{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,8,5]],"date-time":"2026-08-05T15:25:41Z","timestamp":1785943541523,"version":"3.56.0"},"reference-count":128,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"3","license":[{"start":{"date-parts":[[2012,3,1]],"date-time":"2012-03-01T00:00:00Z","timestamp":1330560000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Proc. IEEE"],"published-print":{"date-parts":[[2012,3]]},"DOI":"10.1109\/jproc.2011.2175150","type":"journal-article","created":{"date-parts":[[2012,1,10]],"date-time":"2012-01-10T21:36:19Z","timestamp":1326231379000},"page":"623-647","source":"Crossref","is-referenced-by-count":205,"title":["Human-Oriented Control for Haptic Teleoperation"],"prefix":"10.1109","volume":"100","author":[{"given":"S.","family":"Hirche","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"M.","family":"Buss","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"263","reference":[{"key":"ref39","doi-asserted-by":"publisher","DOI":"10.1524\/auto.2008.0683"},{"key":"ref38","doi-asserted-by":"publisher","DOI":"10.1109\/ACC.2006.1656648"},{"key":"ref33","first-page":"19","article-title":"Parsimonious data transmission in haptic telepresence systems","author":"hinterseer","year":"2006","journal-title":"Proc 2nd Int Workshop Human Centered Robot"},{"key":"ref32","doi-asserted-by":"crossref","first-page":"28","DOI":"10.1109\/TOH.2009.45","article-title":"Effects of packet loss and latency on the temporal discrimination of visual-haptic events","volume":"3","author":"shi","year":"2010","journal-title":"IEEE Trans Haptics"},{"key":"ref31","first-page":"11","author":"aracil","year":"2007","journal-title":"Advances in Telerobotics Human System Interfaces Control and Applications"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1109\/HAVE.2010.5623991"},{"key":"ref37","first-page":"2349","article-title":"Delay-independent stability of (Q,S,R)-dissipative networked systems with a distributed controller","author":"matiakis","year":"2009","journal-title":"Proc Eur Control Conf"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2009.04.016"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1109\/CCA.2005.1507146"},{"key":"ref34","first-page":"20","article-title":"Insights on human adapted control of networked telepresence and teleaction systems","volume":"7","author":"hirche","year":"2006","journal-title":"Int J Assistive Robot Mechtron"},{"key":"ref28","author":"hirche","year":"2005","journal-title":"Haptic Telepresence in Packet Switched Communication Networks"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1162\/pres_a_00021"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1109\/WHC.2009.4810811"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-14064-8_27"},{"key":"ref22","article-title":"Network traffic reduction in haptic telepresence systems by deadband control","author":"hirche","year":"2005","journal-title":"Proc IFAC World Congr Int Fed Autom Control"},{"key":"ref21","article-title":"Towards deadband control in networked teleoperation systems","author":"hirche","year":"2005","journal-title":"Proc IFAC World Congr Int Fed Autom Control"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1162\/pres.16.5.532"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1162\/pres.16.5.523"},{"key":"ref101","first-page":"269","article-title":"Short transmission delay on a force reflective bilateral manipulator","author":"vertut","year":"1981","journal-title":"Proc 4th Rom-An-Sy"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-14064-8_30"},{"key":"ref100","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2000.845141"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1109\/TSP.2007.906746"},{"key":"ref50","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2002.1011249"},{"key":"ref51","doi-asserted-by":"publisher","DOI":"10.1109\/HAPTIC.2002.998970"},{"key":"ref59","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2004.833648"},{"key":"ref58","doi-asserted-by":"publisher","DOI":"10.1109\/70.988969"},{"key":"ref57","doi-asserted-by":"publisher","DOI":"10.1177\/0278364908099461"},{"key":"ref56","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2005.862037"},{"key":"ref55","first-page":"944","article-title":"About