{"id":"https://openalex.org/W2741587418","doi":"https://doi.org/10.1109/whc.2017.7989875","title":"Proxy-based haptic rendering for underactuated haptic devices","display_name":"Proxy-based haptic rendering for underactuated haptic devices","publication_year":2017,"publication_date":"2017-06-01","ids":{"openalex":"https://openalex.org/W2741587418","doi":"https://doi.org/10.1109/whc.2017.7989875","mag":"2741587418"},"language":"en","primary_location":{"id":"doi:10.1109/whc.2017.7989875","is_oa":false,"landing_page_url":"https://doi.org/10.1109/whc.2017.7989875","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE World Haptics Conference (WHC)","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/A5054418593","display_name":"Daniel Lobo","orcid":"https://orcid.org/0000-0001-7607-2578"},"institutions":[{"id":"https://openalex.org/I182083151","display_name":"Universidad Rey Juan Carlos","ror":"https://ror.org/01v5cv687","country_code":"ES","type":"education","lineage":["https://openalex.org/I182083151"]}],"countries":["ES"],"is_corresponding":true,"raw_author_name":"Daniel Lobo","raw_affiliation_strings":["Dept. of Computer Science, Universidad Rey Juan Carlos, Madrid, Spain"],"affiliations":[{"raw_affiliation_string":"Dept. of Computer Science, Universidad Rey Juan Carlos, Madrid, Spain","institution_ids":["https://openalex.org/I182083151"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001130163","display_name":"Mine Sara\u00e7","orcid":"https://orcid.org/0000-0002-2814-7587"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Mine Sarac","raw_affiliation_strings":["PERCRO, Scuola Superiore Sant\u2019 Anna, Pisa, Italy","PERCRO, Scuola Superiore Sant' Anna, Pisa, Italy"],"affiliations":[{"raw_affiliation_string":"PERCRO, Scuola Superiore Sant\u2019 Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"PERCRO, Scuola Superiore Sant' Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033626775","display_name":"Mickeal Verschoor","orcid":"https://orcid.org/0000-0002-6648-551X"},"institutions":[{"id":"https://openalex.org/I182083151","display_name":"Universidad Rey Juan Carlos","ror":"https://ror.org/01v5cv687","country_code":"ES","type":"education","lineage":["https://openalex.org/I182083151"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Mickeal Verschoor","raw_affiliation_strings":["Dept. of Computer Science, Universidad Rey Juan Carlos, Madrid, Spain"],"affiliations":[{"raw_affiliation_string":"Dept. of Computer Science, Universidad Rey Juan Carlos, Madrid, Spain","institution_ids":["https://openalex.org/I182083151"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089138290","display_name":"Massimiliano Solazzi","orcid":"https://orcid.org/0000-0002-9053-2814"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Massimiliano Solazzi","raw_affiliation_strings":["PERCRO, Scuola Superiore Sant\u2019 Anna, Pisa, Italy","PERCRO, Scuola Superiore Sant' Anna, Pisa, Italy"],"affiliations":[{"raw_affiliation_string":"PERCRO, Scuola Superiore Sant\u2019 Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"PERCRO, Scuola Superiore Sant' Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090204404","display_name":"Antonio Frisoli","orcid":"https://orcid.org/0000-0002-7126-4113"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Antonio Frisoli","raw_affiliation_strings":["PERCRO, Scuola Superiore Sant\u2019 Anna, Pisa, Italy","PERCRO, Scuola Superiore Sant' Anna, Pisa, Italy"],"affiliations":[{"raw_affiliation_string":"PERCRO, Scuola Superiore Sant\u2019 Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"PERCRO, Scuola Superiore Sant' Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5071183334","display_name":"Miguel \u00c1. Otaduy","orcid":"https://orcid.org/0000-0002-3880-7622"},"institutions":[{"id":"https://openalex.org/I182083151","display_name":"Universidad Rey Juan Carlos","ror":"https://ror.org/01v5cv687","country_code":"ES","type":"education","lineage":["https://openalex.org/I182083151"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Miguel A. Otaduy","raw_affiliation_strings":["Dept. of Computer Science, Universidad Rey Juan Carlos, Madrid, Spain"],"affiliations":[{"raw_affiliation_string":"Dept. of Computer Science, Universidad Rey Juan Carlos, Madrid, Spain","institution_ids":["https://openalex.org/I182083151"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5054418593"],"corresponding_institution_ids":["https://openalex.org/I182083151"],"apc_list":null,"apc_paid":null,"fwci":0.9886,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.74993544,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"48","last_page":"53"},"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/T10914","display_name":"Tactile and Sensory Interactions","score":0.991100013256073,"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"}},{"id":"https://openalex.org/T10648","display_name":"Virtual Reality Applications and Impacts","score":0.9850000143051147,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.8837383985519409},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.7514612078666687},{"id":"https://openalex.org/keywords/subspace-topology","display_name":"Subspace