{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T05:25:46Z","timestamp":1777440346727,"version":"3.51.4"},"reference-count":21,"publisher":"IEEE","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"DOI":"10.1109\/irds.2002.1043934","type":"proceedings-article","created":{"date-parts":[[2003,6,25]],"date-time":"2003-06-25T19:36:53Z","timestamp":1056569813000},"page":"1302-1307","source":"Crossref","is-referenced-by-count":4,"title":["An intuitive force feed-back to avoid singularity proximity and workspace boundaries in bilateral controlled systems based on virtual springs"],"prefix":"10.1109","volume":"2","author":[{"given":"E.","family":"Sanchez","sequence":"first","affiliation":[]},{"given":"A.","family":"Rubio","sequence":"additional","affiliation":[]},{"given":"A.","family":"Avello","sequence":"additional","affiliation":[]}],"member":"263","reference":[{"key":"ref10","article-title":"Analytic Singularity Expression for 6-DOF Stewart Platform-Type Parallel Manipulators","author":"kim","year":"1998","journal-title":"Proceedings of IEEE International Conference on Intelligent Robots and Systems"},{"key":"ref11","first-page":"389","article-title":"Singularity Analysis and Representation of Spatial 6-DOF Paralel Manipulators","author":"mayer","year":"1996","journal-title":"Recent Advances in Robot Kinematics"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1177\/027836498200100102"},{"key":"ref13","first-page":"3","article-title":"Manipulator Inverse Kinematics via Condition Number Minimization and Continuation","volume":"2","author":"angeles","year":"1985","journal-title":"International Journal of Robotics and Automation"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1998.677292"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1016\/S0094-114X(97)00095-5"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1177\/027836499401300404"},{"key":"ref17","first-page":"1302","article-title":"Channel Algorithm of Transversal Passing Trhoug Singularities for Non-Redundant Robot Manipulators","author":"duleba","year":"2000","journal-title":"IEEE International Conference on Robotics and Automation"},{"key":"ref18","first-page":"39","article-title":"Singularity-Robust Second-Order Kinematic Control of Robot Manipulators","author":"caccavale","year":"1992","journal-title":"Recent Advances in Robot Kinematics"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/70.258054"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1016\/S0094-114X(97)00053-0"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/70.56660"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1992.220299"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1115\/1.3258779"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1177\/027836498900800504"},{"key":"ref7","article-title":"Kinematic Geometry of Mechanisms","author":"hunt","year":"1978"},{"key":"ref2","article-title":"Robot Manipulateurs","author":"gorla","year":"1984","journal-title":"Cepadues-Editions Tolouse"},{"key":"ref1","first-page":"97","article-title":"TeleOperator\/telePresence System (TOPS) Concept Verification Model (CVM) Development","author":"shimamoto","year":"1992","journal-title":"Recent Advances in Marine Science and Technology"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1985.1087283"},{"key":"ref20","article-title":"Numerial Recipes in C","author":"press","year":"1992"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2000.846434"}],"event":{"name":"IROS 2002: IEEE\/RSJ International Conference on Intelligent Robots and Systems","location":"Lausanne, Switzerland","acronym":"IROS-02"},"container-title":["IEEE\/RSJ International Conference on Intelligent Robots and System"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx5\/8071\/22356\/01043934.pdf?arnumber=1043934","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2017,3,13]],"date-time":"2017-03-13T18:22:30Z","timestamp":1489429350000},"score":1,"resource":{"primary":{"URL":"http:\/\/ieeexplore.ieee.org\/document\/1043934\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[null]]},"references-count":21,"URL":"https:\/\/doi.org\/10.1109\/irds.2002.1043934","relation":{},"subject":[]}}