{"id":"https://openalex.org/W4362577752","doi":"https://doi.org/10.3390/robotics12020054","title":"Design and Evaluation of an Intuitive Haptic Teleoperation Control System for 6-DoF Industrial Manipulators","display_name":"Design and Evaluation of an Intuitive Haptic Teleoperation Control System for 6-DoF Industrial Manipulators","publication_year":2023,"publication_date":"2023-04-01","ids":{"openalex":"https://openalex.org/W4362577752","doi":"https://doi.org/10.3390/robotics12020054"},"language":"en","primary_location":{"id":"doi:10.3390/robotics12020054","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics12020054","pdf_url":"https://www.mdpi.com/2218-6581/12/2/54/pdf?version=1680516760","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2218-6581/12/2/54/pdf?version=1680516760","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5009463178","display_name":"Ivo Dekker","orcid":"https://orcid.org/0000-0003-3543-4282"},"institutions":[{"id":"https://openalex.org/I4210116480","display_name":"Flanders Make (Belgium)","ror":"https://ror.org/02ndjfz59","country_code":"BE","type":"company","lineage":["https://openalex.org/I4210116480"]},{"id":"https://openalex.org/I878454856","display_name":"Hasselt University","ror":"https://ror.org/04nbhqj75","country_code":"BE","type":"education","lineage":["https://openalex.org/I878454856"]},{"id":"https://openalex.org/I99464096","display_name":"KU Leuven","ror":"https://ror.org/05f950310","country_code":"BE","type":"education","lineage":["https://openalex.org/I99464096"]}],"countries":["BE"],"is_corresponding":true,"raw_author_name":"Ivo Dekker","raw_affiliation_strings":["Department of Mechanical Engineering, Diepenbeek Campus, University of Leuven, 3590 Diepenbeek, Belgium","FlandersMake@KU Leuven, 3001 Leuven, Belgium"],"raw_orcid":"https://orcid.org/0000-0003-3543-4282","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Diepenbeek Campus, University of Leuven, 3590 Diepenbeek, Belgium","institution_ids":["https://openalex.org/I878454856","https://openalex.org/I99464096"]},{"raw_affiliation_string":"FlandersMake@KU Leuven, 3001 Leuven, Belgium","institution_ids":["https://openalex.org/I4210116480","https://openalex.org/I99464096"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013352606","display_name":"Karel Kellens","orcid":"https://orcid.org/0000-0002-0340-6669"},"institutions":[{"id":"https://openalex.org/I4210116480","display_name":"Flanders Make (Belgium)","ror":"https://ror.org/02ndjfz59","country_code":"BE","type":"company","lineage":["https://openalex.org/I4210116480"]},{"id":"https://openalex.org/I878454856","display_name":"Hasselt University","ror":"https://ror.org/04nbhqj75","country_code":"BE","type":"education","lineage":["https://openalex.org/I878454856"]},{"id":"https://openalex.org/I99464096","display_name":"KU Leuven","ror":"https://ror.org/05f950310","country_code":"BE","type":"education","lineage":["https://openalex.org/I99464096"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Karel Kellens","raw_affiliation_strings":["Department of Mechanical Engineering, Diepenbeek Campus, University of Leuven, 3590 Diepenbeek, Belgium","FlandersMake@KU Leuven, 3001 Leuven, Belgium"],"raw_orcid":"https://orcid.org/0000-0002-0340-6669","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Diepenbeek Campus, University of Leuven, 3590 Diepenbeek, Belgium","institution_ids":["https://openalex.org/I878454856","https://openalex.org/I99464096"]},{"raw_affiliation_string":"FlandersMake@KU Leuven, 3001 Leuven, Belgium","institution_ids":["https://openalex.org/I4210116480","https://openalex.org/I99464096"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5083743939","display_name":"Eric Demeester","orcid":"https://orcid.org/0000-0001-6866-3802"},"institutions":[{"id":"https://openalex.org/I878454856","display_name":"Hasselt University","ror":"https://ror.org/04nbhqj75","country_code":"BE","type":"education","lineage":["https://openalex.org/I878454856"]},{"id":"https://openalex.org/I99464096","display_name":"KU Leuven","ror":"https://ror.org/05f950310","country_code":"BE","type":"education","lineage":["https://openalex.org/I99464096"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Eric Demeester","raw_affiliation_strings":["Department of Mechanical Engineering, Diepenbeek Campus, University of Leuven, 3590 Diepenbeek, Belgium"],"raw_orcid":"https://orcid.org/0000-0001-6866-3802","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Diepenbeek Campus, University of Leuven, 3590 