{"id":"https://openalex.org/W1486188681","doi":"https://doi.org/10.1163/156855307781746098","title":"A geometric constraint-based approach to force and motion coupling between real and virtual mechanisms","display_name":"A geometric constraint-based approach to force and motion coupling between real and virtual mechanisms","publication_year":2007,"publication_date":"2007-01-01","ids":{"openalex":"https://openalex.org/W1486188681","doi":"https://doi.org/10.1163/156855307781746098","mag":"1486188681"},"language":"en","primary_location":{"id":"doi:10.1163/156855307781746098","is_oa":false,"landing_page_url":"https://doi.org/10.1163/156855307781746098","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","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/A5060911937","display_name":"Naci Zafer","orcid":"https://orcid.org/0000-0001-5026-9102"},"institutions":[{"id":"https://openalex.org/I51209816","display_name":"Eski\u015fehir Osmangazi University","ror":"https://ror.org/01dzjez04","country_code":"TR","type":"education","lineage":["https://openalex.org/I51209816"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"Naci Zafer","raw_affiliation_strings":["a Department of Mechanical Engineering, Eskisehir Osmangazi University, Bati Meselik, Eskisehir 26480, Turkey","Department of Mechanical Engineering, Eskisehir Osmangazi University, Bati Meselik, Eskisehir 26480, Turkey"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"a Department of Mechanical Engineering, Eskisehir Osmangazi University, Bati Meselik, Eskisehir 26480, Turkey","institution_ids":["https://openalex.org/I51209816"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Eskisehir Osmangazi University, Bati Meselik, Eskisehir 26480, Turkey","institution_ids":["https://openalex.org/I51209816"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5087730748","display_name":"Greg R. Luecke","orcid":"https://orcid.org/0000-0003-4880-9039"},"institutions":[{"id":"https://openalex.org/I173911158","display_name":"Iowa State University","ror":"https://ror.org/04rswrd78","country_code":"US","type":"education","lineage":["https://openalex.org/I173911158"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Greg R. Luecke","raw_affiliation_strings":["b Department of Mechanical Engineering, Iowa State University, Ames, IA 50011, USA","Department of Mechanical Engineering, Iowa State University, Ames, IA 50011, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"b Department of Mechanical Engineering, Iowa State University, Ames, IA 50011, USA","institution_ids":["https://openalex.org/I173911158"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Iowa State University, Ames, IA 50011, USA","institution_ids":["https://openalex.org/I173911158"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.6821,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.71005838,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"21","issue":"12","first_page":"1393","last_page":"1410"},"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9973999857902527,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9836000204086304,"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/haptic-technology","display_name":"Haptic technology","score":0.8207422494888306},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7832285761833191},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5443910360336304},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5155260562896729},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.4988579750061035},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4900928735733032},{"id":"https://openalex.org/keywords/coupling","display_name":"Coupling (piping)","score":0.48405757546424866},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4781966209411621},{"id":"https://openalex.org/keywords/virtual-reality","display_name":"Virtual reality","score":0.47582748532295227},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.44502684473991394},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4044725298881531},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.32124805450439453},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23487332463264465},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.1667245328426361},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.130601167678833},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10022351145744324}],"concepts":[{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.8207422494888306},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7832285761833191},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5443910360336304},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5155260562896729},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.4988579750061035},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4900928735733032},{"id":"https://openalex.org/C131584629","wikidata":"https://www.wikidata.org/wiki/Q4308705","display_name":"Coupling (piping)","level":2,"score":0.48405757546424866},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4781966209411621},{"id":"https://openalex.org/C194969405","wikidata":"https://www.wikidata.org/wiki/Q170519","display_name":"Virtual reality","level":2,"score":0.47582748532295227},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.44502684473991394},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4044725298881531},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.32124805450439453},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23487332463264465},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.1667245328426361},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.130601167678833},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10022351145744324},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1163/156855307781746098","is_oa":false,"landing_page_url":"https://doi.org/10.1163/156855307781746098","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1990777642","https://openalex.org/W2014863553","https://openalex.org/W2019623352","https://openalex.org/W2068794080","https://openalex.org/W2073855228","https://openalex.org/W2091271588","https://openalex.org/W2106168911","https://openalex.org/W2112474089","https://openalex.org/W2115250323","https://openalex.org/W2124034026","https://openalex.org/W2134161165","https://openalex.org/W2136766122","https://openalex.org/W2136919126","https://openalex.org/W2141282574","https://openalex.org/W2146963021","https://openalex.org/W2147401455","https://openalex.org/W2168120373","https://openalex.org/W2170022560","https://openalex.org/W2310874686","https://openalex.org/W2584477242"],"related_works":["https://openalex.org/W156716224","https://openalex.org/W2111871955","https://openalex.org/W3175380930","https://openalex.org/W4233260495","https://openalex.org/W1989694608","https://openalex.org/W2139876914","https://openalex.org/W1986738380","https://openalex.org/W2348224808","https://openalex.org/W4309505616","https://openalex.org/W1745761201"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,11,33],"new":[4],"stable":[5],"controller":[6],"design":[7],"for":[8],"use":[9],"with":[10,29],"general":[12],"6-d.o.f.":[13],"robotic":[14],"haptic":[15,26,40,64],"device.":[16],"A":[17],"virtual":[18,56,59,72],"manipulator":[19,60],"concept":[20],"is":[21,42,76],"developed":[22],"that":[23],"couples":[24],"the":[25,30,39,52,55,63],"device":[27,41,65],"kinematics":[28,61],"constraints":[31],"of":[32,54],"simulated":[34],"manipulator.":[35,57],"Using":[36],"impedance-based":[37],"constraints,":[38],"controlled":[43],"to":[44,51,69],"oppose":[45],"applied":[46],"forces":[47],"in":[48],"directions":[49],"orthogonal":[50],"motions":[53],"The":[58,74],"constrains":[62],"motion,":[66],"allowing":[67],"motion":[68],"simulate":[70],"specific":[71],"mechanisms.":[73],"implementation":[75],"illustrated":[77],"using":[78],"experimental":[79],"simulations.":[80]},"counts_by_year":[{"year":2016,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
