{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,12,15]],"date-time":"2025-12-15T19:54:38Z","timestamp":1765828478914,"version":"3.41.0"},"reference-count":32,"publisher":"Springer Science and Business Media LLC","issue":"3","license":[{"start":{"date-parts":[[2025,4,26]],"date-time":"2025-04-26T00:00:00Z","timestamp":1745625600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"},{"start":{"date-parts":[[2025,4,26]],"date-time":"2025-04-26T00:00:00Z","timestamp":1745625600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"}],"funder":[{"DOI":"10.13039\/501100015286","name":"Hebei Provincial Key Research Projects","doi-asserted-by":"publisher","award":["21351802D"],"award-info":[{"award-number":["21351802D"]}],"id":[{"id":"10.13039\/501100015286","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Jilin Province Science and Technology Development Project","award":["20200401130GX"],"award-info":[{"award-number":["20200401130GX"]}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Intel Serv Robotics"],"published-print":{"date-parts":[[2025,5]]},"DOI":"10.1007\/s11370-025-00597-y","type":"journal-article","created":{"date-parts":[[2025,4,26]],"date-time":"2025-04-26T18:15:44Z","timestamp":1745691344000},"page":"553-566","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["A novel estimation strategy for the operating force at the end of joystick based on parameters identification"],"prefix":"10.1007","volume":"18","author":[{"given":"Tao","family":"Ni","sequence":"first","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3825-9213","authenticated-orcid":false,"given":"Zeren","family":"Zhao","sequence":"additional","affiliation":[]},{"given":"Panhong","family":"Zhang","sequence":"additional","affiliation":[]},{"given":"Yahui","family":"Zhao","sequence":"additional","affiliation":[]},{"given":"Kaiqiang","family":"Yang","sequence":"additional","affiliation":[]},{"given":"Jingxin","family":"Liang","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2025,4,26]]},"reference":[{"key":"597_CR1","first-page":"258","volume":"03","author":"TJ Li","year":"2020","unstructured":"Li TJ, Dong YW, Yang D (2020) Research on kinematic mapping and admittance control strategy for collaborative robot teleoperation. Mach Des Manuf 03:258\u2013260","journal-title":"Mach Des Manuf"},{"issue":"5","key":"597_CR2","first-page":"831","volume":"55","author":"YL Chen","year":"2021","unstructured":"Chen YL, Song FJ, Zhang JH (2021) A review of shared control of teleoperated robots based on telepresence. J Zhejiang Univ (Eng Sci) 55(5):831\u2013842","journal-title":"J Zhejiang Univ (Eng Sci)"},{"issue":"01","key":"597_CR3","first-page":"3","volume":"40","author":"SG Peng","year":"2022","unstructured":"Peng SG, Wang PF, Cheng X (2022) Prospects of interactive sensing teleoperation on-orbit services. Aerospace Control 40(01):3\u201310","journal-title":"Aerospace Control"},{"issue":"1","key":"597_CR4","doi-asserted-by":"publisher","first-page":"246","DOI":"10.1109\/TOH.2020.2971485","volume":"13","author":"J Singh","year":"2020","unstructured":"Singh J, Srinivasan AR, Neumann G, Kucukyilmaz A (2020) Haptic-guided teleoperation of a 7-DoF collaborative robot arm with an identical twin master. IEEE Trans Haptics 13(1):246\u2013252","journal-title":"IEEE Trans Haptics"},{"key":"597_CR5","doi-asserted-by":"publisher","first-page":"262","DOI":"10.1016\/j.isatra.2024.05.003","volume":"150","author":"HF Hao","year":"2024","unstructured":"Hao HF, Yang X, Yu YT, Chen Z (2024) Telepresence augmentation for visual and haptic guided immersive teleoperation of industrial manipulator. ISA Trans 