Diepenbeek, Belgium","institution_ids":["https://openalex.org/I878454856","https://openalex.org/I99464096"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5009463178"],"corresponding_institution_ids":["https://openalex.org/I4210116480","https://openalex.org/I878454856","https://openalex.org/I99464096"],"apc_list":{"value":1600,"currency":"CHF","value_usd":1732},"apc_paid":{"value":1600,"currency":"CHF","value_usd":1732},"fwci":1.899,"has_fulltext":true,"cited_by_count":15,"citation_normalized_percentile":{"value":0.83794363,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":"12","issue":"2","first_page":"54","last_page":"54"},"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/T10648","display_name":"Virtual Reality Applications and Impacts","score":0.9979000091552734,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10914","display_name":"Tactile and Sensory Interactions","score":0.9973000288009644,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.838905930519104},{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.8106017708778381},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5975425243377686},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.5482932329177856},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.5295879244804382},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49362337589263916},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.47853025794029236},{"id":"https://openalex.org/keywords/industrial-robot","display_name":"Industrial robot","score":0.46384480595588684},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.449327290058136},{"id":"https://openalex.org/keywords/interface","display_name":"Interface (matter)","score":0.4437096416950226},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4328896701335907},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.4270588159561157},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.36133483052253723},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3214152753353119},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.30525851249694824}],"concepts":[{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.838905930519104},{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.8106017708778381},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5975425243377686},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.5482932329177856},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.5295879244804382},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49362337589263916},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.47853025794029236},{"id":"https://openalex.org/C2776126113","wikidata":"https://www.wikidata.org/wiki/Q1128980","display_name":"Industrial robot","level":3,"score":0.46384480595588684},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.449327290058136},{"id":"https://openalex.org/C113843644","wikidata":"https://www.wikidata.org/wiki/Q901882","display_name":"Interface (matter)","level":4,"score":0.4437096416950226},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4328896701335907},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.4270588159561157},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.36133483052253723},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3214152753353119},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.30525851249694824},{"id":"https://openalex.org/C157915830","wikidata":"https://www.wikidata.org/wiki/Q2928001","display_name":"Bubble","level":2,"score":0.0},{"id":"https://openalex.org/C173608175","wikidata":"https://www.wikidata.org/wiki/Q232661","display_name":"Parallel computing","level":1,"score":0.0},{"id":"https://openalex.org/C129307140","wikidata":"https://www.wikidata.org/wiki/Q6795880","display_name":"Maximum bubble pressure method","level":3,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.3390/robotics12020054","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics12020054","pdf_url":"https://www.mdpi.com/2218-6581/12/2/54/pdf?version=1680516760","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},{"id":"pmh:oai:lirias2repo.kuleuven.be:20.500.12942/719419","is_oa":true,"landing_page_url":"https://lirias.kuleuven.be/handle/20.500.12942/719419","pdf_url":"https://lirias.kuleuven.be/retrieve/a6b465bd-3391-4f1c-865a-ee3d8bf91b01","source":{"id":"https://openalex.org/S4306401954","display_name":"Lirias (KU Leuven)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I99464096","host_organization_name":"KU Leuven","host_organization_lineage":["https://openalex.org/I99464096"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics, vol. 12 (2), Art.No. 54","raw_type":"info:eu-repo/semantics/publishedVersion"},{"id":"pmh:oai:doaj.org/article:bc3d19c40d89470fbec39f27282ee74a","is_oa":true,"landing_page_url":"https://doaj.org/article/bc3d19c40d89470fbec39f27282ee74a","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics, Vol 12, Iss 2, p 54 (2023)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/2218-6581/12/2/54/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/robotics12020054","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics; Volume 12; Issue 2; Pages: 54","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/robotics12020054","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics12020054","pdf_url":"https://www.mdpi.com/2218-6581/12/2/54/pdf?version=1680516760","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G858145488","display_name":null,"funder_award_id":"HBC.2020.2884","funder_id":"https://openalex.org/F4320313460","funder_display_name":"Agentschap Innoveren en Ondernemen"}],"funders":[{"id":"https://openalex.org/F4320313460","display_name":"Agentschap Innoveren en Ondernemen","ror":"https://ror.org/032xdry56"}],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4362577752.pdf"},"referenced_works_count":15,"referenced_works":["https://openalex.org/W1968112263","https://openalex.org/W1997335902","https://openalex.org/W2004139909","https://openalex.org/W2151899489","https://openalex.org/W2327678559","https://openalex.org/W2623886678","https://openalex.org/W2743788393","https://openalex.org/W2782378770","https://openalex.org/W2908226385","https://openalex.org/W2989189115","https://openalex.org/W2995785945","https://openalex.org/W3035886512","https://openalex.org/W3139647040","https://openalex.org/W3186363970","https://openalex.org/W4292549034"],"related_works":["https://openalex.org/W2094105667","https://openalex.org/W3207929196","https://openalex.org/W2743622753","https://openalex.org/W2399839122","https://openalex.org/W4281381717","https://openalex.org/W3186584605","https://openalex.org/W2153854426","https://openalex.org/W1997286189","https://openalex.org/W2012105728","https://openalex.org/W2125132090"],"abstract_inverted_index":{"Industrial":[0],"robots":[1],"are":[2],"capable":[3,126,158],"of":[4,58,105,127,149,159,171,194],"performing":[5],"automated":[6],"tasks":[7,165],"repeatedly,":[8],"reliably":[9],"and":[10,66,91,108,137,187],"accurately.":[11],"However,":[12],"in":[13],"some":[14],"scenarios,":[15],"human-in-the-loop":[16],"control":[17,51,170],"is":[18,35,55,125,157],"required.":[19],"In":[20],"this":[21],"case,":[22],"having":[23],"an":[24,68,74,155],"intuitive":[25,69],"system":[26,71,86,124],"for":[27,72,206,219],"moving":[28],"the":[29,32,38,98,113,123,130,135,172,192,195,203,210,220,231,242,249],"robot":[30,50,114,173],"within":[31,115],"working":[33,117],"environment":[34],"crucial.":[36],"Additionally,":[37,154],"operator":[39,156],"should":[40],"be":[41],"aided":[42],"by":[43,236],"sensory":[44],"feedback":[45,54,95],"to":[46,96,151,181,190,245],"obtain":[47],"a":[48,61,80,102,183,207],"user-friendly":[49],"system.":[52,62,196],"Haptic":[53],"one":[56],"way":[57],"achieving":[59],"such":[60],"This":[63],"paper":[64],"designs":[65],"assesses":[67],"teleoperation":[70],"controlling":[73],"industrial":[75],"6-DoF":[76],"robotic":[77],"manipulator":[78,131],"using":[79],"Geomagic":[81],"Touch":[82],"haptic":[83,94],"interface.":[84],"The":[85,217],"utilises":[87],"both":[88,101],"virtual":[89],"environment-induced":[90],"physical":[92],"sensor-induced":[93],"provide":[97],"user":[99],"with":[100,134,144,168],"higher":[103],"amount":[104],"environmental":[106],"awareness":[107],"additional":[109],"safety":[110],"while":[111],"manoeuvering":[112],"its":[116],"area.":[118],"Different":[119],"tests":[120],"show":[121],"that":[122,200],"fully":[128],"stopping":[129],"without":[132],"colliding":[133],"environment,":[136],"preventing":[138],"it":[139],"from":[140],"entering":[141],"singularity":[142],"states":[143],"Cartesian":[145],"end":[146,162],"effector":[147,163],"velocities":[148],"up":[150],"0.25":[152],"m/s.":[153],"executing":[160],"low-tolerance":[161],"positioning":[164],"(\u223c0.5":[166],"mm)":[167],"high-frequency":[169],"(\u223c100":[174],"Hz).":[175],"Fourteen":[176],"inexperienced":[177],"volunteers":[178],"were":[179],"asked":[180],"perform":[182],"typical":[184],"object":[185],"removal":[186],"writing":[188],"task":[189],"gauge":[191],"intuitiveness":[193],"It":[197],"was":[198],"found":[199],"when":[201],"repeating":[202],"same":[204],"test":[205],"second":[208,221],"time,":[209],"participants":[211],"performed":[212],"22.2%":[213],"faster":[214],"on":[215,241,248],"average.":[216],"results":[218],"attempt":[222,244],"also":[223],"became":[224],"significantly":[225],"more":[226],"consistent":[227],"between":[228],"participants,":[229],"as":[230],"inter":[232],"quartile":[233],"range":[234],"dropped":[235],"82.7%":[237],"(from":[238],"52":[239],"s":[240,247],"first":[243],"9":[246],"second).":[250]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":4}],"updated_date":"2025-12-22T23:10:17.713674","created_date":"2025-10-10T00:00:00"}