{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,1]],"date-time":"2026-07-01T05:02:17Z","timestamp":1782882137665,"version":"3.54.5"},"reference-count":60,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"1","license":[{"start":{"date-parts":[[2016,2,1]],"date-time":"2016-02-01T00:00:00Z","timestamp":1454284800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2016,2,1]],"date-time":"2016-02-01T00:00:00Z","timestamp":1454284800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2016,2,1]],"date-time":"2016-02-01T00:00:00Z","timestamp":1454284800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"name":"EU","award":["FP7-ICT-2009-6-270460"],"award-info":[{"award-number":["FP7-ICT-2009-6-270460"]}]},{"DOI":"10.13039\/501100000275","name":"Leverhulme Trust","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100000275","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Trans. Robot."],"published-print":{"date-parts":[[2016,2]]},"DOI":"10.1109\/tro.2015.2507163","type":"journal-article","created":{"date-parts":[[2016,1,18]],"date-time":"2016-01-18T21:19:59Z","timestamp":1453151999000},"page":"201-213","source":"Crossref","is-referenced-by-count":16,"title":["Mass and Friction Optimization for Natural Motion in Hands-On Robotic Surgery"],"prefix":"10.1109","volume":"32","author":[{"given":"Joshua G.","family":"Petersen","sequence":"first","affiliation":[{"name":"Mechatronics in Medicine Laboratory, Department of Mechanical Engineering, Imperial College London, London, U.K."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Stuart A.","family":"Bowyer","sequence":"additional","affiliation":[{"name":"Mechatronics in Medicine Laboratory, Department of Mechanical Engineering, Imperial College London, London, U.K."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5199-9083","authenticated-orcid":false,"given":"Ferdinando Rodriguez y","family":"Baena","sequence":"additional","affiliation":[{"name":"Mechatronics in Medicine Laboratory, Department of Mechanical Engineering, Imperial College London, London, U.K."}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"263","reference":[{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/ROBIO.2011.6181259"},{"key":"ref57","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2013.6697198"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1115\/IMECE2012-88384"},{"key":"ref56","doi-asserted-by":"publisher","DOI":"10.1177\/0278364913514870"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/86.662623"},{"key":"ref59","first-page":"15","article-title":"The fast\n research interface for the Kuka lightweight robot","author":"schreiber","year":"2010","journal-title":"Proc IEEE ICRA Workshop Innovative Robot Control Arch"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/BIOROB.2014.6913767"},{"key":"ref58","doi-asserted-by":"publisher","DOI":"10.1109\/TIM.2007.907957"},{"key":"ref53","doi-asserted-by":"publisher","DOI":"10.1016\/0771-050X(80)90013-3"},{"key":"ref52","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2008.4543698"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/ICMA.2015.7237701"},{"key":"ref55","doi-asserted-by":"publisher","DOI":"10.1007\/s00464-014-3446-5"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2013.6696617"},{"key":"ref54","doi-asserted-by":"publisher","DOI":"10.1016\/j.juro.2012.05.005"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/TNSRE.2008.918389"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/ROBIO.2006.340342"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/TNSRE.2011.2176960"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2010.5509321"},{"key":"ref51","doi-asserted-by":"publisher","DOI":"10.1109\/ICHR.2006.321331"},{"key":"ref50","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574799001861"},{"key":"ref46","doi-asserted-by":"publisher","DOI":"10.1109\/CDC.2005.1582848"},{"key":"ref45","doi-asserted-by":"publisher","DOI":"10.1016\/S0947-3580(98)70113-X"},{"key":"ref48","doi-asserted-by":"crossref","first-page":"868","DOI":"10.1109\/TSMC.1977.4309644","article-title":"Automatic supervisory control of the configuration and behavior of\n multibody mechanisms","volume":"7","author":"liegeois","year":"1977","journal-title":"IEEE Trans Syst Man Cybern"},{"key":"ref47","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-013-9358-8"},{"key":"ref42","doi-asserted-by":"publisher","DOI":"10.1177\/027836499501400103"},{"key":"ref41","doi-asserted-by":"publisher","DOI":"10.1177\/0278364908091463"},{"key":"ref44","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2002.1000274"},{"key":"ref43","doi-asserted-by":"publisher","DOI":"10.1109\/9.376053"},{"key":"ref49","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.1983.6313123"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4419-1126-1_10"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1302\/0301-620X.88B2.17220"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2014.6907244"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1177\/027836498800700502"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2013.6631216"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2013.2283410"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2014.6943167"},{"key":"ref40","article-title":"Synthesis and control of whole-body behaviors in humanoid systems","author":"sentis","year":"2007"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.1998.727424"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1109\/56.772"},{"key":"ref37","doi-asserted-by":"publisher","DOI":"10.1016\/j.rcim.2010.09.004"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1109\/70.388791"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2002.1013595"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574799002106"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2014.6942847"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1990.126024"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1177\/027836498500400308"},{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1302\/0301-620X.93B10.27418"},{"key":"ref39","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-83581-0_20"},{"key":"ref38","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2012.6225221"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1989.100021"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2005.1545453"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.2514\/3.56664"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2007.892229"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2009.5353935"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2005.1570790"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1016\/S1050-6411(00)00025-0"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1985.1087283"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2015.2477956"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1985.1087277"},{"key":"ref60","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-03889-1_118"}],"container-title":["IEEE Transactions on Robotics"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/8860\/7399431\/07384515.pdf?arnumber=7384515","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,4,27]],"date-time":"2023-04-27T22:20:10Z","timestamp":1682634010000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/7384515\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2016,2]]},"references-count":60,"journal-issue":{"issue":"1"},"URL":"https:\/\/doi.org\/10.1109\/tro.2015.2507163","relation":{},"ISSN":["1552-3098","1941-0468"],"issn-type":[{"value":"1552-3098","type":"print"},{"value":"1941-0468","type":"electronic"}],"subject":[],"published":{"date-parts":[[2016,2]]}}}