{"id":"https://openalex.org/W2106409551","doi":"https://doi.org/10.1109/tcst.2008.2000984","title":"Decreasing the Apparent Inertia of an Impedance Haptic Device by Using Force Feedforward","display_name":"Decreasing the Apparent Inertia of an Impedance Haptic Device by Using Force Feedforward","publication_year":2009,"publication_date":"2009-04-28","ids":{"openalex":"https://openalex.org/W2106409551","doi":"https://doi.org/10.1109/tcst.2008.2000984","mag":"2106409551"},"language":"en","primary_location":{"id":"doi:10.1109/tcst.2008.2000984","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2008.2000984","pdf_url":null,"source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Control Systems Technology","raw_type":"journal-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/A5013945205","display_name":"Jorge Juan Gil","orcid":"https://orcid.org/0000-0002-1091-5381"},"institutions":[{"id":"https://openalex.org/I88155538","display_name":"Universidad de Navarra","ror":"https://ror.org/02rxc7m23","country_code":"ES","type":"education","lineage":["https://openalex.org/I88155538"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"J.J. Gil","raw_affiliation_strings":["Applied Mechanics Department, CEIT and TECHUN, University of Navarra, San Sabastian, Spain","Appl. Mech. Dept., Univ. of Navarra, San Sebastian"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Applied Mechanics Department, CEIT and TECHUN, University of Navarra, San Sabastian, Spain","institution_ids":["https://openalex.org/I88155538"]},{"raw_affiliation_string":"Appl. Mech. Dept., Univ. of Navarra, San Sebastian","institution_ids":["https://openalex.org/I88155538"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046603247","display_name":"\u00c1ngel Rubio","orcid":"https://orcid.org/0000-0002-3274-2450"},"institutions":[{"id":"https://openalex.org/I88155538","display_name":"Universidad de Navarra","ror":"https://ror.org/02rxc7m23","country_code":"ES","type":"education","lineage":["https://openalex.org/I88155538"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"A. Rubio","raw_affiliation_strings":["Applied Mechanics Department, CEIT and TECHUN, University of Navarra, San Sabastian, Spain","Appl. Mech. Dept., Univ. of Navarra, San Sebastian"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Applied Mechanics Department, CEIT and TECHUN, University of Navarra, San Sabastian, Spain","institution_ids":["https://openalex.org/I88155538"]},{"raw_affiliation_string":"Appl. Mech. Dept., Univ. of Navarra, San Sebastian","institution_ids":["https://openalex.org/I88155538"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5014188890","display_name":"Joan Savall","orcid":"https://orcid.org/0000-0002-8168-8147"},"institutions":[{"id":"https://openalex.org/I88155538","display_name":"Universidad de Navarra","ror":"https://ror.org/02rxc7m23","country_code":"ES","type":"education","lineage":["https://openalex.org/I88155538"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"J. Savall","raw_affiliation_strings":["Applied Mechanics Department, CEIT and TECHUN, University of Navarra, San Sabastian, Spain","Appl. Mech. Dept., Univ. of Navarra, San Sebastian"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Applied Mechanics Department, CEIT and TECHUN, University of Navarra, San Sabastian, Spain","institution_ids":["https://openalex.org/I88155538"]},{"raw_affiliation_string":"Appl. Mech. Dept., Univ. of Navarra, San Sebastian","institution_ids":["https://openalex.org/I88155538"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I88155538"],"apc_list":null,"apc_paid":null,"fwci":3.9951,"has_fulltext":false,"cited_by_count":45,"citation_normalized_percentile":{"value":0.93154154,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"17","issue":"4","first_page":"833","last_page":"838"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9997000098228455,"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":0.9997000098228455,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9713000059127808,"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"}},{"id":"https://openalex.org/T10914","display_name":"Tactile and Sensory Interactions","score":0.9610000252723694,"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/haptic-technology","display_name":"Haptic technology","score":0.9393259286880493},{"id":"https://openalex.org/keywords/inertia","display_name":"Inertia","score":0.8772285580635071},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.759640097618103},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.5471538305282593},{"id":"https://openalex.org/keywords/mechanical-impedance","display_name":"Mechanical impedance","score":0.5154341459274292},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5037967562675476},{"id":"https://openalex.org/keywords/feed-forward","display_name":"Feed