{"id":"https://openalex.org/W2006518904","doi":"https://doi.org/10.1177/0278364906076264","title":"The Low-Stiffness Teleoperator Slave \u2014 a Trade-off between Stability and Performance","display_name":"The Low-Stiffness Teleoperator Slave \u2014 a Trade-off between Stability and Performance","publication_year":2007,"publication_date":"2007-02-26","ids":{"openalex":"https://openalex.org/W2006518904","doi":"https://doi.org/10.1177/0278364906076264","mag":"2006518904"},"language":"en","primary_location":{"id":"doi:10.1177/0278364906076264","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364906076264","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","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/A5085453064","display_name":"G. Christiansson","orcid":null},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"G\u00f6ran A. V. Christiansson","raw_affiliation_strings":["Delft Haptics Laboratory, Delft University of Technology, The Netherlands","Delft Haptics Laboratory, Delft University of Technology, The Netherlands#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Delft Haptics Laboratory, Delft University of Technology, The Netherlands","institution_ids":["https://openalex.org/I98358874"]},{"raw_affiliation_string":"Delft Haptics Laboratory, Delft University of Technology, The Netherlands#TAB#","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5109030882","display_name":"F.C.T. van der Helm","orcid":null},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Frans C. T. van der Helm","raw_affiliation_strings":["Delft Haptics Laboratory, Delft University of Technology, The Netherlands","Delft Haptics Laboratory, Delft University of Technology, The Netherlands#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Delft Haptics Laboratory, Delft University of Technology, The Netherlands","institution_ids":["https://openalex.org/I98358874"]},{"raw_affiliation_string":"Delft Haptics Laboratory, Delft University of Technology, The Netherlands#TAB#","institution_ids":["https://openalex.org/I98358874"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I98358874"],"apc_list":null,"apc_paid":null,"fwci":6.0091,"has_fulltext":false,"cited_by_count":35,"citation_normalized_percentile":{"value":0.95626002,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":93,"max":98},"biblio":{"volume":"26","issue":"3","first_page":"287","last_page":"299"},"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/T13885","display_name":"Geophysics and Sensor Technology","score":0.9409000277519226,"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/T13248","display_name":"Healthcare Technology and Patient Monitoring","score":0.9301999807357788,"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/teleoperation","display_name":"Teleoperation","score":0.9472131133079529},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7376323938369751},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.6932612657546997},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6409159302711487},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5938448309898376},{"id":"https://openalex.org/keywords/deflection","display_name":"Deflection (physics)","score":0.4973004162311554},{"id":"https://openalex.org/keywords/channel","display_name":"Channel (broadcasting)","score":0.4643424451351166},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.44690391421318054},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.41879093647003174},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3696303367614746},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3436075448989868},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.32512494921684265},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.18008509278297424},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16250410676002502},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.1214224100112915},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.0676967203617096}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.9472131133079529},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7376323938369751},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.6932612657546997},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6409159302711487},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5938448309898376},{"id":"https://openalex.org/C2781355719","wikidata":"https://www.wikidata.org/wiki/Q2080698","display_name":"Deflection (physics)","level":2,"score":0.4973004162311554},{"id":"https://openalex.org/C127162648","wikidata":"https://www.wikidata.org/wiki/Q16858953","display_name":"Channel (broadcasting)","level":2,"score":0.4643424451351166},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.44690391421318054},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.41879093647003174},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3696303367614746},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3436075448989868},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.32512494921684265},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.18008509278297424},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16250410676002502},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.1214224100112915},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0676967203617096},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1177/0278364906076264","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364906076264","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"},{"id":"pmh:oai:ris.utwente.nl:openaire_cris_publications/5e0a7824-6fe3-4355-b3d7-ab63b46ba24f","is_oa":false,"landing_page_url":"https://research.utwente.nl/en/publications/5e0a7824-6fe3-4355-b3d7-ab63b46ba24f","pdf_url":null,"source":{"id":"https://openalex.org/S4406922991","display_name":"University of Twente Research Information","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Christiansson, G A V & van der Helm, F C T 2007, 'The low-stiffness teleoperator slave - a trade-off between stability and performance.', International journal of robotics research, vol. 26, no. 3, pp. 287-299.","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5299999713897705,"display_name":"No poverty","id":"https://metadata.un.org/sdg/1"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1514115716","https://openalex.org/W1554541441","https://openalex.org/W2001852229","https://openalex.org/W2055854952","https://openalex.org/W2086150412","https://openalex.org/W2105853760","https://openalex.org/W2107207454","https://openalex.org/W2111756027","https://openalex.org/W2114987226","https://openalex.org/W2133720116","https://openalex.org/W2134927525","https://openalex.org/W2135464393","https://openalex.org/W2136447622","https://openalex.org/W2139548710","https://openalex.org/W2141170102","https://openalex.org/W2150726570","https://openalex.org/W2154511092","https://openalex.org/W2169440744","https://openalex.org/W2561111412","https://openalex.org/W2600643276","https://openalex.org/W3007191719","https://openalex.org/W4285719527","https://openalex.org/W4302435045"],"related_works":["https://openalex.org/W1923069992","https://openalex.org/W2160982102","https://openalex.org/W2048862765","https://openalex.org/W2770942502","https://openalex.org/W4281943815","https://openalex.org/W2364738582","https://openalex.org/W2160932924","https://openalex.org/W2082997813","https://openalex.org/W2296377172","https://openalex.org/W2946737911"],"abstract_inverted_index":{"Stability":[0,30],"is":[1,31,39,75,132],"essential":[2],"for":[3,8,119,179],"teleoperation":[4,106,183],"and":[5,37,44,59,77,94,185],"a":[6,18,25,66,91,101,171,176,180],"prerequisite":[7],"performance.":[9,83],"This":[10],"paper":[11],"analyzes":[12],"the":[13,14,21,47,50,71,82,95,129,138,158,162,187],"stability/performance":[15],"trade-off":[16],"of":[17,49,104,128,137,161,182,189],"teleoperator":[19,42,45,85,122,163],"where":[20,70],"slave":[22,72,115,173],"device":[23,174],"has":[24],"built-in":[26],"passive":[27],"intrinsic":[28],"stiffness.":[29],"quantified":[32],"as":[33],"time":[34],"delay":[35],"robustness":[36],"performance":[38,136,190],"expressed":[40],"using":[41,90],"damping":[43],"stiffness,":[46],"boundaries":[48],"Colgate":[51],"Z-width":[52],"Two":[53],"classic":[54],"control":[55],"schemes,":[56],"position":[57,143],"error":[58],"Lawrence":[60],"4-channel,":[61],"are":[62],"used":[63],"along":[64],"with":[65],"novel":[67],"5-channel":[68],"scheme":[69],"stiffness":[73,116],"deflection":[74],"measured,":[76],"compensated":[78],"for,":[79],"to":[80,146],"improve":[81],"The":[84,125,135],"system":[86],"was":[87,109],"analyzed":[88],"theoretically":[89],"linear":[92,152],"model":[93],"findings":[96],"were":[97],"experimentally":[98],"validated":[99],"on":[100],"one":[102],"degree":[103],"freedom":[105],"setup.":[107],"It":[108],"found":[110],"that:":[111],"\u2022":[112,124,134,149],"A":[113,150],"lower":[114],"improves":[117],"stability":[118,126,159,177],"all":[120],"three":[121,130],"architectures.":[123],"boundary":[127],"controllers":[131,139],"similar.":[133],"increases":[140],"from:":[141],"(poor)":[142],"error,":[144],"4-Channel":[145],"(excellent)":[147],"5-channel.":[148],"classical":[151],"analysis":[153],"method":[154],"can":[155,167,191],"accurately":[156],"predict":[157],"characteristics":[160],"system.":[164],"Therefore":[165],"it":[166],"be":[168,192],"concluded":[169],"that":[170,186],"compliant":[172],"offers":[175],"advantage":[178],"range":[181],"situations":[184],"loss":[188],"partly":[193],"compensated.":[194]},"counts_by_year":[{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":4},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":5},{"year":2015,"cited_by_count":4},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":3}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}