{"id":"https://openalex.org/W2067044980","doi":"https://doi.org/10.1109/iros.2014.6942783","title":"Improvement of the direct kinematic model of a haptic device for medical application in real time using an extra sensor","display_name":"Improvement of the direct kinematic model of a haptic device for medical application in real time using an extra sensor","publication_year":2014,"publication_date":"2014-09-01","ids":{"openalex":"https://openalex.org/W2067044980","doi":"https://doi.org/10.1109/iros.2014.6942783","mag":"2067044980"},"language":"en","primary_location":{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2014.6942783","pdf_url":null,"source":{"id":"https://openalex.org/S4363608614","display_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","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":"conference"},"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/A5024841024","display_name":"Houssem Saafi","orcid":"https://orcid.org/0000-0001-8381-4234"},"institutions":[{"id":"https://openalex.org/I2802931824","display_name":"Institut Pprime","ror":"https://ror.org/05vjdsn22","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I171246369","https://openalex.org/I2802931824","https://openalex.org/I32881790","https://openalex.org/I4210095849"]},{"id":"https://openalex.org/I171246369","display_name":"\u00c9cole Nationale Sup\u00e9rieure de M\u00e9canique et d'A\u00e9rotechnique","ror":"https://ror.org/04jx68594","country_code":"FR","type":"facility","lineage":["https://openalex.org/I171246369"]},{"id":"https://openalex.org/I32881790","display_name":"Universit\u00e9 de Poitiers","ror":"https://ror.org/04xhy8q59","country_code":"FR","type":"education","lineage":["https://openalex.org/I32881790"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Houssem Saafi","raw_affiliation_strings":["Dept. GMSC, Pprime Institute, CNRS - University of Poitiers - ENSMA - UPR 3346, France"],"affiliations":[{"raw_affiliation_string":"Dept. GMSC, Pprime Institute, CNRS - University of Poitiers - ENSMA - UPR 3346, France","institution_ids":["https://openalex.org/I2802931824","https://openalex.org/I171246369","https://openalex.org/I32881790","https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040555464","display_name":"Med Amine Laribi","orcid":"https://orcid.org/0000-0003-0797-7669"},"institutions":[{"id":"https://openalex.org/I171246369","display_name":"\u00c9cole Nationale Sup\u00e9rieure de M\u00e9canique et d'A\u00e9rotechnique","ror":"https://ror.org/04jx68594","country_code":"FR","type":"facility","lineage":["https://openalex.org/I171246369"]},{"id":"https://openalex.org/I32881790","display_name":"Universit\u00e9 de Poitiers","ror":"https://ror.org/04xhy8q59","country_code":"FR","type":"education","lineage":["https://openalex.org/I32881790"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I2802931824","display_name":"Institut Pprime","ror":"https://ror.org/05vjdsn22","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I171246369","https://openalex.org/I2802931824","https://openalex.org/I32881790","https://openalex.org/I4210095849"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Med Amine Laribi","raw_affiliation_strings":["Dept. GMSC, Pprime Institute, CNRS - University of Poitiers - ENSMA - UPR 3346, France"],"affiliations":[{"raw_affiliation_string":"Dept. GMSC, Pprime Institute, CNRS - University of Poitiers - ENSMA - UPR 3346, France","institution_ids":["https://openalex.org/I171246369","https://openalex.org/I32881790","https://openalex.org/I1294671590","https://openalex.org/I2802931824"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5107330719","display_name":"S. Zeghloul","orcid":null},"institutions":[{"id":"https://openalex.org/I171246369","display_name":"\u00c9cole Nationale Sup\u00e9rieure de M\u00e9canique et d'A\u00e9rotechnique","ror":"https://ror.org/04jx68594","country_code":"FR","type":"facility","lineage":["https://openalex.org/I171246369"]},{"id":"https://openalex.org/I32881790","display_name":"Universit\u00e9 de Poitiers","ror":"https://ror.org/04xhy8q59","country_code":"FR","type":"education","lineage":["https://openalex.org/I32881790"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I2802931824","display_name":"Institut Pprime","ror":"https://ror.org/05vjdsn22","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I171246369","https://openalex.org/I2802931824","https://openalex.org/I32881790","https://openalex.org/I4210095849"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Said Zeghloul","raw_affiliation_strings":["Dept. GMSC, Pprime Institute, CNRS - University of Poitiers - ENSMA - UPR 3346, France"],"affiliations":[{"raw_affiliation_string":"Dept. GMSC, Pprime Institute, CNRS - University of Poitiers - ENSMA - UPR 3346, France","institution_ids":["https://openalex.org/I171246369","https://openalex.org/I32881790","https://openalex.org/I1294671590","https://openalex.org/I2802931824"]}]}],"institution_assertions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":4.006,"has_fulltext":true,"fulltext_origin":"ngrams","cited_by_count":15,"citation_normalized_percentile":{"value":0.858722,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":88,"max":89},"biblio":{"volume":null,"issue":null,"first_page":"1697","last_page":"1702"},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9993,"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"}},"topics":[{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9993,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9965,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9959,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/teleoperation","display_name":"Teleoperation","score":0.8615767},{"id":"https://openalex.org/keywords/workspace","display_name":"Work