topology","score":0.7509658336639404},{"id":"https://openalex.org/keywords/rendering","display_name":"Rendering (computer graphics)","score":0.7481645345687866},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7307605147361755},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3854677677154541},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.3658261001110077},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3477572798728943},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3184588849544525},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.19882583618164062}],"concepts":[{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.8837383985519409},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.7514612078666687},{"id":"https://openalex.org/C32834561","wikidata":"https://www.wikidata.org/wiki/Q660730","display_name":"Subspace topology","level":2,"score":0.7509658336639404},{"id":"https://openalex.org/C205711294","wikidata":"https://www.wikidata.org/wiki/Q176953","display_name":"Rendering (computer graphics)","level":2,"score":0.7481645345687866},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7307605147361755},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3854677677154541},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.3658261001110077},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3477572798728943},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3184588849544525},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.19882583618164062}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/whc.2017.7989875","is_oa":false,"landing_page_url":"https://doi.org/10.1109/whc.2017.7989875","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE World Haptics Conference (WHC)","raw_type":"proceedings-article"},{"id":"pmh:oai:www.iris.sssup.it:11382/518871","is_oa":false,"landing_page_url":"http://hdl.handle.net/11382/518871","pdf_url":null,"source":{"id":"https://openalex.org/S4377196376","display_name":"CINECA IRIS Institutional Research Information System (Sant'Anna School of Advanced Studies)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I162290304","host_organization_name":"Scuola Superiore Sant'Anna","host_organization_lineage":["https://openalex.org/I162290304"],"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/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W44605677","https://openalex.org/W58344003","https://openalex.org/W331552413","https://openalex.org/W1513477325","https://openalex.org/W1526820983","https://openalex.org/W1720125919","https://openalex.org/W1889541381","https://openalex.org/W1997959223","https://openalex.org/W2002337864","https://openalex.org/W2038841364","https://openalex.org/W2073521456","https://openalex.org/W2078221124","https://openalex.org/W2096147331","https://openalex.org/W2103389792","https://openalex.org/W2107207454","https://openalex.org/W2112420768","https://openalex.org/W2113091440","https://openalex.org/W2115512523","https://openalex.org/W2124034026","https://openalex.org/W2126881782","https://openalex.org/W2139060137","https://openalex.org/W2145909997","https://openalex.org/W2149813055","https://openalex.org/W2152715074","https://openalex.org/W2344076301","https://openalex.org/W2347132666","https://openalex.org/W2468050848","https://openalex.org/W2531827628","https://openalex.org/W2546658263","https://openalex.org/W4254885007","https://openalex.org/W4300681183","https://openalex.org/W6601894466","https://openalex.org/W6728511475","https://openalex.org/W7062782387"],"related_works":["https://openalex.org/W156716224","https://openalex.org/W587013945","https://openalex.org/W2111871955","https://openalex.org/W4288862394","https://openalex.org/W1485310626","https://openalex.org/W4292915238","https://openalex.org/W4285553839","https://openalex.org/W3011477119","https://openalex.org/W2371440471","https://openalex.org/W2731583012"],"abstract_inverted_index":{"Standard":[0],"haptic":[1,10,35,75],"rendering":[2,36],"algorithms":[3],"are":[4],"not":[5],"well":[6,60],"suited":[7],"for":[8],"underactuated":[9],"devices.":[11],"They":[12],"compute":[13],"forces":[14,25],"oblivious":[15],"of":[16,73,86],"underactuation,":[17],"and":[18,46,77,91],"then":[19,47],"they":[20],"simply":[21],"project":[22],"the":[23,27,42,71,74,78,87],"resulting":[24],"to":[26],"actuated":[28,43],"subspace.":[29],"We":[30],"propose":[31],"instead":[32],"a":[33],"proxy-based":[34],"method":[37,58],"that":[38],"computes":[39],"displacements":[40,50],"in":[41,62],"subspace":[44],"only,":[45],"translates":[48],"these":[49],"into":[51],"force":[52],"commands":[53],"using":[54],"regular":[55],"controllers.":[56],"Our":[57],"is":[59,67],"behaved":[61],"two":[63],"important":[64],"ways:":[65],"it":[66],"locally":[68],"passive":[69],"w.r.t.":[70],"motion":[72],"device,":[76],"displayed":[79],"impedance":[80],"can":[81],"be":[82],"easily":[83],"controlled":[84],"regardless":[85],"mapping":[88],"between":[89],"device":[90],"virtual":[92],"configuration":[93],"spaces.":[94]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}