{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,6]],"date-time":"2026-03-06T15:59:17Z","timestamp":1772812757694,"version":"3.50.1"},"reference-count":18,"publisher":"IEEE","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2011,9]]},"DOI":"10.1109\/iros.2011.6094433","type":"proceedings-article","created":{"date-parts":[[2011,12,6]],"date-time":"2011-12-06T16:46:42Z","timestamp":1323190002000},"page":"3023-3030","source":"Crossref","is-referenced-by-count":82,"title":["The sigma.7 haptic interface for MiroSurge: A new bi-manual surgical console"],"prefix":"10.1109","author":[{"given":"Andreas","family":"Tobergte","sequence":"first","affiliation":[]},{"given":"Patrick","family":"Helmer","sequence":"additional","affiliation":[]},{"given":"Ulrich","family":"Hagn","sequence":"additional","affiliation":[]},{"given":"Patrice","family":"Rouiller","sequence":"additional","affiliation":[]},{"given":"Sophie","family":"Thielmann","sequence":"additional","affiliation":[]},{"given":"Sebastien","family":"Grange","sequence":"additional","affiliation":[]},{"given":"Alin","family":"Albu-Schaffer","sequence":"additional","affiliation":[]},{"given":"Francois","family":"Conti","sequence":"additional","affiliation":[]},{"given":"Gerd","family":"Hirzinger","sequence":"additional","affiliation":[]}],"member":"263","reference":[{"key":"ref10","article-title":"A passivity based Cartesian impedance controller - part I: Torque feedback and gravity compensation","author":"ott","year":"2004","journal-title":"Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1016\/j.jamcollsurg.2009.10.017"},{"key":"ref12","doi-asserted-by":"crossref","DOI":"10.1007\/3-540-76074-1","author":"van der schaft","year":"1996","journal-title":"L2-Gain and Passivity Techniques in Nonlinear Control"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.5772\/5262"},{"key":"ref14","author":"jean-jacques","year":"1990","journal-title":"Applied nonlinear control"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2010.5649984"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2009.5152512"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1162\/pres_a_00022"},{"key":"ref18","doi-asserted-by":"crossref","DOI":"10.1108\/01439910810876427","article-title":"The DLR MIRO: A versatile lightweight robot for surgical applications","author":"hagn","year":"2008","journal-title":"Industrial Robot An International Journal"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-540-69057-3_20"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/WHC.2005.59"},{"key":"ref6","author":"grange","year":"2001","journal-title":"Mecatronics 2001"},{"key":"ref5","article-title":"Control algorithms for haptic interaction and modifying the dynamical behaviour of the interface","author":"gil","year":"2005","journal-title":"Proceedings of Enactive"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2008.929925"},{"key":"ref7","article-title":"DLR MiroSurge - a versatile system for research in endoscopic telesurgery","author":"hagn","year":"2009","journal-title":"International Journal of Computer Assisted Radiology and Surgery"},{"key":"ref2","first-page":"445","article-title":"Freedom-7: A high fidelity seven axis haptic device with application to surgical training","author":"astley","year":"1997"},{"key":"ref1","article-title":"PHANToM haptic interface: a device for probing virtual objects","volume":"55 1","year":"0","journal-title":"Proceedings of the 1994 International Mechanical Engineering Congress and Exposition Massachusetts Inst of Technology"},{"key":"ref9","first-page":"28","article-title":"Human-scale bimanual haptic interface","author":"hulin","year":"2008","journal-title":"Enactive08"}],"event":{"name":"2011 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS 2011)","location":"San Francisco, CA","start":{"date-parts":[[2011,9,25]]},"end":{"date-parts":[[2011,9,30]]}},"container-title":["2011 IEEE\/RSJ International Conference on Intelligent Robots and Systems"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx5\/6034548\/6094399\/06094433.pdf?arnumber=6094433","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,6,20]],"date-time":"2019-06-20T08:26:24Z","timestamp":1561019184000},"score":1,"resource":{"primary":{"URL":"http:\/\/ieeexplore.ieee.org\/document\/6094433\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2011,9]]},"references-count":18,"URL":"https:\/\/doi.org\/10.1109\/iros.2011.6094433","relation":{},"subject":[],"published":{"date-parts":[[2011,9]]}}}