{"id":"https://openalex.org/W2338554806","doi":"https://doi.org/10.1177/0278364915596234","title":"Stability and quantization-error analysis of haptic rendering of virtual stiffness and damping","display_name":"Stability and quantization-error analysis of haptic rendering of virtual stiffness and damping","publication_year":2015,"publication_date":"2015-10-06","ids":{"openalex":"https://openalex.org/W2338554806","doi":"https://doi.org/10.1177/0278364915596234","mag":"2338554806"},"language":"en","primary_location":{"id":"doi:10.1177/0278364915596234","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364915596234","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/A5071166006","display_name":"Nick Colonnese","orcid":null},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Nick Colonnese","raw_affiliation_strings":["Mechanical Engineering Department, Stanford University, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, Stanford University, USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067958710","display_name":"Allison M. Okamura","orcid":"https://orcid.org/0000-0002-6912-1666"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Allison Okamura","raw_affiliation_strings":["Mechanical Engineering Department, Stanford University, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, Stanford University, USA","institution_ids":["https://openalex.org/I97018004"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5071166006"],"corresponding_institution_ids":["https://openalex.org/I97018004"],"apc_list":null,"apc_paid":null,"fwci":2.1571,"has_fulltext":false,"cited_by_count":39,"citation_normalized_percentile":{"value":0.87249633,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"35","issue":"9","first_page":"1103","last_page":"1120"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9998000264167786,"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":0.9998000264167786,"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/T10914","display_name":"Tactile and Sensory Interactions","score":0.9908999800682068,"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"}},{"id":"https://openalex.org/T13885","display_name":"Geophysics and Sensor Technology","score":0.9724000096321106,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.7648749947547913},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6143266558647156},{"id":"https://openalex.org/keywords/quantization","display_name":"Quantization (signal processing)","score":0.6095263957977295},{"id":"https://openalex.org/keywords/rendering","display_name":"Rendering (computer graphics)","score":0.5637872815132141},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5475437045097351},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.49134817719459534},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4363044500350952},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.29196542501449585},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2586159110069275},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20067742466926575},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.08082938194274902}],"concepts":[{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.7648749947547913},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6143266558647156},{"id":"https://openalex.org/C28855332","wikidata":"https://www.wikidata.org/wiki/Q198099","display_name":"Quantization (signal processing)","level":2,"score":0.6095263957977295},{"id":"https://openalex.org/C205711294","wikidata":"https://www.wikidata.org/wiki/Q176953","display_name":"Rendering (computer graphics)","level":2,"score":0.5637872815132141},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5475437045097351},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.49134817719459534},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4363044500350952},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.29196542501449585},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2586159110069275},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20067742466926575},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.08082938194274902},{"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:10.1177/0278364915596234","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364915596234","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"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.7599999904632568}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W65153156","https://openalex.org/W1487127700","https://openalex.org/W1513016807","https://openalex.org/W1544439962","https://openalex.org/W1967538012","https://openalex.org/W1984343324","https://openalex.org/W2027607574","https://openalex.org/W2028720893","https://openalex.org/W2065313971","https://openalex.org/W2103582064","https://openalex.org/W2105957070","https://openalex.org/W2107207454","https://openalex.org/W2108537617","https://openalex.org/W2110942627","https://openalex.org/W2150251204","https://openalex.org/W2160098876","https://openalex.org/W2166402976","https://openalex.org/W2175904477","https://openalex.org/W2527081555"],"related_works":["https://openalex.org/W1593787288","https://openalex.org/W3124928510","https://openalex.org/W2149474872","https://openalex.org/W3034676803","https://openalex.org/W2527178702","https://openalex.org/W2717176184","https://openalex.org/W2013128640","https://openalex.org/W2120542232","https://openalex.org/W2158164102","https://openalex.org/W1493975996"],"abstract_inverted_index":{"The":[0,144],"stable,":[1],"quantization-error":[2,63,85,104],"noise-free,":[3],"rendering":[4,28],"of":[5,24,37,68],"high-stiffness":[6],"dynamics":[7],"can":[8],"be":[9],"challenging":[10],"using":[11,150],"impedance-type":[12],"haptic":[13,26,142,155],"displays.":[14],"In":[15],"this":[16],"paper":[17],"we":[18,82,128],"examine":[19],"a":[20,29,66,96,140,151],"canonical,":[21],"one":[22],"degree":[23],"freedom,":[25],"display":[27],"virtual":[30,88,98,137],"spring":[31,89],"and":[32,40,48,62,72,90,112],"damper,":[33],"including":[34],"the":[35,38,49,54,69,74,84,124,134],"effects":[36],"device":[39,55],"human":[41],"dynamics,":[42],"sampling,":[43],"position":[44],"quantization,":[45],"time":[46],"delay,":[47],"low-pass":[50],"filter":[51],"operating":[52],"on":[53],"velocity":[56],"estimate.":[57],"We":[58,100],"construct":[59],"various":[60],"stability":[61],"regions":[64],"as":[65],"function":[67],"system":[70],"parameters":[71,131],"show":[73],"necessary":[75],"trade-offs":[76],"that":[77],"occur":[78],"between":[79],"them.":[80],"Although":[81],"apply":[83],"analysis":[86],"to":[87,95,132],"damper":[91],"rendering,":[92],"it":[93],"applies":[94],"general":[97],"environment.":[99],"present":[101],"sufficiency":[102],"for":[103,107,114,139],"passivity,":[105],"necessity":[106,113],"no":[108,115],"malicious-touch":[109],"limit":[110,117],"cycles,":[111],"uncoupled-touch":[116],"cycles.":[118],"Using":[119],"these":[120],"results,":[121],"aided":[122],"by":[123],"presented":[125],"supplementary":[126],"code,":[127],"find":[129],"control":[130],"render":[133],"largest,":[135],"renderable,":[136],"stiffness":[138],"given":[141],"display.":[143],"analytical":[145],"results":[146],"are":[147],"experimentally":[148],"verified":[149],"Phantom":[152],"Premium":[153],"1.5":[154],"device.":[156]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
