{"id":"https://openalex.org/W2156635899","doi":"https://doi.org/10.1109/haptic.2002.998956","title":"Dynamic modeling and parameter identification of a parallel haptic interface","display_name":"Dynamic modeling and parameter identification of a parallel haptic interface","publication_year":2003,"publication_date":"2003-06-25","ids":{"openalex":"https://openalex.org/W2156635899","doi":"https://doi.org/10.1109/haptic.2002.998956","mag":"2156635899"},"language":"en","primary_location":{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/haptic.2002.998956","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},"type":"article","type_crossref":"proceedings-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/A5054940829","display_name":"C.D. Lee","orcid":null},"institutions":[{"id":"https://openalex.org/I188538660","display_name":"University of Colorado Boulder","ror":"https://ror.org/02ttsq026","country_code":"US","type":"funder","lineage":["https://openalex.org/I188538660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"C.D. Lee","raw_affiliation_strings":["Electrical Engineering, University of Colorado, Boulder, CO, USA"],"affiliations":[{"raw_affiliation_string":"Electrical Engineering, University of Colorado, Boulder, CO, USA","institution_ids":["https://openalex.org/I188538660"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001670475","display_name":"Dale Lawrence","orcid":"https://orcid.org/0000-0003-3355-5056"},"institutions":[{"id":"https://openalex.org/I188538660","display_name":"University of Colorado Boulder","ror":"https://ror.org/02ttsq026","country_code":"US","type":"funder","lineage":["https://openalex.org/I188538660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"D.A. Lawrence","raw_affiliation_strings":["Aerospace Engineering, University of Colorado, Boulder, CO, USA"],"affiliations":[{"raw_affiliation_string":"Aerospace Engineering, University of Colorado, Boulder, CO, USA","institution_ids":["https://openalex.org/I188538660"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5062050694","display_name":"Lucy Y. Pao","orcid":"https://orcid.org/0000-0001-9450-8902"},"institutions":[{"id":"https://openalex.org/I188538660","display_name":"University of Colorado Boulder","ror":"https://ror.org/02ttsq026","country_code":"US","type":"funder","lineage":["https://openalex.org/I188538660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"L.Y. Pao","raw_affiliation_strings":["Electrical Engineering, University of Colorado, Boulder, CO, USA"],"affiliations":[{"raw_affiliation_string":"Electrical Engineering, University of Colorado, Boulder, CO, USA","institution_ids":["https://openalex.org/I188538660"]}]}],"institution_assertions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.45,"has_fulltext":true,"fulltext_origin":"ngrams","cited_by_count":14,"citation_normalized_percentile":{"value":0.815789,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":82,"max":83},"biblio":{"volume":null,"issue":null,"first_page":"172","last_page":"179"},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T10914","display_name":"Tactile and Sensory Interactions","score":0.9986,"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"}},"topics":[{"id":"https://openalex.org/T10914","display_name":"Tactile and Sensory Interactions","score":0.9986,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9978,"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/T11398","display_name":"Hand Gesture Recognition Systems","score":0.9724,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance Control","score":0.4641221},{"id":"https://openalex.org/keywords/interface","display_name":"Interface (matter)","score":0.4419489}],"concepts":[{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.7120171},{"id":"https://openalex.org/C81299745","wikidata":"https://www.wikidata.org/wiki/Q334269","display_name":"Transfer function","level":2,"score":0.7094915},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6638669},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6226424},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.59349585},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5655143},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.4972928},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.4641221},{"id":"https://openalex.org/C117312493","wikidata":"https://www.wikidata.org/wiki/Q2035437","display_name":"Multivariable calculus","level":2,"score":0.44654727},{"id":"https://openalex.org/C113843644","wikidata":"https://www.wikidata.org/wiki/Q901882","display_name":"Interface (matter)","level":4,"score":0.4419489},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3588705},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3551821},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21162775},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.167243},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.12524828},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11050871},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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},{"id":"https://openalex.org/C157915830","wikidata":"https://www.wikidata.org/wiki/Q2928001","display_name":"Bubble","level":2,"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/C173608175","wikidata":"https://www.wikidata.org/wiki/Q232661","display_name":"Parallel computing","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/haptic.2002.998956","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, justice, and strong institutions","score":0.79}],"grants":[],"datasets":[],"versions":[],"referenced_works_count":10,"referenced_works":["https://openalex.org/W112748337","https://openalex.org/W1543855788","https://openalex.org/W1989062072","https://openalex.org/W2009401724","https://openalex.org/W2061696957","https://openalex.org/W2123658184","https://openalex.org/W2147063321","https://openalex.org/W2148153070","https://openalex.org/W2609349602","https://openalex.org/W4285719527"],"related_works":["https://openalex.org/W418212511","https://openalex.org/W2721687755","https://openalex.org/W2626948710","https://openalex.org/W2388146630","https://openalex.org/W2224575301","https://openalex.org/W2099048101","https://openalex.org/W2086932047","https://openalex.org/W1605040536","https://openalex.org/W1576377477","https://openalex.org/W156716224"],"abstract_inverted_index":{"This":[0,66],"paper":[1],"describes":[2],"the":[3,23,27,49,72,75,96,107],"dynamic":[4,40],"modeling":[5],"of":[6,10],"a":[7],"five":[8,34],"degree":[9],"freedom":[11],"parallel":[12,82],"haptic":[13],"interface.":[14],"A":[15],"novel":[16],"hand/mechanism":[17],"partition":[18],"is":[19,68,104,118],"used":[20,70],"to":[21,56],"define":[22],"mechanism":[24,77,108],"so":[25],"that":[26,81],"model":[28,62,67,78],"can":[29],"be":[30],"built":[31],"up":[32],"from":[33],"identical":[35],"actuator":[36,89],"rod":[37,44,97,110],"models.":[38,111],"The":[39,85],"equations":[41,51],"for":[42,63,74,100],"each":[43,64],"are":[45,53],"first":[46],"derived":[47,105],"using":[48,106,115],"Newton/Euler":[50],"and":[52,91,109],"then":[54,69],"linearized":[55],"obtain":[57],"an":[58],"impedance":[59],"transfer":[60,86],"function":[61,87],"rod.":[65],"as":[71],"basis":[73],"overall":[76],"by":[79],"noting":[80],"impedances":[83],"add.":[84],"between":[88],"forces":[90,94],"sensed":[92],"axial":[93],"at":[95],"tips,":[98],"needed":[99],"multivariable":[101],"force":[102],"control,":[103],"Finally,":[112],"parameter":[113],"identification":[114],"these":[116],"models":[117],"also":[119],"discussed.":[120]},"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W2156635899","counts_by_year":[{"year":2015,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2025-01-24T05:54:17.777111","created_date":"2016-06-24"}