{"id":"https://openalex.org/W7160857120","doi":"https://doi.org/10.48550/arxiv.2605.07037","title":"Intention assimilation control for accurate tracking with variable impedance in teleoperation","display_name":"Intention assimilation control for accurate tracking with variable impedance in teleoperation","publication_year":2026,"publication_date":"2026-05-07","ids":{"openalex":"https://openalex.org/W7160857120","doi":"https://doi.org/10.48550/arxiv.2605.07037"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2605.07037","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.07037","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2605.07037","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5072804537","display_name":"Atsushi Takagi","orcid":"https://orcid.org/0000-0003-4733-7471"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Takagi, Atsushi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5135908662","display_name":"Yan\u2019an Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Yanan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090680634","display_name":"Hiroaki Gomi","orcid":"https://orcid.org/0000-0003-3541-2251"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Gomi, Hiroaki","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5135876721","display_name":"Etienne Burdet","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Burdet, Etienne","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9556000232696533,"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":0.9556000232696533,"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":0.012799999676644802,"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/T10982","display_name":"Motor Control and Adaptation","score":0.008200000040233135,"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/teleoperation","display_name":"Teleoperation","score":0.7609000205993652},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6782000064849854},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.6377999782562256},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.558899998664856},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5347999930381775},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.48170000314712524},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.4587000012397766},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4189000129699707}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.7609000205993652},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6782000064849854},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.6377999782562256},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.558899998664856},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5347999930381775},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4875999987125397},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.48170000314712524},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.4587000012397766},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4189000129699707},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3799999952316284},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.36550000309944153},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.36340001225471497},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3562000095844269},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.352400004863739},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.34630000591278076},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3319000005722046},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.29739999771118164},{"id":"https://openalex.org/C117619785","wikidata":"https://www.wikidata.org/wiki/Q6094414","display_name":"Iterative learning control","level":3,"score":0.2897999882698059},{"id":"https://openalex.org/C3017729373","wikidata":"https://www.wikidata.org/wiki/Q30324728","display_name":"Position tracking","level":3,"score":0.2849999964237213},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.27810001373291016},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2734000086784363},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.26809999346733093},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.265500009059906},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.2635999917984009}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2605.07037","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.07037","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2605.07037","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.07037","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"sustainable_development_goals":[{"score":0.444989949464798,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Robot":[0],"systems":[1],"for":[2],"teleoperation":[3],"commonly":[4],"use":[5],"a":[6,39,165],"spring-like":[7],"force":[8,174],"pulling":[9],"the":[10,14,25,30,46,69,85,90,96,104,109,119,128,194,199,208,221],"follower":[11,47,110],"robot":[12,195],"towards":[13],"leader's":[15,86,97],"position":[16,88,99,223],"to":[17,41,89,103,116,126,151,156,196,206,211],"track":[18],"their":[19,212],"movements.":[20],"With":[21,106],"this":[22,52,92,107],"control":[23,65,158,219],"strategy,":[24,108],"tracking":[26,55,71,142,182],"accuracy":[27,56,72,143],"deteriorates":[28],"when":[29],"follower'":[31],"stiffness":[32,37],"is":[33],"low,":[34],"but":[35],"high":[36,77,141],"poses":[38],"danger":[40],"objects":[42],"or":[43,123],"people":[44],"in":[45],"robot's":[48,70],"environment.":[49],"To":[50],"address":[51],"trade-off":[53],"between":[54],"and":[57,100,170,188,224,229],"safety,":[58],"we":[59],"propose":[60],"an":[61,215],"alternative":[62],"intention":[63],"assimilation":[64],"(IAC)":[66],"strategy":[67],"where":[68],"can":[73,112],"be":[74,113],"ensured":[75],"without":[76],"stiffness.":[78],"Different":[79],"from":[80],"traditional":[81],"approaches,":[82],"which":[83],"transmit":[84],"current":[87],"follower,":[91],"new":[93],"controller":[94,132],"estimates":[95],"target":[98],"transmits":[101],"it":[102],"follower.":[105],"impedance":[111,122,209,226],"changed":[114],"on-the-fly":[115],"continuously":[117],"reflect":[118],"user's":[120,200],"desired":[121],"modulated":[124],"automatically":[125],"fulfill":[127],"task":[129,185],"requirements.":[130],"Our":[131],"was":[133],"validated":[134],"on":[135],"two":[136],"7":[137],"degree-of-freedom":[138],"manipulators,":[139],"yielding":[140],"with":[144,154,164,173],"varying":[145],"impedance.":[146],"Four":[147],"experiments":[148],"were":[149],"conducted":[150],"compare":[152],"{teleoperation}":[153],"IAC":[155,180,192],"tele-impedance":[157],"(TIC)":[159],"during":[160,167,227],"free":[161],"tracking,":[162],"interaction":[163],"balloon,":[166],"peg":[168],"insertion,":[169],"table":[171],"polishing":[172],"feedback.":[175],"The":[176],"results":[177],"show":[178],"that":[179],"increases":[181],"accuracy,":[183],"improves":[184],"completion":[186,190],"rate":[187],"reduces":[189],"time.":[191],"enables":[193],"accurately":[197],"replicate":[198],"movement":[201],"while":[202],"giving":[203],"them":[204],"freedom":[205],"modulate":[207],"according":[210],"intention,":[213],"providing":[214],"unprecedented":[216],"level":[217],"of":[218,220],"follower's":[222],"its":[225],"unilateral":[228],"bilateral":[230],"teleoperation.":[231]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2026-05-12T00:00:00"}
