{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,15]],"date-time":"2026-05-15T02:51:57Z","timestamp":1778813517886,"version":"3.51.4"},"reference-count":36,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"2","license":[{"start":{"date-parts":[[2019,4,1]],"date-time":"2019-04-01T00:00:00Z","timestamp":1554076800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2019,4,1]],"date-time":"2019-04-01T00:00:00Z","timestamp":1554076800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2019,4,1]],"date-time":"2019-04-01T00:00:00Z","timestamp":1554076800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"DOI":"10.13039\/501100000196","name":"Canada Foundation for Innovation","doi-asserted-by":"publisher","award":["LOF 28241"],"award-info":[{"award-number":["LOF 28241"]}],"id":[{"id":"10.13039\/501100000196","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Alberta Innovation and Advanced Education Ministry"},{"name":"Small Equipment","award":["RCP-12-021"],"award-info":[{"award-number":["RCP-12-021"]}]},{"DOI":"10.13039\/501100000038","name":"Natural Sciences and Engineering Research Council of Canada","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100000038","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Robot. Autom. Lett."],"published-print":{"date-parts":[[2019,4]]},"DOI":"10.1109\/lra.2019.2893606","type":"journal-article","created":{"date-parts":[[2019,1,17]],"date-time":"2019-01-17T19:41:20Z","timestamp":1547754080000},"page":"1037-1044","source":"Crossref","is-referenced-by-count":33,"title":["Application of a Redundant Haptic Interface in Enhancing Soft-Tissue Stiffness Discrimination"],"prefix":"10.1109","volume":"4","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-5090-7856","authenticated-orcid":false,"given":"Ali","family":"Torabi","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6873-273X","authenticated-orcid":false,"given":"Mohsen","family":"Khadem","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0603-9200","authenticated-orcid":false,"given":"Kourosh","family":"Zareinia","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Garnette Roy","family":"Sutherland","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7427-6961","authenticated-orcid":false,"given":"Mahdi","family":"Tavakoli","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"263","reference":[{"key":"ref33","article-title":"Maximizing the sensation of compliance in teleoperative surgery","author":"tendick","year":"0","journal-title":"Proc Int Symp Robot Appl"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1177\/0278364905057861"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.3758\/BF03194544"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1108\/01439910410566362"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1002\/rcs.1637"},{"key":"ref35","first-page":"295","article-title":"The phantom haptic interface: A device for probing virtual objects","author":"massie","year":"0","journal-title":"Proc ASME Dyn Syst Control Division"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1097\/SIH.0b013e3181e9e783"},{"key":"ref10","first-page":"195","year":"0","journal-title":"Proc Int Symp Robot Res"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1007\/BF00126069"},{"key":"ref12","first-page":"25","author":"ueberle","year":"2007","journal-title":"Design Control and Evaluation of a Hyper-Redundant Haptic Device"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1017\/S026357470900544X"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.3390\/machines4010008"},{"key":"ref15","first-page":"452","year":"0","journal-title":"Proc 2nd Joint EuroHaptics Conf Symp Haptic Interfaces Virtual Environ Teleoperator Syst"},{"key":"ref16","article-title":"Master having redundant degrees of freedom","year":"0"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1177\/027836499801700601"},{"key":"ref18","first-page":"1072","article-title":"Kinematic control and visual display of redundant teleoperators","year":"0","journal-title":"Proc IEEE Int Conf Syst Man Cybern"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1177\/027836498500400201"},{"key":"ref28","year":"1997","journal-title":"Psychophysics The Fundamentals"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1007\/s10055-005-0017-z"},{"key":"ref27","article-title":"Measuring the dynamic impedance of the human arm","year":"2013"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2008.924118"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1162\/pres.16.5.459"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1016\/j.media.2009.04.001"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/TSMCB.2007.903700"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1097\/01.sle.0000213734.87956.24"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1002\/rcs.421"},{"key":"ref2","first-page":"1063","year":"0","journal-title":"Springer Handbook of Robotics"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1227\/NEU.0b013e318273a1a3"},{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.3171\/2012.11.JNS12877"},{"key":"ref20","author":"siciliano","year":"2009","journal-title":"Robotics—Modelling Planning and Control"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1177\/027836499501400103"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/JRA.1987.1087068"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1049\/iet-cta.2017.1253"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1177\/0278364908091463"},{"key":"ref26","doi-asserted-by":"crossref","first-page":"555","DOI":"10.1162\/105474602321050695","article-title":"A critical study of the mechanical and electrical properties of the phantom haptic interface and improvements for high performance control","volume":"11","author":"avuolu","year":"2002","journal-title":"Presence Teleoperators Virtual Environ"},{"key":"ref25","first-page":"144","year":"0","journal-title":"Proc Advances Neural Inf Process Syst"}],"container-title":["IEEE Robotics and Automation Letters"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/7083369\/8581687\/08616879.pdf?arnumber=8616879","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,7,13]],"date-time":"2022-07-13T20:55:39Z","timestamp":1657745739000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/8616879\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2019,4]]},"references-count":36,"journal-issue":{"issue":"2"},"URL":"https:\/\/doi.org\/10.1109\/lra.2019.2893606","relation":{},"ISSN":["2377-3766","2377-3774"],"issn-type":[{"value":"2377-3766","type":"electronic"},{"value":"2377-3774","type":"electronic"}],"subject":[],"published":{"date-parts":[[2019,4]]}}}