{"id":"https://openalex.org/W2096748534","doi":"https://doi.org/10.1109/whc.2009.4810894","title":"Recovering haptic performance by relaxing passivity requirements","display_name":"Recovering haptic performance by relaxing passivity requirements","publication_year":2009,"publication_date":"2009-01-01","ids":{"openalex":"https://openalex.org/W2096748534","doi":"https://doi.org/10.1109/whc.2009.4810894","mag":"2096748534"},"language":"en","primary_location":{"id":"doi:10.1109/whc.2009.4810894","is_oa":false,"landing_page_url":"https://doi.org/10.1109/whc.2009.4810894","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":"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/A5042437752","display_name":"Paul G. Griffiths","orcid":null},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Paul G. Griffiths","raw_affiliation_strings":["Department of Mechanical Engineering, Johns Hopkins University, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Johns Hopkins University, USA","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5020611092","display_name":"R. Brent Gillespie","orcid":"https://orcid.org/0000-0002-1051-0026"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"R. Brent Gillespie","raw_affiliation_strings":["Department of Mechanical Engineering, University of Michigan, USA","Department of Mechanical Engineering, the University of Michigan, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Michigan, USA","institution_ids":["https://openalex.org/I27837315"]},{"raw_affiliation_string":"Department of Mechanical Engineering, the University of Michigan, USA","institution_ids":["https://openalex.org/I27837315"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.7192,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.83219069,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"326","last_page":"331"},"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":0.9890000224113464,"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/T10914","display_name":"Tactile and Sensory Interactions","score":0.9595999717712402,"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/passivity","display_name":"Passivity","score":0.9475769996643066},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.8473641276359558},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6564503312110901},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6033851504325867},{"id":"https://openalex.org/keywords/rendering","display_name":"Rendering (computer graphics)","score":0.5578488111495972},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.5217160582542419},{"id":"https://openalex.org/keywords/quantization","display_name":"Quantization (signal processing)","score":0.5117833018302917},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.508934736251831},{"id":"https://openalex.org/keywords/frequency-domain","display_name":"Frequency domain","score":0.5079370141029358},{"id":"https://openalex.org/keywords/virtual-reality","display_name":"Virtual reality","score":0.43282434344291687},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3399752676486969},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.1719554364681244},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1529543697834015},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11656555533409119},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.09519031643867493}],"concepts":[{"id":"https://openalex.org/C2778809601","wikidata":"https://www.wikidata.org/wiki/Q1045736","display_name":"Passivity","level":2,"score":0.9475769996643066},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.8473641276359558},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6564503312110901},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6033851504325867},{"id":"https://openalex.org/C205711294","wikidata":"https://www.wikidata.org/wiki/Q176953","display_name":"Rendering (computer graphics)","level":2,"score":0.5578488111495972},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.5217160582542419},{"id":"https://openalex.org/C28855332","wikidata":"https://www.wikidata.org/wiki/Q198099","display_name":"Quantization (signal processing)","level":2,"score":0.5117833018302917},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.508934736251831},{"id":"https://openalex.org/C19118579","wikidata":"https://www.wikidata.org/wiki/Q786423","display_name":"Frequency domain","level":2,"score":0.5079370141029358},{"id":"https://openalex.org/C194969405","wikidata":"https://www.wikidata.org/wiki/Q170519","display_name":"Virtual reality","level":2,"score":0.43282434344291687},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3399752676486969},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.1719554364681244},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1529543697834015},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11656555533409119},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.09519031643867493},{"id":"https://openalex.org/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","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/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","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.2009.4810894","is_oa":false,"landing_page_url":"https://doi.org/10.1109/whc.2009.4810894","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":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1487127700","https://openalex.org/W1593028398","https://openalex.org/W1600066860","https://openalex.org/W1967122795","https://openalex.org/W1984343324","https://openalex.org/W2028720893","https://openalex.org/W2110946535","https://openalex.org/W2112830075","https://openalex.org/W2131588967","https://openalex.org/W2139548710","https://openalex.org/W2144415816","https://openalex.org/W2148901137","https://openalex.org/W2150207874","https://openalex.org/W2150251204","https://openalex.org/W2157552704","https://openalex.org/W2163754815","https://openalex.org/W2166402976","https://openalex.org/W2254352181","https://openalex.org/W4285719527","https://openalex.org/W4385323164","https://openalex.org/W6606928955"],"related_works":["https://openalex.org/W196761071","https://openalex.org/W1973325357","https://openalex.org/W2074403202","https://openalex.org/W1895460310","https://openalex.org/W2348516295","https://openalex.org/W1025448","https://openalex.org/W2378774807","https://openalex.org/W2121849534","https://openalex.org/W2125686705","https://openalex.org/W4229042573"],"abstract_inverted_index":{"Several":[0],"causes":[1],"of":[2,7,55,113],"instabilities":[3,32],"in":[4,27,76],"the":[5,56,64,114,119],"interaction":[6],"users":[8],"with":[9],"actively":[10],"controlled":[11],"haptic":[12,70],"devices,":[13],"notably":[14],"sampling":[15],"effects,":[16],"sensor":[17],"quantization,":[18],"and":[19,25,117],"hardware":[20,41],"nonlinearities,":[21],"have":[22],"been":[23],"identified":[24],"analyzed":[26],"prior":[28],"work.":[29],"However,":[30],"certain":[31,77],"may":[33],"occur":[34],"that":[35,62,91],"cannot":[36,73],"be":[37,74,95],"attributed":[38],"to":[39,80],"these":[40],"limitations.":[42],"The":[43],"problem":[44],"becomes":[45],"acute":[46],"when":[47],"rendering":[48],"passive":[49],"virtual":[50],"environments":[51],"which":[52],"require":[53],"compensation":[54],"intrinsic":[57],"device":[58],"dynamics.":[59],"We":[60],"show":[61],"passivity,":[63],"standard":[65],"robust":[66],"stability":[67,121],"criteria":[68],"for":[69],"interface":[71],"systems,":[72],"maintained":[75],"circumstances":[78],"due":[79],"Bode":[81],"gain-phase":[82],"integral":[83],"constraints.":[84],"In":[85],"an":[86],"experimental":[87],"study,":[88],"we":[89,108],"demonstrate":[90],"some":[92],"performance":[93],"can":[94],"recovered":[96],"by":[97],"relaxing":[98],"passivity":[99],"requirements":[100],"while":[101],"maintaining":[102],"coupled":[103],"stability.":[104],"To":[105],"test":[106],"stability,":[107],"identify":[109],"frequency":[110],"domain":[111],"models":[112],"user":[115],"interaction,":[116],"check":[118],"Nyquist":[120],"criterion":[122],"rather":[123],"than":[124],"passivity.":[125]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
