{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,4]],"date-time":"2026-04-04T09:15:08Z","timestamp":1775294108848,"version":"3.50.1"},"reference-count":154,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"2","license":[{"start":{"date-parts":[[2019,2,1]],"date-time":"2019-02-01T00:00:00Z","timestamp":1548979200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2019,2,1]],"date-time":"2019-02-01T00:00:00Z","timestamp":1548979200000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2019,2,1]],"date-time":"2019-02-01T00:00:00Z","timestamp":1548979200000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Proc. IEEE"],"published-print":{"date-parts":[[2019,2]]},"DOI":"10.1109\/jproc.2018.2879870","type":"journal-article","created":{"date-parts":[[2018,12,3]],"date-time":"2018-12-03T18:57:32Z","timestamp":1543863452000},"page":"471-487","source":"Crossref","is-referenced-by-count":79,"title":["Tactile Robots as a Central Embodiment of the Tactile Internet"],"prefix":"10.1109","volume":"107","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-7696-4955","authenticated-orcid":false,"given":"Sami","family":"Haddadin","sequence":"first","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4599-7636","authenticated-orcid":false,"given":"Lars","family":"Johannsmeier","sequence":"additional","affiliation":[]},{"given":"Fernando","family":"Diaz Ledezma","sequence":"additional","affiliation":[]}],"member":"263","reference":[{"key":"ref39","doi-asserted-by":"publisher","DOI":"10.1109\/MC.2016.93"},{"key":"ref38","doi-asserted-by":"crossref","DOI":"10.1038\/ncomms7566","article-title":"Soft network composite materials with deterministic and bio-inspired designs","volume":"6","author":"jang","year":"2015","journal-title":"Nature Commun"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1029\/2010JE003633"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1109\/HUMANOIDS.2014.7041482"},{"key":"ref31","year":"2018","journal-title":"Sawyer Robot"},{"key":"ref30","year":"2009","journal-title":"Tosy Industrial Robot Arm Robot"},{"key":"ref37","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2017.2723903"},{"key":"ref36","year":"2017","journal-title":"Waymo Self-Driving Car"},{"key":"ref35","year":"2018","journal-title":"Phantom 3"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2016.2613281"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1109\/ROMAN.2001.981928"},{"key":"ref27","first-page":"2210","article-title":"Augmented reality based teaching pendant for industrial robot","author":"abbas","year":"2012","journal-title":"Proc IEEE Int Conf Control Autom Syst"},{"key":"ref29","year":"2008","journal-title":"Fixed Perimeter Guarding With Weld Curtains"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/ROBIO.2009.5420611"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1073\/pnas.0401918101"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/HAPTICS.2014.6775496"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1109\/URAI.2013.6677423"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1109\/ICASI.2018.8394511"},{"key":"ref101","volume":"3","author":"vertut","year":"2013","journal-title":"Teleoperation and Robotics Applications and Technology"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2015.7139036"},{"key":"ref100","first-page":"316","article-title":"Integrating measured force feedback in passive multilateral teleoperation","author":"panzirsch","year":"2016","journal-title":"Proc Int Conf Hum Haptic Sens Touch Enabled Comput Appl"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2003.1242165"},{"key":"ref50","doi-asserted-by":"publisher","DOI":"10.23919\/IConAC.2017.8082020"},{"key":"ref51","doi-asserted-by":"publisher","DOI":"10.1080\/00140139.2015.1081988"},{"key":"ref154","article-title":"The tactile Internet","author":"fettweis","year":"2014"},{"key":"ref153","author":"torsner","year":"2018","journal-title":"Industrial Remote Operation 5G Rises to the Challenge"},{"key":"ref150","doi-asserted-by":"publisher","DOI":"10.1109\/MNET.2012.6201212"},{"key":"ref152","doi-asserted-by":"publisher","DOI":"10.1109\/COMST.2017.2691349"},{"key":"ref151","doi-asserted-by":"publisher","DOI":"10.1109\/JPROC.2003.809198"},{"key":"ref146","doi-asserted-by":"publisher","DOI":"10.1016\/j.artmed.2012.09.003"},{"key":"ref147","doi-asserted-by":"publisher","DOI":"10.1016\/j.ijinfomgt.2015.04.010"},{"key":"ref148","doi-asserted-by":"publisher","DOI":"10.1016\/j.medengphy.2011.10.004"},{"key":"ref149","doi-asserted-by":"publisher","DOI":"10.1109\/SIMPAR.2018.8376286"},{"key":"ref59","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1109\/TRO.2009.2033627","article-title":"Tactile