the use of port concepts for passive geometric telemanipulation with time varying delays","author":"stramigioli","year":"2002","journal-title":"Proc 8th Mechatron Forum"},{"key":"ref54","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2003.1249298"},{"key":"ref53","doi-asserted-by":"publisher","DOI":"10.1109\/IRDS.2002.1044039"},{"key":"ref52","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2007.903397"},{"key":"ref40","author":"matiakis","year":"2009","journal-title":"Stability and performance of networked control systems with a distributed controller approach"},{"key":"ref4","article-title":"Teleoperation with time delay&#x2014;A survey and its issue in space robotics","author":"penin","year":"2000","journal-title":"Proc 6th ESA Workshop Adv Space Technol Robot Autom"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/70.258052"},{"key":"ref6","article-title":"Transparent exploration of remote environments by internet telepresence","author":"hirche","year":"2003","journal-title":"Proc Int Workshop High-Fidelity Telepresence Teleaction\/IEEE Conf\/ HUMANOIDS"},{"key":"ref5","author":"hirzinger","year":"0"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.1998.724849"},{"key":"ref49","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2000.846433"},{"key":"ref7","first-page":"618","article-title":"The intuitive telesurgery system: Overview and application","author":"guthart","year":"2000","journal-title":"Proc IEEE Int Conf Robot Autom"},{"key":"ref9","first-page":"426","article-title":"Hardware and software components for a new internet-based multimodal tele-control experiment with haptic sensation","author":"brandtstdter","year":"2004","journal-title":"Proc Eurohaptics Conf"},{"key":"ref46","doi-asserted-by":"publisher","DOI":"10.1109\/48.64895"},{"key":"ref45","doi-asserted-by":"publisher","DOI":"10.1109\/9.24201"},{"key":"ref48","first-page":"954","article-title":"Passivation of force reflecting bilateral teleoperators with time varying delay","author":"lozano","year":"2002","journal-title":"Proc 8th Mechatron Forum"},{"key":"ref47","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1998.680592"},{"key":"ref42","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2008.4650829"},{"key":"ref41","doi-asserted-by":"publisher","DOI":"10.1109\/THFE.1963.231283"},{"key":"ref44","author":"peer","year":"2008","journal-title":"Design and control of admittance-type telemanipulation systems"},{"key":"ref43","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2008.4650934"},{"key":"ref127","first-page":"3236","article-title":"Passivity of a class of sampled-data systems: Application to haptic interfaces","author":"colgate","year":"1994","journal-title":"Proc Amer Control Conf"},{"key":"ref126","doi-asserted-by":"publisher","DOI":"10.1109\/ACC.2002.1025251"},{"key":"ref125","doi-asserted-by":"publisher","DOI":"10.1109\/ICASSP.2005.1415600"},{"key":"ref124","doi-asserted-by":"publisher","DOI":"10.1109\/WHC.2005.108"},{"key":"ref73","doi-asserted-by":"publisher","DOI":"10.1109\/70.704237"},{"key":"ref72","doi-asserted-by":"crossref","first-page":"105","DOI":"10.1109\/70.345941","article-title":"Bilateral controller for teleoperators with time delay via <ref_formula><tex Notation=\"TeX\">$\\mu$ <\/tex><\/ref_formula>-synthesis","volume":"11","author":"leung","year":"1993","journal-title":"IEEE Trans Robot Autom"},{"key":"ref71","doi-asserted-by":"publisher","DOI":"10.1109\/ACC.2006.1656593"},{"key":"ref128","doi-asserted-by":"publisher","DOI":"10.1006\/jmps.1999.1242"},{"key":"ref70","doi-asserted-by":"publisher","DOI":"10.1109\/87.221351"},{"key":"ref76","doi-asserted-by":"publisher","DOI":"10.1016\/S0921-8890(01)00164-6"},{"key":"ref77","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2008.4543210"},{"key":"ref74","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2006.06.027"},{"key":"ref75","first-page":"163","author":"hirche","year":"2007","journal-title":"Bilateral