{"id":"https://openalex.org/W2109987039","doi":"https://doi.org/10.1109/whc.2011.5945520","title":"Application of Levant's differentiator for velocity estimation and increased Z-width in haptic interfaces","display_name":"Application of Levant's differentiator for velocity estimation and increased Z-width in haptic interfaces","publication_year":2011,"publication_date":"2011-06-01","ids":{"openalex":"https://openalex.org/W2109987039","doi":"https://doi.org/10.1109/whc.2011.5945520","mag":"2109987039"},"language":"en","primary_location":{"id":"doi:10.1109/whc.2011.5945520","is_oa":false,"landing_page_url":"https://doi.org/10.1109/whc.2011.5945520","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE World Haptics Conference","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/A5079043107","display_name":"Vinay Chawda","orcid":"https://orcid.org/0000-0002-3031-6933"},"institutions":[{"id":"https://openalex.org/I74775410","display_name":"Rice University","ror":"https://ror.org/008zs3103","country_code":"US","type":"education","lineage":["https://openalex.org/I74775410"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Vinay Chawda","raw_affiliation_strings":["Department of Mechanical Engineering and Materials Science, Rice University, Houston, TX, USA","Department of Mechanical Engineering and Materials Science, Rice University, Houston, TX 77005 (USA)"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and Materials Science, Rice University, Houston, TX, USA","institution_ids":["https://openalex.org/I74775410"]},{"raw_affiliation_string":"Department of Mechanical Engineering and Materials Science, Rice University, Houston, TX 77005 (USA)","institution_ids":["https://openalex.org/I74775410"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101662166","display_name":"\u00d6zkan \u00c7elik","orcid":"https://orcid.org/0000-0002-3258-6830"},"institutions":[{"id":"https://openalex.org/I74775410","display_name":"Rice University","ror":"https://ror.org/008zs3103","country_code":"US","type":"education","lineage":["https://openalex.org/I74775410"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ozkan Celik","raw_affiliation_strings":["Department of Mechanical Engineering and Materials Science, Rice University, Houston, TX, USA","Department of Mechanical Engineering and Materials Science, Rice University, Houston, TX 77005 (USA)"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and Materials Science, Rice University, Houston, TX, USA","institution_ids":["https://openalex.org/I74775410"]},{"raw_affiliation_string":"Department of Mechanical Engineering and Materials Science, Rice University, Houston, TX 77005 (USA)","institution_ids":["https://openalex.org/I74775410"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5055353705","display_name":"Marcia K. O\u2019Malley","orcid":"https://orcid.org/0000-0002-3563-1051"},"institutions":[{"id":"https://openalex.org/I74775410","display_name":"Rice University","ror":"https://ror.org/008zs3103","country_code":"US","type":"education","lineage":["https://openalex.org/I74775410"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Marcia K. O'Malley","raw_affiliation_strings":["Department of Mechanical Engineering and Materials Science, Rice University, Houston, TX, USA","Department of Mechanical Engineering and Materials Science, Rice University, Houston, TX 77005 (USA)"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and Materials Science, Rice University, Houston, TX, USA","institution_ids":["https://openalex.org/I74775410"]},{"raw_affiliation_string":"Department of Mechanical Engineering and Materials Science, Rice University, Houston, TX 77005 (USA)","institution_ids":["https://openalex.org/I74775410"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5079043107"],"corresponding_institution_ids":["https://openalex.org/I74775410"],"apc_list":null,"apc_paid":null,"fwci":4.5425,"has_fulltext":false,"cited_by_count":32,"citation_normalized_percentile":{"value":0.94183501,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"403","last_page":"408"},"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":0.954800009727478,"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/T14011","display_name":"Elevator Systems and Control","score":0.9204000234603882,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/differentiator","display_name":"Differentiator","score":0.966314435005188},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.8142275810241699},{"id":"https://openalex.org/keywords/encoder","display_name":"Encoder","score":0.6164358258247375},{"id":"https://openalex.org/keywords/estimator","display_name":"Estimator","score":0.5631083846092224},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47559651732444763},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4395575225353241},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.32006847858428955},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2061757743358612},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14324375987052917},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.14161714911460876},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.0980789065361023}],"concepts":[{"id":"https://openalex.org/C12112733","wikidata":"https://www.wikidata.org/wiki/Q2659948","display_name":"Differentiator","level":3,"score":0.966314435005188},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.8142275810241699},{"id":"https://openalex.org/C118505674","wikidata":"https://www.wikidata.org/wiki/Q42586063","display_name":"Encoder","level":2,"score":0.6164358258247375},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.5631083846092224},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47559651732444763},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4395575225353241},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.32006847858428955},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2061757743358612},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14324375987052917},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.14161714911460876},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.0980789065361023},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/whc.2011.5945520","is_oa":false,"landing_page_url":"https://doi.org/10.1109/whc.2011.5945520","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE World Haptics Conference","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.699999988079071,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":7,"referenced_works":["https://openalex.org/W2030959268","https://openalex.org/W2107207454","https://openalex.org/W2110494914","https://openalex.org/W2136348177","https://openalex.org/W2147618425","https://openalex.org/W2170031322","https://openalex.org/W2254352181"],"related_works":["https://openalex.org/W2371530940","https://openalex.org/W1560887869","https://openalex.org/W2029024449","https://openalex.org/W2109780951","https://openalex.org/W1994327371","https://openalex.org/W1641778210","https://openalex.org/W2064008010","https://openalex.org/W2005647967","https://openalex.org/W2731583012","https://openalex.org/W2116848172"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3],"present":[4],"results":[5],"from":[6,14],"implementation":[7,41],"of":[8,36,42,99],"Levant's":[9,18,104],"differentiator":[10,19],"for":[11,61],"velocity":[12,32,62],"estimation":[13],"optical":[15],"encoder":[16],"readings.":[17],"is":[20,71,84,91],"a":[21,31,74,100],"sliding":[22],"mode":[23],"control":[24],"theory-based":[25],"real-time":[26],"differentiation":[27],"algorithm":[28],"proposed":[29],"as":[30,47,73],"estimator.":[33],"The":[34],"application":[35],"the":[37,51,95],"technique":[38],"allows":[39],"stable":[40],"higher":[43],"stiffness":[44],"virtual":[45,80],"walls":[46],"compared":[48],"to":[49,86,93],"using":[50],"common":[52],"finite":[53],"difference":[54],"method":[55],"(FDM)":[56],"cascaded":[57],"with":[58],"low-pass":[59],"filters":[60],"estimation.":[63],"A":[64],"single":[65],"degree-of-freedom":[66],"(DOF)":[67],"linear":[68],"haptic":[69,101],"device":[70],"used":[72],"test":[75],"bed":[76],"and":[77],"an":[78],"automated":[79],"wall":[81],"hitting":[82],"task":[83],"implemented":[85],"experimentally":[87],"demonstrate":[88],"that":[89],"it":[90],"possible":[92],"extend":[94],"impedance-width":[96],"(or":[97],"Z-width)":[98],"interface":[102],"via":[103],"differentiator.":[105]},"counts_by_year":[{"year":2023,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":5},{"year":2016,"cited_by_count":7},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":4},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}