Human-Machine-Computer Interface Laboratory, Department of Mechatronics, Gwangju Institute of Science and Technology, Gwangju, South Korea","institution_ids":["https://openalex.org/I39534123"]},{"raw_affiliation_string":"Human-Machine-Computer Interface Laboratory, Department of Mechatronics, Gwangju Institute of Science and Technology (GIST), Korea","institution_ids":["https://openalex.org/I39534123"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029477721","display_name":"Changhoon Seo","orcid":"https://orcid.org/0000-0001-7412-2914"},"institutions":[{"id":"https://openalex.org/I39534123","display_name":"Gwangju Institute of Science and Technology","ror":"https://ror.org/024kbgz78","country_code":"KR","type":"education","lineage":["https://openalex.org/I39534123"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Changhoon Seo","raw_affiliation_strings":["Human-Machine-Computer Interface Laboratory, Department of Mechatronics, Gwangju Institute of Science and Technology, Gwangju, South Korea","Human-Machine-Computer Interface Laboratory, Department of Mechatronics, Gwangju Institute of Science and Technology (GIST), Korea"],"affiliations":[{"raw_affiliation_string":"Human-Machine-Computer Interface Laboratory, Department of Mechatronics, Gwangju Institute of Science and Technology, Gwangju, South Korea","institution_ids":["https://openalex.org/I39534123"]},{"raw_affiliation_string":"Human-Machine-Computer Interface Laboratory, Department of Mechatronics, Gwangju Institute of Science and Technology (GIST), Korea","institution_ids":["https://openalex.org/I39534123"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5041271915","display_name":"Jeha Ryu","orcid":"https://orcid.org/0000-0003-4084-5684"},"institutions":[{"id":"https://openalex.org/I39534123","display_name":"Gwangju Institute of Science and Technology","ror":"https://ror.org/024kbgz78","country_code":"KR","type":"education","lineage":["https://openalex.org/I39534123"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jeha Ryu","raw_affiliation_strings":["Human-Machine-Computer Interface Laboratory, Department of Mechatronics, Gwangju Institute of Science and Technology, Gwangju, South Korea","Human-Machine-Computer Interface Laboratory, Department of Mechatronics, Gwangju Institute of Science and Technology (GIST), Korea"],"affiliations":[{"raw_affiliation_string":"Human-Machine-Computer Interface Laboratory, Department of Mechatronics, Gwangju Institute of Science and Technology, Gwangju, South Korea","institution_ids":["https://openalex.org/I39534123"]},{"raw_affiliation_string":"Human-Machine-Computer Interface Laboratory, Department of Mechatronics, Gwangju Institute of Science and Technology (GIST), Korea","institution_ids":["https://openalex.org/I39534123"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5015393579"],"corresponding_institution_ids":["https://openalex.org/I39534123"],"apc_list":null,"apc_paid":null,"fwci":1.1323,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.79801633,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"3","issue":null,"first_page":"320","last_page":"325"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9998000264167786,"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":0.9998000264167786,"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/T13885","display_name":"Geophysics and Sensor Technology","score":0.9781000018119812,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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":0.9401999711990356,"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":0.7983307838439941},{"id":"https://openalex.org/keywords/bounding-overwatch","display_name":"Bounding overwatch","score":0.791984498500824},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7072763442993164},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.6667100191116333},{"id":"https://openalex.org/keywords/transparency","display_name":"Transparency (behavior)","score":0.6455206871032715},{"id":"https://openalex.org/keywords/coordinate-system","display_name":"Coordinate system","score":0.5720542669296265},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5526290535926819},{"id":"https://openalex.org/keywords/energy","display_name":"Energy (signal processing)","score":0.5412527918815613},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5141003727912903},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.27958714962005615},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.24654608964920044},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.17363741993904114},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.16920268535614014},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15698975324630737}],"concepts":[{"id":"https://openalex.org/C2778809601","wikidata":"https://www.wikidata.org/wiki/Q1045736","display_name":"Passivity","level":2,"score":0.7983307838439941},{"id":"https://openalex.org/C63584917","wikidata":"https://www.wikidata.org/wiki/Q333286","display_name":"Bounding overwatch","level":2,"score":0.791984498500824},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7072763442993164},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.6667100191116333},{"id":"https://openalex.org/C2780233690","wikidata":"https://www.wikidata.org/wiki/Q535347","display_name":"Transparency (behavior)","level":2,"score":0.6455206871032715},{"id":"https://openalex.org/C80551277","wikidata":"https://www.wikidata.org/wiki/Q11210","display_name":"Coordinate system","level":2,"score":0.5720542669296265},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5526290535926819},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.5412527918815613},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5141003727912903},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.27958714962005615},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.24654608964920044},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.17363741993904114},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.16920268535614014},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15698975324630737},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"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/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/whc.2009.4810808","is_oa":false,"landing_page_url":"https://doi.org/10.1109/whc.2009.4810808","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"World Haptics 2009 - Third Joint EuroHaptics conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems","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":14,"referenced_works":["https://openalex.org/W198723738","https://openalex.org/W2012276876","https://openalex.org/W2028720893","https://openalex.org/W2067522535","https://openalex.org/W2101640809","https://openalex.org/W2107207454","https://openalex.org/W2125137771","https://openalex.org/W2153631465","https://openalex.org/W2153635244","https://openalex.org/W2155588159","https://openalex.org/W2171094356","https://openalex.org/W4254883854","https://openalex.org/W6608034888","https://openalex.org/W6675405281"],"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":{"This":[0,93],"paper":[1],"presents":[2],"an":[3],"energy":[4,43],"bounding":[5],"approach":[6],"(EBA)":[7],"to":[8,33,51,54],"enhance":[9],"directional":[10],"transparency":[11],"while":[12],"guaranteeing":[13,59],"stability":[14,60],"for":[15,28],"multiple":[16,29],"degree-of-freedom":[17],"(DOF)":[18],"haptic":[19,71],"interaction.":[20],"It":[21],"was":[22],"observed":[23],"that":[24,83],"the":[25,65,74,84,87,101,104,115],"passivity":[26,47],"condition":[27],"ports":[30],"may":[31,79],"lead":[32],"some":[34,37,121],"oscillations":[35],"in":[36,61,76],"coordinate":[38,78],"directions":[39],"even":[40],"though":[41],"total":[42],"is":[44,67,91,118],"positive.":[45],"The":[46,112],"condition,":[48],"therefore,":[49],"needs":[50],"be":[52,97],"applied":[53],"each":[55,62,77],"orthogonal":[56,63],"coordinate.":[57],"For":[58,69],"coordinate,":[64],"EBA":[66,75],"applied.":[68],"multiple-dof":[70],"interaction,":[72],"however,":[73],"cause":[80],"a":[81],"problem":[82,94],"direction":[85,102],"of":[86,103,114],"rendered":[88,105],"force":[89,106],"vector":[90,107],"distorted.":[92],"can":[95],"easily":[96],"solved":[98],"by":[99,120],"projecting":[100],"on":[108],"its":[109],"original":[110],"direction.":[111],"validity":[113],"proposed":[116],"algorithm":[117],"shown":[119],"experiments.":[122]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}