{"id":"https://openalex.org/W2086286104","doi":"https://doi.org/10.1163/156855308x314506","title":"Improvement of Tactile Sensation of a Bilateral Forceps Robot by a Switching Virtual Model","display_name":"Improvement of Tactile Sensation of a Bilateral Forceps Robot by a Switching Virtual Model","publication_year":2008,"publication_date":"2008-01-01","ids":{"openalex":"https://openalex.org/W2086286104","doi":"https://doi.org/10.1163/156855308x314506","mag":"2086286104"},"language":"en","primary_location":{"id":"doi:10.1163/156855308x314506","is_oa":false,"landing_page_url":"https://doi.org/10.1163/156855308x314506","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/A5005659336","display_name":"A. M. Harsha S. Abeykoon","orcid":"https://orcid.org/0000-0003-2769-8106"},"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":"A. M. Harsha S. Abeykoon","raw_affiliation_strings":["a    Department of Integrated Design Engineering, Keio University, Hiyoshi 3-14-1 Kohoku-ku, Yokohama 223-8522, Japan;, Email: harsha@sum.sd.keio.ac.jp","a Department of Integrated Design Engineering, Keio University, Hiyoshi 3-14-1 Kohoku-ku, Yokohama 223-8522, Japan;, Email: harsha@sum.sd.keio.ac.jp"],"affiliations":[{"raw_affiliation_string":"a    Department of Integrated Design Engineering, Keio University, Hiyoshi 3-14-1 Kohoku-ku, Yokohama 223-8522, Japan;, Email: harsha@sum.sd.keio.ac.jp","institution_ids":["https://openalex.org/I203951103"]},{"raw_affiliation_string":"a Department of Integrated Design Engineering, Keio University, Hiyoshi 3-14-1 Kohoku-ku, Yokohama 223-8522, Japan;, Email: harsha@sum.sd.keio.ac.jp","institution_ids":[]}]},{"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":["b    Department of Integrated Design Engineering, Keio University, Hiyoshi 3-14-1 Kohoku-ku, Yokohama 223-8522, Japan","b Department of Integrated Design Engineering, Keio University, Hiyoshi 3-14-1 Kohoku-ku, Yokohama 223-8522, Japan"],"affiliations":[{"raw_affiliation_string":"b    Department of Integrated Design Engineering, Keio University, Hiyoshi 3-14-1 Kohoku-ku, Yokohama 223-8522, Japan","institution_ids":["https://openalex.org/I203951103"]},{"raw_affiliation_string":"b Department of Integrated Design Engineering, Keio University, Hiyoshi 3-14-1 Kohoku-ku, Yokohama 223-8522, Japan","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5005659336"],"corresponding_institution_ids":["https://openalex.org/I203951103"],"apc_list":null,"apc_paid":null,"fwci":0.6094,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.73810535,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"22","issue":"8","first_page":"789","last_page":"806"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9995999932289124,"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":0.9995999932289124,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9887999892234802,"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/T10916","display_name":"Surgical Simulation and Training","score":0.9693999886512756,"subfield":{"id":"https://openalex.org/subfields/2746","display_name":"Surgery"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5525241494178772},{"id":"https://openalex.org/keywords/virtual-reality","display_name":"Virtual reality","score":0.5178306698799133},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.5028991103172302},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.49727585911750793},{"id":"https://openalex.org/keywords/forceps","display_name":"Forceps","score":0.49621039628982544},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48849236965179443},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.43454962968826294},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3970273435115814},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.37009868025779724},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3164138197898865},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.0840311050415039},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.08223804831504822}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5525241494178772},{"id":"https://openalex.org/C194969405","wikidata":"https://www.wikidata.org/wiki/Q170519","display_name":"Virtual reality","level":2,"score":0.5178306698799133},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.5028991103172302},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.49727585911750793},{"id":"https://openalex.org/C2776914593","wikidata":"https://www.wikidata.org/wiki/Q1378235","display_name":"Forceps","level":2,"score":0.49621039628982544},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48849236965179443},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.43454962968826294},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3970273435115814},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.37009868025779724},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3164138197898865},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0840311050415039},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.08223804831504822},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","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:10.1163/156855308x314506","is_oa":false,"landing_page_url":"https://doi.org/10.1163/156855308x314506","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":[{"score":0.41999998688697815,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":8,"referenced_works":["https://openalex.org/W1982763957","https://openalex.org/W2069301220","https://openalex.org/W2096323098","https://openalex.org/W2102279668","https://openalex.org/W2126740897","https://openalex.org/W2146963021","https://openalex.org/W2148574067","https://openalex.org/W4242059591"],"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/W2642061445","https://openalex.org/W2348224808","https://openalex.org/W4309505616"],"abstract_inverted_index":{"Abstract":[0],"Interest":[1],"in":[2,27,85],"tele-operation":[3,9],"started":[4],"many":[5],"decades":[6],"ago.":[7],"Today,":[8],"is":[10,20,33,59,71,83,154,171],"becoming":[11],"a":[12,22,36,39,86,115,124,129,134,151,168,200],"reality":[13],"with":[14,102,123],"improved":[15],"tele-communication":[16],"systems.":[17],"Bilateral":[18],"control":[19,57,82],"also":[21,72],"subset":[23],"of":[24,61,77,106,209],"tele-operation.":[25],"Usually":[26],"bilateral":[28,56,81],"control,":[29],"force":[30,105],"position":[31],"information":[32],"exchanged":[34],"between":[35],"master":[37,53,67],"and":[38,128,176],"slave.":[40],"This":[41,69],"structure":[42],"successfully":[43],"transmits":[44],"tactile":[45,63],"sensation":[46,64],"from":[47,97],"the":[48,52,66,75,78,89,94,98,103,107,119,140,147,162,178,183,190,207,210],"slave":[49],"environment":[50],"to":[51,65,117,146,159,173],"operator.":[54],"A":[55],"system":[58],"capable":[60],"transmitting":[62],"side.":[68],"capability":[70],"known":[73],"as":[74,137,139],"transparency":[76],"system.":[79,148],"If":[80],"used":[84],"surgery,":[87],"ideally":[88],"medical":[90],"doctor":[91],"should":[92],"sense":[93],"feeling":[95],"coming":[96],"body":[99],"tissue":[100],"together":[101],"reaction":[104,192],"special":[108,120],"surgical":[109,121],"tool.":[110],"We":[111],"have":[112],"previously":[113],"proposed":[114,141,172],"method":[116,170],"eliminate":[118],"tool":[122,126,131,136,143,163,180,184],"simple":[125],"tip":[127],"virtual":[130,142,152,179],"model.":[132],"However,":[133],"physical":[135],"well":[138],"add":[144],"impedance":[145],"Even":[149],"if":[150],"model":[153,181],"used,":[155],"impedances":[156],"are":[157],"essential":[158],"carry":[160],"out":[161,198],"action.":[164],"In":[165],"this":[166],"paper,":[167],"novel":[169],"switch":[174],"off":[175],"on":[177],"when":[182],"action":[185],"can":[186],"be":[187],"replaced":[188],"by":[189],"environmental":[191],"forces.":[193],"An":[194],"experiment":[195],"was":[196],"carried":[197],"using":[199],"bilaterally":[201],"controlled":[202],"forceps":[203],"robot.":[204],"Results":[205],"show":[206],"applicability":[208],"idea.":[211],"Keywords:":[212],"TACTILE":[213],"SENSATIONTELE-ROBOTICSBILATERAL":[214],"CONTROLMINIMAL":[215],"INVASIVE":[216],"SURGERY":[217]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2014,"cited_by_count":2},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}