space","score":0.822896},{"id":"https://openalex.org/keywords/master/slave","display_name":"Master/slave","score":0.5432668},{"id":"https://openalex.org/keywords/telerobotics","display_name":"Telerobotics","score":0.4198115}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.8615767},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.822896},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.73542047},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.6478894},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.6198374},{"id":"https://openalex.org/C2780009758","wikidata":"https://www.wikidata.org/wiki/Q6804172","display_name":"Measure (data warehouse)","level":2,"score":0.54809743},{"id":"https://openalex.org/C20454292","wikidata":"https://www.wikidata.org/wiki/Q735523","display_name":"Master/slave","level":2,"score":0.5432668},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.52003574},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.502275},{"id":"https://openalex.org/C12843","wikidata":"https://www.wikidata.org/wiki/Q201721","display_name":"Gravitational singularity","level":2,"score":0.44304004},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.43787608},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.4272973},{"id":"https://openalex.org/C196467688","wikidata":"https://www.wikidata.org/wiki/Q1851985","display_name":"Telerobotics","level":4,"score":0.4198115},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.40793008},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.39951485},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3689573},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17979604},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.14255726},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.09374589},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08896178},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2014.6942783","pdf_url":null,"source":{"id":"https://openalex.org/S4363608614","display_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","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":"conference"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false}],"best_oa_location":null,"sustainable_development_goals":[],"grants":[],"datasets":[],"versions":[],"referenced_works_count":15,"referenced_works":["https://openalex.org/W1993008219","https://openalex.org/W1993464689","https://openalex.org/W2008817337","https://openalex.org/W2021728749","https://openalex.org/W2030539036","https://openalex.org/W2071699182","https://openalex.org/W2086765807","https://openalex.org/W2117986791","https://openalex.org/W2142999592","https://openalex.org/W2144682848","https://openalex.org/W2148978826","https://openalex.org/W2149768445","https://openalex.org/W2225949512","https://openalex.org/W4238279176","https://openalex.org/W4253492492"],"related_works":["https://openalex.org/W817518365","https://openalex.org/W2559957734","https://openalex.org/W2394251694","https://openalex.org/W2362652060","https://openalex.org/W2357403317","https://openalex.org/W2101849315","https://openalex.org/W2097059456","https://openalex.org/W2066019639","https://openalex.org/W2046710269","https://openalex.org/W2026756596"],"abstract_inverted_index":{"This":[0],"paper":[1],"deals":[2],"with":[3],"a":[4,10,15,41,50,79],"spherical":[5],"parallel":[6,37],"manipulator":[7,38],"developed":[8],"for":[9,18,49,57],"master":[11,117],"device,":[12,64],"used":[13],"in":[14,40,65,96,115],"teleoperation":[16],"system":[17,108],"surgical":[19],"application.":[20],"The":[21,76,119],"aim":[22],"is":[23,39,74],"to":[24,67],"improve":[25],"the":[26,29,36,58,62,84,89,92,97,100,111,116,123,126],"calculation":[27,60,85],"of":[28,61,70,78,91,99,110,113,125],"direct":[30,93],"kinematic":[31],"model":[32,94],"(DKM)":[33],"even":[34],"when":[35],"singular":[42,101],"configuration":[43],"by":[44],"using":[45],"an":[46],"extra":[47],"sensor":[48],"passive":[51,80],"joint.":[52],"A":[53],"new":[54],"simple":[55],"approach":[56],"DKM":[59],"haptic":[63],"order":[66],"meet":[68],"requirement":[69],"real":[71],"time":[72,86],"applications,":[73],"developed.":[75],"measure":[77],"joint's":[81],"angle":[82],"reduces":[83],"and":[87],"improves":[88],"accuracy":[90],"particularly":[95],"vicinity":[98],"positions.":[102],"Experiments":[103],"were":[104],"conducted":[105],"on":[106],"tele-operation":[107],"despite":[109],"presence":[112],"singularities":[114],"workspace.":[118],"obtained":[120],"results":[121],"demonstrate":[122],"feasibility":[124],"approach.":[127]},"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W2067044980","counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":7}],"updated_date":"2024-12-09T21:49:22.824141","created_date":"2016-06-24"}