{"id":"https://openalex.org/W4353004219","doi":"https://doi.org/10.1109/toh.2023.3260063","title":"A Fundamental Limitation of Passive Spring Rendering With Series Elastic Actuation","display_name":"A Fundamental Limitation of Passive Spring Rendering With Series Elastic Actuation","publication_year":2023,"publication_date":"2023-03-21","ids":{"openalex":"https://openalex.org/W4353004219","doi":"https://doi.org/10.1109/toh.2023.3260063","pmid":"https://pubmed.ncbi.nlm.nih.gov/37030740"},"language":"en","primary_location":{"id":"doi:10.1109/toh.2023.3260063","is_oa":false,"landing_page_url":"https://doi.org/10.1109/toh.2023.3260063","pdf_url":null,"source":{"id":"https://openalex.org/S38993383","display_name":"IEEE Transactions on Haptics","issn_l":"1939-1412","issn":["1939-1412","2329-4051","2334-0134"],"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 Haptics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","pubmed"],"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/A5014757641","display_name":"Celal Umut Kenanoglu","orcid":"https://orcid.org/0000-0002-6556-7054"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Celal Umut Kenanoglu","raw_affiliation_strings":["Munich Institute of Robotics and Machine Intelligence, Technical University of Munich, Munchen, Germany"],"raw_orcid":"https://orcid.org/0000-0002-6556-7054","affiliations":[{"raw_affiliation_string":"Munich Institute of Robotics and Machine Intelligence, Technical University of Munich, Munchen, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5017793258","display_name":"Volkan Pato\u011flu","orcid":"https://orcid.org/0000-0001-6644-3937"},"institutions":[{"id":"https://openalex.org/I134235054","display_name":"Sabanc\u0131 \u00dcniversitesi","ror":"https://ror.org/049asqa32","country_code":"TR","type":"education","lineage":["https://openalex.org/I134235054"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"Volkan Patoglu","raw_affiliation_strings":["Faculty of Engineering and Natural Sciences, Sabanc&imath; University, Istanbul, Turkey"],"raw_orcid":"https://orcid.org/0000-0001-6644-3937","affiliations":[{"raw_affiliation_string":"Faculty of Engineering and Natural Sciences, Sabanc&imath; University, Istanbul, Turkey","institution_ids":["https://openalex.org/I134235054"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.6616,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.59157287,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":98},"biblio":{"volume":"16","issue":"4","first_page":"456","last_page":"462"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9993000030517578,"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":0.9993000030517578,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9943000078201294,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T10868","display_name":"Soft Robotics and Applications","score":0.9919000267982483,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/stiffness","display_name":"Stiffness","score":0.8240026235580444},{"id":"https://openalex.org/keywords/rendering","display_name":"Rendering (computer graphics)","score":0.7829188108444214},{"id":"https://openalex.org/keywords/passivity","display_name":"Passivity","score":0.7294367551803589},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5763764381408691},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.45515531301498413},{"id":"https://openalex.org/keywords/series","display_name":"Series (stratigraphy)","score":0.41319966316223145},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.4101763367652893},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.24476298689842224},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24189350008964539},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.14132097363471985},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13047286868095398},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.07697859406471252},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.06961339712142944}],"concepts":[{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.8240026235580444},{"id":"https://openalex.org/C205711294","wikidata":"https://www.wikidata.org/wiki/Q176953","display_name":"Rendering (computer graphics)","level":2,"score":0.7829188108444214},{"id":"https://openalex.org/C2778809601","wikidata":"https://www.wikidata.org/wiki/Q1045736","display_name":"Passivity","level":2,"score":0.7294367551803589},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5763764381408691},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.45515531301498413},{"id":"https://openalex.org/C143724316","wikidata":"https://www.wikidata.org/wiki/Q312468","display_name":"Series (stratigraphy)","level":2,"score":0.41319966316223145},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.4101763367652893},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.24476298689842224},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24189350008964539},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.14132097363471985},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13047286868095398},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.07697859406471252},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.06961339712142944},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0}],"mesh":[{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D055698","descriptor_name":"Touch Perception","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D055698","descriptor_name":"Touch Perception","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D055698","descriptor_name":"Touch