{"id":"https://openalex.org/W1489410572","doi":"https://doi.org/10.1109/icit.2015.7125109","title":"Force-based control scheme for stable contact motion in time-delayed teleoperation","display_name":"Force-based control scheme for stable contact motion in time-delayed teleoperation","publication_year":2015,"publication_date":"2015-03-01","ids":{"openalex":"https://openalex.org/W1489410572","doi":"https://doi.org/10.1109/icit.2015.7125109","mag":"1489410572"},"language":"en","primary_location":{"id":"doi:10.1109/icit.2015.7125109","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icit.2015.7125109","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Industrial Technology (ICIT)","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/A5080998864","display_name":"Nobuto Yoshimura","orcid":null},"institutions":[{"id":"https://openalex.org/I203951103","display_name":"Keio University","ror":"https://ror.org/02kn6nx58","country_code":"JP","type":"education","lineage":["https://openalex.org/I203951103"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Nobuto Yoshimura","raw_affiliation_strings":["Department of System Design Engineering, Keio University, Yokohama, Japan","[Dept. of System Design Engineering, Keio University, Yokohama, Japan]"],"affiliations":[{"raw_affiliation_string":"Department of System Design Engineering, Keio University, Yokohama, Japan","institution_ids":["https://openalex.org/I203951103"]},{"raw_affiliation_string":"[Dept. of System Design Engineering, Keio University, Yokohama, Japan]","institution_ids":["https://openalex.org/I203951103"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109180665","display_name":"Yoshiki Ohno","orcid":null},"institutions":[{"id":"https://openalex.org/I203951103","display_name":"Keio University","ror":"https://ror.org/02kn6nx58","country_code":"JP","type":"education","lineage":["https://openalex.org/I203951103"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yoshiki Ohno","raw_affiliation_strings":["Department of System Design Engineering, Keio University, Yokohama, Japan","[Dept. of System Design Engineering, Keio University, Yokohama, Japan]"],"affiliations":[{"raw_affiliation_string":"Department of System Design Engineering, Keio University, Yokohama, Japan","institution_ids":["https://openalex.org/I203951103"]},{"raw_affiliation_string":"[Dept. of System Design Engineering, Keio University, Yokohama, Japan]","institution_ids":["https://openalex.org/I203951103"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5041501484","display_name":"Kouhei Ohnishi","orcid":"https://orcid.org/0000-0002-0785-3992"},"institutions":[{"id":"https://openalex.org/I203951103","display_name":"Keio University","ror":"https://ror.org/02kn6nx58","country_code":"JP","type":"education","lineage":["https://openalex.org/I203951103"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kouhei Ohnishi","raw_affiliation_strings":["Department of System Design Engineering, Keio University, Yokohama, Japan","[Dept. of System Design Engineering, Keio University, Yokohama, Japan]"],"affiliations":[{"raw_affiliation_string":"Department of System Design Engineering, Keio University, Yokohama, Japan","institution_ids":["https://openalex.org/I203951103"]},{"raw_affiliation_string":"[Dept. of System Design Engineering, Keio University, Yokohama, Japan]","institution_ids":["https://openalex.org/I203951103"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5080998864"],"corresponding_institution_ids":["https://openalex.org/I203951103"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.0219418,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"iic 14","issue":null,"first_page":"265","last_page":"270"},"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/T13885","display_name":"Geophysics and Sensor Technology","score":0.9763000011444092,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9498999714851379,"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/teleoperation","display_name":"Teleoperation","score":0.9603124856948853},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.8296586275100708},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6810420751571655},{"id":"https://openalex.org/keywords/adaptability","display_name":"Adaptability","score":0.6256793737411499},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.6161848306655884},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.5966895222663879},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5620706081390381},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4862317144870758},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4823169708251953},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.46407321095466614},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4400746822357178},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.42332953214645386},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3823446035385132},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3811349868774414},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.32683223485946655},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.29313766956329346},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.27742403745651245},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.134364515542984},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.06278911232948303}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.9603124856948853},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.8296586275100708},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6810420751571655},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.6256793737411499},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.6161848306655884},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.5966895222663879},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5620706081390381},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4862317144870758},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4823169708251953},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.46407321095466614},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4400746822357178},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.42332953214645386},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3823446035385132},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3811349868774414},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.32683223485946655},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.29313766956329346},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.27742403745651245},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.134364515542984},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.06278911232948303},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icit.2015.7125109","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icit.2015.7125109","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Industrial Technology (ICIT)","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":13,"referenced_works":["https://openalex.org/W1967390389","https://openalex.org/W1971374550","https://openalex.org/W1993690046","https://openalex.org/W2024439876","https://openalex.org/W2090054744","https://openalex.org/W2102712939","https://openalex.org/W2103304361","https://openalex.org/W2123790358","https://openalex.org/W2134927525","https://openalex.org/W2135464393","https://openalex.org/W2170683129","https://openalex.org/W2555451138","https://openalex.org/W6678656399"],"related_works":["https://openalex.org/W2357124094","https://openalex.org/W1923069992","https://openalex.org/W2160982102","https://openalex.org/W2387399993","https://openalex.org/W2048862765","https://openalex.org/W2094105667","https://openalex.org/W2097347938","https://openalex.org/W2164858976","https://openalex.org/W2970545857","https://openalex.org/W4311378573"],"abstract_inverted_index":{"In":[0,12],"this":[1,90,94],"paper,":[2],"force-based":[3],"control":[4],"scheme":[5],"for":[6,32,86],"stable":[7],"contact":[8,55,72,102],"motion":[9],"is":[10,16,74],"proposed.":[11],"recent":[13],"days,":[14],"haptics":[15],"one":[17],"of":[18,37,54,64,71,92],"major":[19],"topics":[20],"in":[21,104],"robotics":[22],"field.":[23],"Especially":[24],"teleoperation":[25],"with":[26],"haptic":[27],"feedback":[28],"has":[29],"been":[30],"studied":[31],"long":[33],"years,":[34],"but":[35],"problem":[36],"time":[38,105],"delay":[39,43,63],"still":[40],"exists.":[41],"Time":[42],"causes":[44],"three":[45],"problems":[46],":":[47],"operational":[48],"force,":[49],"oscillating":[50],"motion,":[51],"and":[52,100],"degrading":[53,70],"stability.":[56],"Some":[57],"conventional":[58,79],"approaches":[59],"tried":[60],"to":[61,97],"compensate":[62],"position":[65],"by":[66],"using":[67,81],"compensator,":[68],"however":[69],"stability":[73,103],"not":[75],"mentioned":[76],"sufficiently.":[77],"And":[78],"approach":[80],"some":[82],"compensator":[83],"degrade":[84],"adaptability":[85,99],"target":[87],"object.":[88],"From":[89],"point":[91],"view,":[93],"paper":[95],"aims":[96],"keep":[98],"improve":[101],"delayed":[106],"teleoperation.":[107]},"counts_by_year":[{"year":2024,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}