sensing—From humans to humanoids","volume":"26","author":"dahiya","year":"2010","journal-title":"IEEE Trans Robot"},{"key":"ref58","doi-asserted-by":"publisher","DOI":"10.1109\/JSEN.2008.917481"},{"key":"ref57","doi-asserted-by":"publisher","DOI":"10.1177\/1729881417743554"},{"key":"ref56","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2015.7139889"},{"key":"ref55","doi-asserted-by":"publisher","DOI":"10.1179\/2045772312Y.0000000003"},{"key":"ref54","doi-asserted-by":"crossref","first-page":"169","DOI":"10.1186\/1743-0003-11-169","article-title":"A survey of stakeholder perspectives on exoskeleton technology","volume":"11","author":"wolff","year":"2014","journal-title":"J Neuroeng Rehabil"},{"key":"ref53","doi-asserted-by":"publisher","DOI":"10.1142\/S0219843607001126"},{"key":"ref52","first-page":"497","article-title":"Survey of actuation technologies for body-grounded exoskeletons","author":"letier","year":"2006","journal-title":"Proc Eurohaptics Conf"},{"key":"ref40","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2017.7989051"},{"key":"ref4","year":"2016","journal-title":"China Enforces Historic Robot Boom"},{"key":"ref3","author":"knight","year":"2015","journal-title":"China Wants to Replace Millions of Workers With Robots"},{"key":"ref6","year":"2016","journal-title":"Service Robot Statistics"},{"key":"ref5","author":"sirkin","year":"2015","journal-title":"How Robots Will Redefine Competitiveness"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1049\/ic.2015.0029"},{"key":"ref49","doi-asserted-by":"publisher","DOI":"10.1163\/156855301317033595"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/MVT.2013.2295069"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/JSAC.2016.2525398"},{"key":"ref46","year":"2018","journal-title":"Universal Robots"},{"key":"ref45","article-title":"Sawyer: Rethink robotics unveils new robot","author":"guizzo","year":"2015","journal-title":"IEEE Spectr"},{"key":"ref48","doi-asserted-by":"publisher","DOI":"10.1016\/j.paerosci.2014.03.002"},{"key":"ref47","article-title":"DARPA unveils atlas DRC robot","author":"cass","year":"2013","journal-title":"IEEE Spectr"},{"key":"ref42","year":"2018","journal-title":"Barrett WAM Arm"},{"key":"ref41","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2006.281763"},{"key":"ref44","year":"2018","journal-title":"Kuka iiwa"},{"key":"ref43","doi-asserted-by":"publisher","DOI":"10.1108\/01439910710774386"},{"key":"ref127","doi-asserted-by":"publisher","DOI":"10.1109\/MSPEC.2011.5719709"},{"key":"ref126","doi-asserted-by":"publisher","DOI":"10.1109\/SOSE.2010.44"},{"key":"ref125","doi-asserted-by":"publisher","DOI":"10.1109\/MNET.2012.6201213"},{"key":"ref124","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2010.5509469"},{"key":"ref73","doi-asserted-by":"publisher","DOI":"10.1109\/COMSNETS.2016.7439933"},{"key":"ref72","author":"meur","year":"2013","journal-title":"Google Glass"},{"key":"ref129","doi-asserted-by":"publisher","DOI":"10.1109\/MILTECHS.2015.7153749"},{"key":"ref71","doi-asserted-by":"publisher","DOI":"10.1163\/1568553054455103"},{"key":"ref128","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2009.2035462"},{"key":"ref70","author":"jurvetson","year":"2005","journal-title":"Hal Suit"},{"key":"ref76","doi-asserted-by":"crossref","DOI":"10.1038\/s41598-017-01898-8","article-title":"Stretchable, twisted conductive microtubules for wearable computing, robotics, electronics, and healthcare","volume":"7","author":"do","year":"2017","journal-title":"Sci Rep"},{"key":"ref130","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2010.5540108"},{"key":"ref77","doi-asserted-by":"publisher","DOI":"10.1109\/TMTT.2017.2677908"},{"key":"ref74","year":"2014","journal-title":"Apple Watch"},{"key":"ref75","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2018.2855719"},{"key":"ref133","first-page":"1","article-title":"Industrial Internet of Things over tactile Internet in the context of intelligent manufacturing","volume":"20","author":"bai","year":"2017","journal-title":"Cluster Comput"},{"key":"ref134","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2017.2647747"},{"key":"ref131","year":"2018","journal-title":"The Industrial Internet of Things (IIoT) The Business Guide to Industrial IoT"},{"key":"ref78","doi-asserted-by":"publisher","DOI":"10.1109\/ECTC.2016.154"},{"key":"ref132","year":"2018","journal-title":"TACNET 4 0 Tactile Internet"},{"key":"ref79","doi-asserted-by":"publisher","DOI":"10.1109\/JSEN.2012.2200790"},{"key":"ref136","author":"khanbeigi","year":"2017","journal-title":"Why Cloud Robotics?"