Control Architectures for Telerobotics in Advances in Telerobotics Human System Interfaces Control and Applications"},{"key":"ref78","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2009.2032964"},{"key":"ref79","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1989.100210"},{"key":"ref60","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechatronics.2010.07.006"},{"key":"ref62","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechatronics.2010.04.005"},{"key":"ref61","doi-asserted-by":"publisher","DOI":"10.1177\/0278364907084590"},{"key":"ref63","first-page":"1","article-title":"Bridging the gap between passivity and transparency","author":"franken","year":"2009","journal-title":"Proc Robot Sci Syst V"},{"key":"ref64","doi-asserted-by":"publisher","DOI":"10.1109\/70.258054"},{"key":"ref65","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1999.770380"},{"key":"ref66","doi-asserted-by":"publisher","DOI":"10.1177\/02783640122067471"},{"key":"ref67","doi-asserted-by":"publisher","DOI":"10.1109\/70.988981"},{"key":"ref68","first-page":"1953","article-title":"Transparent teleoperation using two-channel control architectures","author":"kim","year":"2005","journal-title":"Proc IEEE\/RSJ Int Conf Intell Robots Syst"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2004.1308112"},{"key":"ref69","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2009.5152791"},{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1016\/0005-1098(89)90093-9"},{"key":"ref109","doi-asserted-by":"publisher","DOI":"10.1007\/BF00230304"},{"key":"ref95","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2003.1242098"},{"key":"ref108","doi-asserted-by":"publisher","DOI":"10.1007\/BF00228884"},{"key":"ref94","doi-asserted-by":"crossref","DOI":"10.1007\/978-1-4471-0507-7","author":"schaft","year":"2000","journal-title":"L2-Gain and Passivity Techniques in Nonlinear Control"},{"key":"ref107","doi-asserted-by":"publisher","DOI":"10.1080\/02724988743000042"},{"key":"ref93","doi-asserted-by":"publisher","DOI":"10.1007\/BF00199890"},{"key":"ref106","doi-asserted-by":"publisher","DOI":"10.1068\/p180681"},{"key":"ref92","doi-asserted-by":"publisher","DOI":"10.1115\/1.3140702"},{"key":"ref105","first-page":"49","article-title":"Human operator perception of mechanical variables and their effects on tracking performance","volume":"42","author":"jones","year":"1992","journal-title":"ASME Adv Robot"},{"key":"ref91","first-page":"676","article-title":"Investigating the impedance characteristic of the human arm for the development of robots to co-operate","volume":"2","author":"rahman","year":"1999","journal-title":"Syst Man Cybern"},{"key":"ref104","author":"weber","year":"1851","journal-title":"Die Lehre vom Tastsinn und Gemeingefhl auf Versuche gegrndet"},{"key":"ref90","author":"khalil","year":"1996","journal-title":"Nonlinear Systems"},{"key":"ref103","author":"burdea","year":"1996","journal-title":"Force and Touch Feedback for Virtual Reality"},{"key":"ref102","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1993.292239"},{"key":"ref111","first-page":"71","article-title":"The Weber fraction for the moment of inertia","author":"ross","year":"1986","journal-title":"Fechner Day 86 Int Soc Psychophys"},{"key":"ref112","first-page":"13","article-title":"Manual resolution compliance when work and force cues are minimized","volume":"42","author":"tan","year":"1992","journal-title":"ASME Adv Robot"},{"key":"ref110","first-page":"657","article-title":"The manual resolution of viscosity and mass","volume":"1","author":"beauregard","year":"1995","journal-title":"ASME Dyn Syst Control Div"},{"key":"ref98","doi-asserted-by":"publisher","DOI":"10.1109\/70.326566"},{"key":"ref99","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1989.100230"},{"key":"ref96","author":"niemeyer","year":"1996","journal-title":"Using wave variables in time delayed force reflecting