{"id":"https://openalex.org/W2118166401","doi":"https://doi.org/10.1109/tro.2005.862037","title":"Passive Bilateral Teleoperation With Constant Time Delay","display_name":"Passive Bilateral Teleoperation With Constant Time Delay","publication_year":2006,"publication_date":"2006-04-01","ids":{"openalex":"https://openalex.org/W2118166401","doi":"https://doi.org/10.1109/tro.2005.862037","mag":"2118166401"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2005.862037","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2005.862037","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","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/A5077727831","display_name":"D. Lee","orcid":"https://orcid.org/0009-0001-0925-6358"},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"D. Lee","raw_affiliation_strings":["Coordinated Science Laboratory, University of Illinois, Urbana-Champaign, Urbana-Champaign, IL, USA","Coordinated Sci. Lab., Illinois Univ., Urbana, IL"],"affiliations":[{"raw_affiliation_string":"Coordinated Science Laboratory, University of Illinois, Urbana-Champaign, Urbana-Champaign, IL, USA","institution_ids":["https://openalex.org/I157725225"]},{"raw_affiliation_string":"Coordinated Sci. Lab., Illinois Univ., Urbana, IL","institution_ids":["https://openalex.org/I157725225"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5079586632","display_name":"Mark W. Spong","orcid":"https://orcid.org/0000-0003-4626-2295"},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"M.W. Spong","raw_affiliation_strings":["Coordinated Science Laboratory, University of Illinois, Urbana-Champaign, Urbana-Champaign, IL, USA","[Coordinated Science Laboratory University of Illinois, Urbana-Champaign, Urbana-Champaign, IL, USA]"],"affiliations":[{"raw_affiliation_string":"Coordinated Science Laboratory, University of Illinois, Urbana-Champaign, Urbana-Champaign, IL, USA","institution_ids":["https://openalex.org/I157725225"]},{"raw_affiliation_string":"[Coordinated Science Laboratory University of Illinois, Urbana-Champaign, Urbana-Champaign, IL, USA]","institution_ids":["https://openalex.org/I157725225"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5077727831"],"corresponding_institution_ids":["https://openalex.org/I157725225"],"apc_list":null,"apc_paid":null,"fwci":53.7077,"has_fulltext":false,"cited_by_count":563,"citation_normalized_percentile":{"value":0.99978999,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"22","issue":"2","first_page":"269","last_page":"281"},"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":0.9491999745368958,"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":0.9350000023841858,"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":0.9333902597427368},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.746951699256897},{"id":"https://openalex.org/keywords/passivity","display_name":"Passivity","score":0.582898736000061},{"id":"https://openalex.org/keywords/telerobotics","display_name":"Telerobotics","score":0.5512703657150269},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5437899231910706},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4693107604980469},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4329252541065216},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4319700300693512},{"id":"https://openalex.org/keywords/constant","display_name":"Constant (computer programming)","score":0.4288245141506195},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.40351957082748413},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3171880841255188},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.283869206905365},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2765697240829468},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16670307517051697}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.9333902597427368},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.746951699256897},{"id":"https://openalex.org/C2778809601","wikidata":"https://www.wikidata.org/wiki/Q1045736","display_name":"Passivity","level":2,"score":0.582898736000061},{"id":"https://openalex.org/C196467688","wikidata":"https://www.wikidata.org/wiki/Q1851985","display_name":"Telerobotics","level":4,"score":0.5512703657150269},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5437899231910706},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4693107604980469},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4329252541065216},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4319700300693512},{"id":"https://openalex.org/C2777027219","wikidata":"https://www.wikidata.org/wiki/Q1284190","display_name":"Constant (computer programming)","level":2,"score":0.4288245141506195},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.40351957082748413},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3171880841255188},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.283869206905365},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2765697240829468},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16670307517051697},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/tro.2005.862037","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2005.862037","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.193.833","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.193.833","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://web.utk.edu/%7Edjlee/papers/LeeSpongDelayTRO04.