{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,25]],"date-time":"2026-04-25T14:52:17Z","timestamp":1777128737805,"version":"3.51.4"},"reference-count":44,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"4","license":[{"start":{"date-parts":[[2014,4,1]],"date-time":"2014-04-01T00:00:00Z","timestamp":1396310400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"}],"funder":[{"name":"European Union Seventh Framework Programme FP7\/2007-2013","award":["270460"],"award-info":[{"award-number":["270460"]}]},{"name":"Grant 601165 of the project \u00bfWEARHAP\u00bfWEARable HAPtics for humans and robots"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Trans. Biomed. Eng."],"published-print":{"date-parts":[[2014,4]]},"DOI":"10.1109\/tbme.2014.2303052","type":"journal-article","created":{"date-parts":[[2014,2,3]],"date-time":"2014-02-03T19:04:11Z","timestamp":1391454251000},"page":"1318-1327","source":"Crossref","is-referenced-by-count":85,"title":["Sensory Subtraction in Robot-Assisted Surgery: Fingertip Skin Deformation Feedback to Ensure Safety and Improve Transparency in Bimanual Haptic Interaction"],"prefix":"10.1109","volume":"61","author":[{"given":"Leonardo","family":"Meli","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Claudio","family":"Pacchierotti","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Domenico","family":"Prattichizzo","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"263","reference":[{"key":"ref39","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-540-30301-5_29"},{"key":"ref38","year":"0"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1016\/S0959-4388(00)00234-8"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1108\/02602280410515770"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1046\/j.1365-201x.1999.600ae.x"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1016\/j.jtcvs.2004.05.029"},{"key":"ref37","first-page":"3169","article-title":"Development of a soft-fingertip and its modeling based on force distribution","volume":"3","author":"park","year":"2003","journal-title":"Proc IEEE Int Conf Robot Autom"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1109\/M-RA.2007.905747"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.1995.525876"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1113\/jphysiol.1995.sp020875"},{"key":"ref10","year":"0"},{"key":"ref40","doi-asserted-by":"publisher","DOI":"10.1161\/01.RES.47.1.1"},{"key":"ref11","doi-asserted-by":"crossref","first-page":"125","DOI":"10.1007\/978-3-642-14064-8_19","article-title":"Using a fingertip tactile device to substitute kinesthetic feedback in haptic interaction","volume":"6191","author":"prattichizzo","year":"2010","journal-title":"Proc Haptics Generating and Perceiving Tangible Sensations"},{"key":"ref12","first-page":"304","article-title":"Objective surgical performance evaluation based on haptic feedback","volume":"85","author":"moody","year":"2002","journal-title":"Stud Health Technol Informat"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/HAPTIC.2002.998943"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1162\/105474601753132678"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1023\/A:1019926620096"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/TASE.2006.888051"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1097\/MOU.0b013e32831a478c"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1007\/s004640080154"},{"key":"ref19","first-page":"265","article-title":"Practical haptic navigation with clickable 3-D region input interface for supporting master-slave type robotic surgery","volume":"98","author":"nakao","year":"2004","journal-title":"Stud Health Technol Informat"},{"key":"ref4","author":"sheridan","year":"1992","journal-title":"Telerobotics Automation and Human Supervisory Control"},{"key":"ref28","year":"0"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1016\/0005-1098(89)90093-9"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1109\/TOH.2013.53"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1007\/s11548-009-0372-4"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/70.988981"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1109\/ICSMC.2006.385233"},{"key":"ref8","first-page":"789","article-title":"Performance measurement in scaled teleoperation for microsurgery","author":"salcudean","year":"1997","journal-title":"Proc 1st Joint Conf Comput Vis Virtual Reality Robot Med Med Robot Comput -Assist Surg"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/TOH.2012.15"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1002\/rcs.391"},{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1108\/01439910410566362"},{"key":"ref9","doi-asserted-by":"crossref","first-page":"145","DOI":"10.1177\/001872089403600109","article-title":"Teleoperator performance with varying force and visual feedback","volume":"36","author":"massimino","year":"1994","journal-title":"Human Factors The Journal of the Human Factors and Ergonomics Society"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/TOH.2011.31"},{"key":"ref22","doi-asserted-by":"crossref","DOI":"10.1007\/978-1-4471-0507-7","author":"van der schaft","year":"2000","journal-title":"L2-Gain and Passivity Techniques in Nonlinear Control"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2011.2142430"},{"key":"ref42","year":"0"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1177\/0278364909338770"},{"key":"ref41","doi-asserted-by":"publisher","DOI":"10.1109\/70.258054"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1109\/TRA.2004.824689"},{"key":"ref44","doi-asserted-by":"publisher","DOI":"10.1109\/BioRob.2012.6290853"},{"key":"ref26","year":"0"},{"key":"ref43","doi-asserted-by":"publisher","DOI":"10.1021\/ac053390m"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2010.2041877"}],"container-title":["IEEE Transactions on Biomedical Engineering"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/10\/6774470\/06727391.pdf?arnumber=6727391","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,1,12]],"date-time":"2022-01-12T16:29:49Z","timestamp":1642004989000},"score":1,"resource":{"primary":{"URL":"http:\/\/ieeexplore.ieee.org\/document\/6727391\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2014,4]]},"references-count":44,"journal-issue":{"issue":"4"},"URL":"https:\/\/doi.org\/10.1109\/tbme.2014.2303052","relation":{},"ISSN":["0018-9294","1558-2531"],"issn-type":[{"value":"0018-9294","type":"print"},{"value":"1558-2531","type":"electronic"}],"subject":[],"published":{"date-parts":[[2014,4]]}}}