teleoperation"},{"key":"ref97","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2010.2041877"},{"key":"ref10","first-page":"65","author":"buss","year":"1999","journal-title":"Advances in Control Highlights of the 5th European Control Conference ECC'99 in Karlsruhe Germany"},{"key":"ref11","author":"sheridan","year":"1992","journal-title":"Telerobotics Automation and Human Supervisory Control"},{"key":"ref12","year":"0","journal-title":"Grand Challenges for Engineering"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/MSPEC.1967.5217126"},{"key":"ref14","first-page":"1317","article-title":"Design issues in 2-port network models of bilateral remote teleoperation","author":"raju","year":"1989","journal-title":"Proc IEEE Int Conf Robot Autom"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/ACC.2003.1238930"},{"key":"ref118","doi-asserted-by":"publisher","DOI":"10.1177\/0278364905056261"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/CDC.2004.1429379"},{"key":"ref82","doi-asserted-by":"crossref","DOI":"10.1007\/978-1-4471-0967-9","author":"sepulchre","year":"1997","journal-title":"Constructive Nonlinear Control"},{"key":"ref117","first-page":"353","article-title":"Human factors for the design of force-reflecting haptic interfaces","volume":"1","author":"tan","year":"1994","journal-title":"ASME Dyn Syst Control Div"},{"key":"ref17","first-page":"191","author":"hirche","year":"2007","journal-title":"Advances in Telerobotics Human System Interfaces Control and Applications"},{"key":"ref81","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2006.282161"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1524\/auto.2006.54.2.51"},{"key":"ref84","doi-asserted-by":"publisher","DOI":"10.1007\/BF00276494"},{"key":"ref119","doi-asserted-by":"publisher","DOI":"10.1109\/HAPTIC.2004.1287178"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/ACC.2010.5531373"},{"key":"ref83","doi-asserted-by":"publisher","DOI":"10.1007\/BF00276493"},{"key":"ref114","doi-asserted-by":"publisher","DOI":"10.3758\/BF03213075"},{"key":"ref113","author":"stanney","year":"2002","journal-title":"Handbook of Virtual Environments"},{"key":"ref116","doi-asserted-by":"publisher","DOI":"10.1177\/0278364904045563"},{"key":"ref80","first-page":"85","article-title":"Stable user-specific haptic rendering of the virtual wall","volume":"61","author":"gillespie","year":"1995","journal-title":"Proc Int Mech Eng Congr Exhibit"},{"key":"ref115","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1997.619290"},{"key":"ref120","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2004.1389789"},{"key":"ref89","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2009.04.016"},{"key":"ref121","doi-asserted-by":"publisher","DOI":"10.1145\/1121776.1121779"},{"key":"ref122","doi-asserted-by":"publisher","DOI":"10.1109\/ICME.2002.1035867"},{"key":"ref123","first-page":"119","author":"ortega","year":"2002","journal-title":"Touch in Virtual Environments Haptics and the Design of Interactive Systems"},{"key":"ref85","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.1976.1101352"},{"key":"ref86","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.1978.1101721"},{"key":"ref87","doi-asserted-by":"publisher","DOI":"10.1016\/0005-1098(77)90020-6"},{"key":"ref88","doi-asserted-by":"publisher","DOI":"10.1016\/0016-0032(80)90026-5"}],"container-title":["Proceedings of the IEEE"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx5\/5\/6152282\/06127891.pdf?arnumber=6127891","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2021,10,10]],"date-time":"2021-10-10T23:52:59Z","timestamp":1633909979000},"score":1,"resource":{"primary":{"URL":"http:\/\/ieeexplore.ieee.org\/document\/6127891\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2012,3]]},"references-count":128,"journal-issue":{"issue":"3"},"URL":"https:\/\/doi.org\/10.1109\/jproc.2011.2175150","relation":{},"ISSN":["0018-9219","1558-2256"],"issn-type":[{"value":"0018-9219","type":"print"},{"value":"1558-2256","type":"electronic"}],"subject":[],"published":{"date-parts":[[2012,3]]}}}