150:262\u2013277","journal-title":"ISA Trans"},{"issue":"9","key":"597_CR6","doi-asserted-by":"publisher","first-page":"624","DOI":"10.1109\/70.258054","volume":"1993","author":"DA Lawrence","year":"1993","unstructured":"Lawrence DA (1993) Stability and transparency in bilateral teleoperation. IEEE Trans Robot Autom 1993(9):624\u2013637","journal-title":"IEEE Trans Robot Autom"},{"key":"597_CR7","doi-asserted-by":"publisher","first-page":"509","DOI":"10.1007\/s11370-023-00474-6","volume":"16","author":"M Xiao","year":"2023","unstructured":"Xiao M, Zhang T, Zou Y, Yan X, Wu W (2023) Study on force control for robot massage with a model-based reinforcement learning algorithm. Intel Serv Robot 16:509\u2013519","journal-title":"Intel Serv Robot"},{"key":"597_CR8","doi-asserted-by":"publisher","first-page":"102746","DOI":"10.1016\/j.rcim.2024.102746","volume":"89","author":"H Park","year":"2024","unstructured":"Park H, Shin M, Choi G, Sim Y, Lee J, Yun H, Jun MBG, Kim G, Jeong Y, Yi H (2024) Integration of an exoskeleton robotic system into a digital twin for industrial manufacturing applications. Robot Comput Integr Manuf 89:102746","journal-title":"Robot Comput Integr Manuf"},{"issue":"10","key":"597_CR9","doi-asserted-by":"publisher","first-page":"1352","DOI":"10.1109\/TSMC.2015.2503396","volume":"46","author":"XL Hou","year":"2016","unstructured":"Hou XL, Mahony R, Schill F (2016) Comparative study of haptic interfaces for bilateral teleoperation of VTOL aerial robots. IEEE Trans Syst Man Cybern Syst 46(10):1352\u20131363","journal-title":"IEEE Trans Syst Man Cybern Syst"},{"issue":"32","key":"597_CR10","doi-asserted-by":"publisher","first-page":"3033","DOI":"10.1093\/eurheartj\/ehab085","volume":"42","author":"M Nicholls","year":"2021","unstructured":"Nicholls M (2021) Mark Nicholls speaks to Professor Eric Durand and Professor R\u00e9mi Sabatier about Europe\u2019s first remote robotic-assisted angioplasty procedure. Eur Heart J 42(32):3033\u20133035","journal-title":"Eur Heart J"},{"issue":"1","key":"597_CR11","first-page":"129","volume":"20","author":"MAR Abbasi","year":"2020","unstructured":"Abbasi MAR, Mohammadi MM, Dehghan NV (2020) Analytical model of hand phalanges desired trajectory for rehabilitation and design a sliding mode controller based on this model. Modares Mech Eng 20(1):129\u2013137","journal-title":"Modares Mech Eng"},{"issue":"2","key":"597_CR12","doi-asserted-by":"publisher","first-page":"308","DOI":"10.1016\/j.sna.2007.03.015","volume":"137","author":"WH Li","year":"2007","unstructured":"Li WH, Liu B, Kosasih PB, Zhang XZ (2007) A 2-DOF MR actuator joystick for virtual reality applications. Sens Actuators A 137(2):308\u2013320","journal-title":"Sens Actuators A"},{"issue":"11","key":"597_CR13","first-page":"2266","volume":"28","author":"AH Wang","year":"2021","unstructured":"Wang AH, Ge YF, Hu NN, Dan YP, Yu J, Lu JL (2021) Control design of lower limb rehabilitation robot based on gait data. Control Eng China 28(11):2266\u20132272","journal-title":"Control Eng China"},{"issue":"2","key":"597_CR14","doi-asserted-by":"publisher","first-page":"1738","DOI":"10.1109\/TIE.2023.3262858","volume":"71","author":"J Moreno-Valenzuela","year":"2024","unstructured":"Moreno-Valenzuela J, Moyr\u00f3n J, Montoya-Chairez J (2024) Limited integrator antiwindup-based control of input-constrained manipulators. IEEE Trans Industr Electron 71(2):1738\u20131748","journal-title":"IEEE Trans Industr Electron"},{"issue":"5","key":"597_CR15","doi-asserted-by":"publisher","first-page":"909","DOI":"10.1109\/TRO.2007.906258","volume":"23","author":"H Kawasaki","year":"2007","unstructured":"Kawasaki H, Mouri T (2007) Design and control of five-fingered haptic interface opposite to human hand. IEEE Trans Rob 23(5):909\u2013918","journal-title":"IEEE Trans Rob"},{"key":"597_CR16","unstructured":"Aly AAI, Abbasimoshaei A, Kern TA (2022) Developing a VR training environment for fingers rehabilitation. 