},{"key":"ref135","author":"guizzo","year":"2016","journal-title":"Google Wants Robots to Acquire New Skills by Learning From Each Other"},{"key":"ref138","doi-asserted-by":"publisher","DOI":"10.1109\/MFI.2008.4648033"},{"key":"ref137","author":"kavanagh","year":"2018","journal-title":"What is the Tactile Internet?"},{"key":"ref60","doi-asserted-by":"publisher","DOI":"10.1109\/JSEN.2013.2279056"},{"key":"ref139","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aat3818"},{"key":"ref62","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2002.802720"},{"key":"ref61","doi-asserted-by":"publisher","DOI":"10.1109\/TOH.2009.4"},{"key":"ref63","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2006.1641896"},{"key":"ref64","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2011.2132930"},{"key":"ref140","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2016.2536360"},{"key":"ref65","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2009.5354648"},{"key":"ref141","article-title":"The robotic sense of touch: from sensing to understanding","author":"t\u00f6dtheide","year":"2017","journal-title":"Proceedings of the ICRA Workshop"},{"key":"ref66","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2011.2106330"},{"key":"ref142","doi-asserted-by":"publisher","DOI":"10.1002\/elan.201600047"},{"key":"ref67","doi-asserted-by":"crossref","first-page":"1071","DOI":"10.1126\/science.aac5082","article-title":"Highly stretchable electroluminescent skin for optical signaling and tactile sensing","volume":"351","author":"larson","year":"2016","journal-title":"Science"},{"key":"ref143","article-title":"Information technology on five senses","author":"hirose","year":"2005"},{"key":"ref68","first-page":"1700015e","article-title":"Ultrastretchable, transparent triboelectric nanogenerator as electronic skin for biomechanical energy harvesting and tactile sensing","volume":"3","author":"pu","year":"2017","journal-title":"Science"},{"key":"ref144","year":"2018","journal-title":"Share Touch Smell and Taste via the Internet"},{"key":"ref2","author":"brenner","year":"2015","journal-title":"Japan Unleashes a Robot Revolution"},{"key":"ref69","doi-asserted-by":"publisher","DOI":"10.1109\/SVR.2011.21"},{"key":"ref145","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2017.2764181"},{"key":"ref1","year":"2016","journal-title":"Number of Industrial Robot Shipments by World Region 2015–2020"},{"key":"ref109","doi-asserted-by":"crossref","first-page":"3","DOI":"10.1007\/978-3-319-67361-5_1","article-title":"Controlling ocean one","author":"brantner","year":"2018","journal-title":"Field and Service Robotics"},{"key":"ref95","doi-asserted-by":"publisher","DOI":"10.1109\/COMST.2015.2398816"},{"key":"ref108","author":"labios","year":"2018","journal-title":"Engineers Developing Advanced Robotic Systems That Will Become Surgeon’s Right Hand"},{"key":"ref94","doi-asserted-by":"publisher","DOI":"10.1177\/0278364912462256"},{"key":"ref107","doi-asserted-by":"publisher","DOI":"10.1097\/00000658-200204000-00005"},{"key":"ref93","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2015.7139726"},{"key":"ref106","author":"eveleth","year":"2018","journal-title":"The Surgeon Who Operates From 400 km Away"},{"key":"ref92","author":"ott","year":"2008","journal-title":"Cartesian Impedance Control of Redundant and Flexible-Joint Robots"},{"key":"ref105","first-page":"43","article-title":"Teleoperation of real-time robotics","volume":"7","author":"takahata","year":"2005","journal-title":"NTT DoCoMo Tech J"},{"key":"ref91","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-14743-2_33"},{"key":"ref104","first-page":"1","article-title":"Touchme: An augmented reality based remote robot manipulation","author":"hashimoto","year":"2011","journal-title":"Proc Intl Conf on Artificial Reality and Telexistence (ICAT) 2003"},{"key":"ref90","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2007.03.003"},{"key":"ref103","doi-asserted-by":"publisher","DOI":"10.1145\/1957656.1957664"},{"key":"ref102","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2013.6631087"},{"key":"ref111","doi-asserted-by":"publisher","DOI":"10.1002\/9781118868065.ch4"},{"key":"ref112","first-page":"1","article-title":"Autonomous underwater inspection robot under disturbances","author":"gopinath","year":"2017","journal-title":"Proc Int Conf Circuit Power