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.331.8345","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.331.8345","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://web.utk.edu/~djlee/papers/ICRA06a.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.6800000071525574,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W391578156","https://openalex.org/W1487127700","https://openalex.org/W1496777766","https://openalex.org/W1890736971","https://openalex.org/W1906544075","https://openalex.org/W1994183344","https://openalex.org/W1998462963","https://openalex.org/W2028720893","https://openalex.org/W2074635908","https://openalex.org/W2084117425","https://openalex.org/W2090972408","https://openalex.org/W2095477585","https://openalex.org/W2099914424","https://openalex.org/W2103666635","https://openalex.org/W2105853760","https://openalex.org/W2109609092","https://openalex.org/W2112830075","https://openalex.org/W2118006706","https://openalex.org/W2118709214","https://openalex.org/W2124237013","https://openalex.org/W2127559430","https://openalex.org/W2129669049","https://openalex.org/W2130693052","https://openalex.org/W2135464393","https://openalex.org/W2136919126","https://openalex.org/W2143451847","https://openalex.org/W2146963021","https://openalex.org/W2147425583","https://openalex.org/W2150251204","https://openalex.org/W2150483523","https://openalex.org/W2163976721","https://openalex.org/W2164601454","https://openalex.org/W2168676985","https://openalex.org/W2171649388","https://openalex.org/W2561111412","https://openalex.org/W2610857016","https://openalex.org/W2955672675","https://openalex.org/W4212901312","https://openalex.org/W6677821784"],"related_works":["https://openalex.org/W2090171584","https://openalex.org/W2141321389","https://openalex.org/W2126456812","https://openalex.org/W2099914424","https://openalex.org/W2063905323","https://openalex.org/W3207600904","https://openalex.org/W3080989239","https://openalex.org/W2914607567","https://openalex.org/W2017331141","https://openalex.org/W1969993920"],"abstract_inverted_index":{"We":[0],"propose":[1],"a":[2,10],"novel":[3],"control":[4,68,116,154],"framework":[5,23,100,117,155],"for":[6,84],"bilateral":[7],"teleoperation":[8],"of":[9,12,63,151],"pair":[11],"multi-degree-of-freedom":[13],"nonlinear":[14],"robotic":[15],"systems":[16],"under":[17],"constant":[18],"communication":[19,45,66],"delays.":[20],"The":[21,114],"proposed":[22,99,115,153],"uses":[24],"the":[25,30,43,48,52,61,64,75,85,95,98,110,131,152],"simple":[26],"proportional-derivative":[27],"control,":[28],"i.e.,":[29],"master":[31],"and":[32,40,55,67,80,129,142,148],"slave":[33,133],"robots":[34],"are":[35,77,144],"directly":[36],"connected":[37],"via":[38],"spring":[39],"damper":[41],"over":[42],"delayed":[44,65,96],"channels.":[46],"Using":[47],"controller":[49],"passivity":[50],"concept,":[51],"Lyapunov-Krasovskii":[53],"technique,":[54],"Parseval's":[56],"identity,":[57],"we":[58],"can":[59,127],"passify":[60],"combination":[62],"blocks":[69],"altogether":[70],"robustly,":[71],"as":[72,74],"long":[73],"delays":[76],"finite":[78],"constants":[79],"an":[81],"upper":[82],"bound":[83],"round-trip":[86],"delay":[87],"is":[88,106],"known.":[89],"Having":[90],"explicit":[91],"position":[92,103],"feedback":[93],"through":[94],"P-action,":[97],"enforces":[101],"master-slave":[102],"coordination,":[104],"which":[105],"often":[107],"compromised":[108],"in":[109],"conventional":[111],"scattering-based":[112],"teleoperation.":[113],"provides":[118],"humans":[119],"with":[120],"extended":[121],"physiological":[122],"proprioception,":[123],"so":[124],"that":[125],"s/he":[126],"affect":[128],"sense":[130],"remote":[132],"environments":[134],"mainly":[135],"relying":[136],"on":[137],"her/his":[138],"musculoskeletal":[139],"systems.":[140],"Simulation":[141],"experiments":[143],"performed":[145],"to":[146],"validate":[147],"highlight":[149],"properties":[150]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":13},{"year":2024,"cited_by_count":15},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":21},{"year":2021,"cited_by_count":22},{"year":2020,"cited_by_count":29},{"year":2019,"cited_by_count":50},{"year":2018,"cited_by_count":36},{"year":2017,"cited_by_count":33},{"year":2016,"cited_by_count":33},{"year":2015,"cited_by_count":46},{"year":2014,"cited_by_count":51},{"year":2013,"cited_by_count":32},{"year":2012,"cited_by_count":44}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}