forward","score":0.4817259609699249},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4609568417072296},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4521588683128357},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.41204628348350525},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.2270021140575409},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22437793016433716},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20052462816238403},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1575298011302948},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12027418613433838},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.0840100646018982}],"concepts":[{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.9393259286880493},{"id":"https://openalex.org/C110407247","wikidata":"https://www.wikidata.org/wiki/Q122508","display_name":"Inertia","level":2,"score":0.8772285580635071},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.759640097618103},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.5471538305282593},{"id":"https://openalex.org/C159447365","wikidata":"https://www.wikidata.org/wiki/Q6421317","display_name":"Mechanical impedance","level":3,"score":0.5154341459274292},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5037967562675476},{"id":"https://openalex.org/C38858127","wikidata":"https://www.wikidata.org/wiki/Q5441228","display_name":"Feed forward","level":2,"score":0.4817259609699249},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4609568417072296},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4521588683128357},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.41204628348350525},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.2270021140575409},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22437793016433716},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20052462816238403},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1575298011302948},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12027418613433838},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0840100646018982},{"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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","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/tcst.2008.2000984","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2008.2000984","pdf_url":null,"source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Control Systems Technology","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1481834144","https://openalex.org/W1552300625","https://openalex.org/W1578038264","https://openalex.org/W1589460981","https://openalex.org/W1893220545","https://openalex.org/W1898715694","https://openalex.org/W1991430373","https://openalex.org/W2073633842","https://openalex.org/W2091905939","https://openalex.org/W2101786412","https://openalex.org/W2114428836","https://openalex.org/W2141282574","https://openalex.org/W2148962693","https://openalex.org/W2158295826","https://openalex.org/W2159413706","https://openalex.org/W2160657520","https://openalex.org/W2171649388","https://openalex.org/W2220472599","https://openalex.org/W2283952362","https://openalex.org/W2545408749","https://openalex.org/W4285719527","https://openalex.org/W4385322285","https://openalex.org/W4385323164","https://openalex.org/W6606928955","https://openalex.org/W6635202470","https://openalex.org/W6855390939"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2371519816","https://openalex.org/W2043154226","https://openalex.org/W2369529107","https://openalex.org/W2329043542","https://openalex.org/W2109948066","https://openalex.org/W1678858522","https://openalex.org/W4317937281","https://openalex.org/W2560208745","https://openalex.org/W2098905871"],"abstract_inverted_index":{"When":[0],"using":[1],"a":[2,54],"haptic":[3,65,75],"device":[4,22],"in":[5,72],"unconstrained":[6],"movement,":[7],"the":[8,18,21,32,58,73],"user":[9],"should":[10,23],"experience":[11],"only":[12],"minor":[13],"inertia.":[14,50],"For":[15],"certain":[16],"tasks,":[17],"workspace":[19],"of":[20,31,63],"be":[24],"similar":[25],"or":[26],"even":[27],"larger":[28],"than":[29,48],"that":[30,43,79],"human":[33],"arm.":[34],"This":[35,51],"condition":[36],"tends":[37],"to":[38,40,56],"lead":[39],"large":[41],"devices":[42],"often":[44],"present":[45],"high":[46],"rather":[47],"low":[49],"brief":[52],"describes":[53],"method":[55],"decrease":[57],"inertia":[59],"felt":[60],"by":[61],"users":[62],"impedance":[64],"devices.":[66],"It":[67],"has":[68,82],"been":[69],"successfully":[70],"implemented":[71],"LHIfAM":[74],"device.":[76],"The":[77],"effect":[78],"this":[80],"strategy":[81],"on":[83],"stability":[84],"and":[85],"virtual":[86],"contact":[87],"is":[88],"also":[89],"illustrated.":[90]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":6},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":6},{"year":2014,"cited_by_count":4},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":5}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}