13th International conference on human haptic sensing and touch enabled computer applications, EuroHaptics 331\u2013333"},{"key":"597_CR17","doi-asserted-by":"publisher","first-page":"262","DOI":"10.1016\/j.isatra.2024.05.003","volume":"150","author":"F Huang","year":"2024","unstructured":"Huang F, Yang X, Yan T, Chen Z (2024) Telepresence augmentation for visual and haptic guided immersive teleoperation of industrial manipulator. ISA Trans 150:262\u2013277","journal-title":"ISA Trans"},{"issue":"4","key":"597_CR18","doi-asserted-by":"publisher","first-page":"750","DOI":"10.1109\/TOH.2021.3071626","volume":"14","author":"YM Hamad","year":"2021","unstructured":"Hamad YM, Aydin Y, Basdogan C (2021) Adaptive human force scaling via admittance control for physical human-robot interaction. IEEE Trans Haptics 14(4):750\u2013761","journal-title":"IEEE Trans Haptics"},{"issue":"06","key":"597_CR19","first-page":"1034","volume":"35","author":"T Ni","year":"2024","unstructured":"Ni T, Zhang PH, Zhao ZR (2024) Adaptive variable impedance control of joystick without force sensor. China Mech Eng 35(06):1034\u20131043","journal-title":"China Mech Eng"},{"key":"597_CR20","first-page":"240","volume":"05","author":"JW Fang","year":"2022","unstructured":"Fang JW, Wang BR, Xie SL, Ren HJ (2022) Step-by-step identification of dynamic parameters and zero-force control teaching of industrial robots. Mach Des Manuf 05:240\u2013244","journal-title":"Mach Des Manuf"},{"issue":"1","key":"597_CR21","doi-asserted-by":"publisher","first-page":"17","DOI":"10.1007\/s10846-023-02040-9","volume":"110","author":"S Martini","year":"2024","unstructured":"Martini S, Valavanis KP, Stefanovic M (2024) Correction to the Euler Lagrange multirotor model with Euler angles generalized coordinates. J Intell Rob Syst 110(1):17","journal-title":"J Intell Rob Syst"},{"key":"597_CR22","doi-asserted-by":"publisher","first-page":"155093","DOI":"10.1109\/ACCESS.2020.3018470","volume":"8","author":"J Xin","year":"2020","unstructured":"Xin J, Gao H, Chen ZS, Wang YB (2020) A recursive dynamic modeling and control for dual-arm manipulator with elastic joints. IEEE Access 8:155093\u2013155102","journal-title":"IEEE Access"},{"issue":"2","key":"597_CR23","doi-asserted-by":"publisher","first-page":"60","DOI":"10.1177\/027836498200100204","volume":"1","author":"WM Silver","year":"1982","unstructured":"Silver WM (1982) On the equivalence of Lagrange and Newton-Euler dynamics for manipulators. Int J Robot Res 1(2):60\u201370","journal-title":"Int J Robot Res"},{"issue":"6","key":"597_CR24","doi-asserted-by":"publisher","first-page":"4966","DOI":"10.1109\/LRA.2024.3384039","volume":"9","author":"HY Cheng","year":"2024","unstructured":"Cheng HY, Chen L, Fang B, Zhang JH, Hong J (2024) Switching control for a soft rehabilitation glove with pneumatic bellows actuators. IEEE Robot Autom Lett 9(6):4966\u20134973","journal-title":"IEEE Robot Autom Lett"},{"key":"597_CR25","doi-asserted-by":"crossref","unstructured":"Bona B, Indri M (2005) Friction compensation in robotics: an overview. Proceedings of the 44th IEEE Conference on Decision and Control 4360\u20134367","DOI":"10.1109\/CDC.2005.1582848"},{"issue":"3","key":"597_CR26","doi-asserted-by":"publisher","first-page":"277","DOI":"10.1016\/0043-1648(82)90223-X","volume":"82","author":"CB