Perception","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D055698","descriptor_name":"Touch Perception","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true}],"locations_count":5,"locations":[{"id":"doi:10.1109/toh.2023.3260063","is_oa":false,"landing_page_url":"https://doi.org/10.1109/toh.2023.3260063","pdf_url":null,"source":{"id":"https://openalex.org/S38993383","display_name":"IEEE Transactions on Haptics","issn_l":"1939-1412","issn":["1939-1412","2329-4051","2334-0134"],"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 Haptics","raw_type":"journal-article"},{"id":"pmid:37030740","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/37030740","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE transactions on haptics","raw_type":null},{"id":"pmh:oai:research.sabanciuniv.edu:50157","is_oa":false,"landing_page_url":"https://research.sabanciuniv.edu/id/eprint/50157/","pdf_url":null,"source":{"id":"https://openalex.org/S4306402254","display_name":"Sabanci University","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I134235054","host_organization_name":"Sabanc\u0131 \u00dcniversitesi","host_organization_lineage":["https://openalex.org/I134235054"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"Article"},{"id":"pmh:oai:research.sabanciuniv.edu:48602","is_oa":false,"landing_page_url":"https://research.sabanciuniv.edu/id/eprint/48602/","pdf_url":null,"source":{"id":"https://openalex.org/S4306402254","display_name":"Sabanci University","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I134235054","host_organization_name":"Sabanc\u0131 \u00dcniversitesi","host_organization_lineage":["https://openalex.org/I134235054"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article"},{"id":"pmh:oai:mediatum.ub.tum.de:node/1717374","is_oa":false,"landing_page_url":"https://mediatum.ub.tum.de/1717374","pdf_url":null,"source":{"id":"https://openalex.org/S4306400453","display_name":"mediaTUM \u2013 the media and publications repository of the Technical University Munich (Technical University Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G713896852","display_name":"Savunma Sanayi \u0130\u00e7in D\u0131\u015f \u0130skelet Sistemi Geli\u015ftirilmesi","funder_award_id":"216M200","funder_id":"https://openalex.org/F4320322626","funder_display_name":"T\u00fcrkiye Bilimsel ve Teknolojik Ara\u015ft\u0131rma Kurumu"}],"funders":[{"id":"https://openalex.org/F4320322626","display_name":"T\u00fcrkiye Bilimsel ve Teknolojik Ara\u015ft\u0131rma Kurumu","ror":"https://ror.org/04w9kkr77"},{"id":"https://openalex.org/F4320328867","display_name":"Sabanc\u0131 \u00dcniversitesi","ror":"https://ror.org/049asqa32"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W1563917366","https://openalex.org/W1974357213","https://openalex.org/W2003176730","https://openalex.org/W2010561502","https://openalex.org/W2081814343","https://openalex.org/W2096826446","https://openalex.org/W2111253117","https://openalex.org/W2116767351","https://openalex.org/W2126590051","https://openalex.org/W2136715573","https://openalex.org/W2139548710","https://openalex.org/W2160098876","https://openalex.org/W2164472100","https://openalex.org/W2166259110","https://openalex.org/W2171650119","https://openalex.org/W2750711367","https://openalex.org/W2933412104","https://openalex.org/W2998963185","https://openalex.org/W3001115386","https://openalex.org/W3048108190","https://openalex.org/W3146574664","https://openalex.org/W3159418614","https://openalex.org/W3163125010","https://openalex.org/W3195786307","https://openalex.org/W4205801438","https://openalex.org/W4210251100","https://openalex.org/W4226027065","https://openalex.org/W4234812462","https://openalex.org/W6633739303","https://openalex.org/W6794755304"],"related_works":["https://openalex.org/W4233304828","https://openalex.org/W4239268637","https://openalex.org/W2952841825","https://openalex.org/W2051296765","https://openalex.org/W1977819874","https://openalex.org/W2787005602","https://openalex.org/W2960878236","https://openalex.org/W153449849","https://openalex.org/W2098451795","https://openalex.org/W2473698078"],"abstract_inverted_index":{"We":[0,62,99],"establish":[1],"a":[2,46,97],"fundamental":[3],"limitation":[4],"of":[5,31,45,115],"stiffness":[6,23,30,91,105],"rendering":[7,92,106],"with":[8,93,117],"series":[9,34,57],"elastic":[10,35,53,59],"actuation":[11,60],"by":[12,110],"rigorously":[13],"proving":[14],"that":[15,25,64,71],"no":[16],"causal":[17],"controller":[18],"can":[19,72],"passively":[20],"render":[21],"virtual":[22,79],"levels":[24],"are":[26],"higher":[27],"than":[28],"the":[29,32,43,52,74,78,83,89,102,112],"physical":[33],"element.":[36],"To":[37],"relax":[38,73],"this":[39],"bound,":[40],"we":[41],"propose":[42],"addition":[44],"viscous":[47],"damping":[48],"term":[49],"parallel":[50],"to":[51,55],"element":[54],"form":[56],"damped":[58],"(SDEA).":[61],"show":[63],"there":[65],"exist":[66],"LTI":[67],"controllers":[68],"for":[69,88,108],"SDEA":[70,94],"passivity":[75],"bound":[76],"on":[77],"stiffness,":[80],"and":[81,85],"derive":[82],"necessary":[84],"sufficient":[86],"conditions":[87],"passive":[90,104],"under":[95],"such":[96],"controller.":[98],"experimentally":[100],"verify":[101],"relaxed":[103],"bounds":[107],"SDEA,":[109],"studying":[111],"coupled":[113],"stability":[114],"interactions":[116],"most":[118],"destabilizing":[119],"environments.":[120]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":3}],"updated_date":"2026-07-29T09:40:50.615796","created_date":"2025-10-10T00:00:00"}