Comput Technol (ICCPCT)"},{"key":"ref110","article-title":"Underwater robots: Motion and force control of vehicle-manipulator systems","volume":"2","author":"antonelli","year":"2008","journal-title":"Springer Tracts in Advanced Robotics"},{"key":"ref98","doi-asserted-by":"publisher","DOI":"10.1109\/MC.2013.31"},{"key":"ref99","doi-asserted-by":"publisher","DOI":"10.1109\/JPROC.2011.2182100"},{"key":"ref96","doi-asserted-by":"publisher","DOI":"10.1145\/1366283.1366303"},{"key":"ref97","article-title":"Cyber physical system challenges for human-in-the-loop control","author":"munir","year":"2013","journal-title":"Feedback Computing"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/MCOM.2016.7470948"},{"key":"ref11","first-page":"1","article-title":"Towards 5G-enabled tactile Internet: Radio resource allocation for haptic communications","author":"aijaz","year":"2016","journal-title":"Proc IEEE Wireless Commun Netw Conf (WCNC)"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/MWC.2016.1500157RP"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/EuCNC.2017.7980645"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-34208-5_25"},{"key":"ref15","author":"haddadin","year":"2018","journal-title":"Franka Emika Panda"},{"key":"ref118","doi-asserted-by":"publisher","DOI":"10.1109\/ROMAN.2001.981947"},{"key":"ref16","author":"kuehn","year":"2018","journal-title":"Humanoid Collision Reflex Sequences Based on an Artificial Robot Nervous System Including Contact Location and Direction"},{"key":"ref82","doi-asserted-by":"publisher","DOI":"10.1186\/1743-0003-2-2"},{"key":"ref117","year":"2018","journal-title":"RoMaNS - Robotic Manipulation for Nuclear Sort and Segregation"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1177\/0278364909343970"},{"key":"ref81","doi-asserted-by":"publisher","DOI":"10.1109\/CISTI.2016.7521565"},{"key":"ref18","volume":"90","author":"haddadin","year":"2013","journal-title":"Towards Safe Robots Approaching Asimov’s 1st Law"},{"key":"ref84","doi-asserted-by":"publisher","DOI":"10.1145\/3123021.3123042"},{"key":"ref119","doi-asserted-by":"publisher","DOI":"10.1002\/rob.21571"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-014-9402-3"},{"key":"ref83","doi-asserted-by":"publisher","DOI":"10.1109\/COMST.2017.2731979"},{"key":"ref114","doi-asserted-by":"publisher","DOI":"10.1109\/WAINA.2012.86"},{"key":"ref113","doi-asserted-by":"publisher","DOI":"10.5772\/62060"},{"key":"ref116","doi-asserted-by":"publisher","DOI":"10.1016\/j.promfg.2017.07.133"},{"key":"ref80","doi-asserted-by":"publisher","DOI":"10.1109\/ICEP.2016.7486872"},{"key":"ref115","author":"kite-powell","year":"2018","journal-title":"This Recycling Robot Uses Artificial Intelligence to Sort Your Recyclables"},{"key":"ref120","doi-asserted-by":"publisher","DOI":"10.1155\/2013\/902316"},{"key":"ref89","article-title":"The sound of being there: Presence and interactive audio in immersive virtual reality","author":"nordahl","year":"2014","journal-title":"Oxford Handbook of Interactive Audio"},{"key":"ref121","first-page":"34","author":"lichiardopol","year":"2007","journal-title":"A Survey on Teleoperation"},{"key":"ref122","doi-asserted-by":"publisher","DOI":"10.1109\/TASE.2014.2376492"},{"key":"ref123","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2013.6630612"},{"key":"ref85","doi-asserted-by":"publisher","DOI":"10.1109\/TOH.2017.2689006"},{"key":"ref86","doi-asserted-by":"publisher","DOI":"10.1561\/1100000049"},{"key":"ref87","doi-asserted-by":"crossref","first-page":"133","DOI":"10.12753\/2066-026X-15-020","article-title":"A literature review on immersive virtual reality in education: state of the art and perspectives","volume":"1","author":"freina","year":"2015","journal-title":"Proc Int Sci Conf eLearn Softw Educ"},{"key":"ref88","doi-asserted-by":"publisher","DOI":"10.1007\/s10055-016-0293-9"}],"container-title":["Proceedings of the IEEE"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/5\/8626773\/08556371.pdf?arnumber=8556371","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,4,4]],"date-time":"2026-04-04T08:33:23Z","timestamp":1775291603000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/8556371\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2019,2]]},"references-count":154,"journal-issue":{"issue":"2"},"URL":"https:\/\/doi.org\/10.1109\/jproc.2018.2879870","relation":{},"ISSN":["0018-9219","1558-2256"],"issn-type":[{"value":"0018-9219","type":"print"},{"value":"1558-2256","type":"electronic"}],"subject":[],"published":{"date-parts":[[2019,2]]}}}