Li","year":"1982","unstructured":"Li CB, Pavelescu D (1982) The friction-speed relation and its influence on the critical velocity of stick-slip motion. Wear 82(3):277\u2013289","journal-title":"Wear"},{"issue":"9","key":"597_CR27","doi-asserted-by":"publisher","first-page":"1239","DOI":"10.1007\/s10483-018-2371-9","volume":"39","author":"Q Wang","year":"2018","unstructured":"Wang Q, Zhang R, Zheng X (2018) Comparison and analysis of two Coulomb friction models on the dynamic behavior of slider-crank mechanism with a revolute clearance joint. Appl Math Mech 39(9):1239","journal-title":"Appl Math Mech"},{"issue":"10","key":"597_CR28","doi-asserted-by":"publisher","first-page":"6469","DOI":"10.1109\/TIE.2015.2423660","volume":"62","author":"J Yao","year":"2015","unstructured":"Yao J, Deng W, Jiao Z (2015) Adaptive control of hydraulic actuators with LuGre model-based friction compensation. IEEE Trans Industr Electron 62(10):6469\u20136477","journal-title":"IEEE Trans Industr Electron"},{"issue":"3","key":"597_CR29","doi-asserted-by":"publisher","first-page":"419","DOI":"10.1109\/9.376053","volume":"40","author":"CC Wit","year":"1995","unstructured":"Wit CC, Olsson H, Astrom KJ (1995) A new model for control of systems with friction. IEEE Trans Autom Control 40(3):419\u2013424","journal-title":"IEEE Trans Autom Control"},{"issue":"1","key":"597_CR30","doi-asserted-by":"publisher","first-page":"193","DOI":"10.5194\/ms-11-193-2020","volume":"11","author":"DX Zhao","year":"2020","unstructured":"Zhao DX, Zhang JY, Carbone G, Yang HJ, Yao SJ (2020) Dynamic parameters identification of a haptic interface for a helicopter flight simulator. Mech Sci 11(1):193\u2013204","journal-title":"Mech Sci"},{"issue":"22","key":"597_CR31","doi-asserted-by":"publisher","first-page":"37962","DOI":"10.1109\/JSEN.2024.3464633","volume":"24","author":"WT Dong","year":"2024","unstructured":"Dong WT, Sheng KQ, Huang B, Xiong K, Liu K, Cheng X (2024) Stretchable self-powered TENG sensor array for human-robot interaction based on conductive ionic gels and LSTM neural network. IEEE Sens J 24(22):37962\u201337969","journal-title":"IEEE Sens J"},{"key":"597_CR32","unstructured":"Russo, M A (1990) The design and implementation of a three degree of freedom force output joystick (Doctoral dissertation, Massachusetts Institute of Technology)"}],"container-title":["Intelligent Service Robotics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s11370-025-00597-y.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s11370-025-00597-y\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s11370-025-00597-y.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,6,16]],"date-time":"2025-06-16T10:48:00Z","timestamp":1750070880000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s11370-025-00597-y"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,4,26]]},"references-count":32,"journal-issue":{"issue":"3","published-print":{"date-parts":[[2025,5]]}},"alternative-id":["597"],"URL":"https:\/\/doi.org\/10.1007\/s11370-025-00597-y","relation":{},"ISSN":["1861-2776","1861-2784"],"issn-type":[{"type":"print","value":"1861-2776"},{"type":"electronic","value":"1861-2784"}],"subject":[],"published":{"date-parts":[[2025,4,26]]},"assertion":[{"value":"11 July 2024","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"24 March 2025","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"26 April 2025","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"The authors declare that they have no conflict of interest.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Conflict of interest"}}]}}