{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,2,21]],"date-time":"2025-02-21T16:32:51Z","timestamp":1740155571734,"version":"3.37.3"},"reference-count":16,"publisher":"Wiley","license":[{"start":{"date-parts":[[2014,1,1]],"date-time":"2014-01-01T00:00:00Z","timestamp":1388534400000},"content-version":"unspecified","delay-in-days":0,"URL":"http:\/\/creativecommons.org\/licenses\/by\/3.0\/"}],"funder":[{"DOI":"10.13039\/501100012226","name":"Fundamental Research Funds for the Central Universities","doi-asserted-by":"crossref","award":["2012RC0504","2013CB733005","61175080"],"award-info":[{"award-number":["2012RC0504","2013CB733005","61175080"]}],"id":[{"id":"10.13039\/501100012226","id-type":"DOI","asserted-by":"crossref"}]},{"name":"Key Project of Chinese National Programs for Fundamental Research and Development (973 Program)","award":["2012RC0504","2013CB733005","61175080"],"award-info":[{"award-number":["2012RC0504","2013CB733005","61175080"]}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["2012RC0504","2013CB733005","61175080"],"award-info":[{"award-number":["2012RC0504","2013CB733005","61175080"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Journal of Robotics"],"published-print":{"date-parts":[[2014]]},"abstract":"<jats:p>The field of teleoperation with force telepresence has expanded its scope to include manipulation at different scales and in virtual worlds, and the key component of which is force feedback hand controller. This paper presents a novel force feedback hand controller system, including a 3-dof translational and 3-dof rotational hand controllers, respectively, to implement position and posture teleoperation of the robot end effector. The 3-dof translational hand controller adopts innovative three-axes decoupling structure based on the linear motor; the 3-dof rotational hand controller adopts serial mechanism based on three-axes intersecting at one point, improving its overall stiffness. Based on the kinematics, statics, and dynamics analyses for two platforms separately, the system applies big closed-loop force control method based on the zero force\/torque, improving the feedback force\/torque accuracy effectively. Experimental results show that self-developed 6-dof force feedback hand controller has good mechanical properties. The translational hand controller has the following advantages: simple kinematics solver, fast dynamic response, and better than 0.05\u2009mm accuracy of three-axis end positioning, while the advantages of the rotational hand controller are wide turning space, larger than 1\u2009Nm feedback, greater than 180 degrees of operating space of three axes, respectively, and high operation precision.<\/jats:p>","DOI":"10.1155\/2014\/646574","type":"journal-article","created":{"date-parts":[[2014,4,16]],"date-time":"2014-04-16T21:10:41Z","timestamp":1397682641000},"page":"1-9","source":"Crossref","is-referenced-by-count":0,"title":["Research of a New 6-Dof Force Feedback Hand Controller System"],"prefix":"10.1155","volume":"2014","author":[{"given":"Xin","family":"Gao","sequence":"first","affiliation":[{"name":"School of Automation, Beijing University of Posts and Telecommunications, Beijing 100876, China"}]},{"given":"Yifan","family":"Wang","sequence":"additional","affiliation":[{"name":"School of Automation, Beijing University of Posts and Telecommunications, Beijing 100876, China"}]},{"given":"Jingzhou","family":"Song","sequence":"additional","affiliation":[{"name":"School of Automation, Beijing University of Posts and Telecommunications, Beijing 100876, China"}]},{"given":"Qingxuan","family":"Jia","sequence":"additional","affiliation":[{"name":"School of Automation, Beijing University of Posts and Telecommunications, Beijing 100876, China"}]},{"given":"Hanxu","family":"Sun","sequence":"additional","affiliation":[{"name":"School of Automation, Beijing University of Posts and Telecommunications, Beijing 100876, China"}]}],"member":"311","reference":[{"issue":"3","key":"1","first-page":"1493","volume":"64","year":"2014","journal-title":"IEEE Transactions on Industrial Electronics"},{"issue":"2","key":"2","doi-asserted-by":"crossref","first-page":"882","DOI":"10.1109\/TIE.2013.2254095","volume":"61","year":"2014","journal-title":"IEEE Transactions on Industrial Electronics"},{"issue":"4","key":"3","doi-asserted-by":"crossref","first-page":"813","DOI":"10.1109\/TRO.2013.2258732","volume":"29","year":"2013","journal-title":"IEEE Transactions on Robotics"},{"issue":"2","key":"4","doi-asserted-by":"crossref","first-page":"380","DOI":"10.1109\/TASE.2013.2242199","volume":"10","year":"2013","journal-title":"IEEE Transactions on Automation Science and Engineering"},{"key":"5","doi-asserted-by":"publisher","DOI":"10.1166\/sl.2011.1665"},{"key":"6","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2011.2152950"},{"key":"7","doi-asserted-by":"publisher","DOI":"10.1016\/S1005-8885(10)60035-0"},{"key":"8","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2009.2013848"},{"key":"9","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2009.2037649"},{"issue":"6","key":"10","doi-asserted-by":"crossref","first-page":"1633","DOI":"10.1109\/TSMCB.2012.2197387","volume":"42","year":"2012","journal-title":"IEEE Transactions on Systems, Man, and Cybernetics B: Cybernetics"},{"issue":"3","key":"11","doi-asserted-by":"crossref","first-page":"252","DOI":"10.1109\/TOH.2012.20","volume":"5","year":"2012","journal-title":"IEEE Transactions on Haptics"},{"key":"12","doi-asserted-by":"publisher","DOI":"10.1109\/TNSRE.2007.906962"},{"key":"13","doi-asserted-by":"publisher","DOI":"10.1109\/TOH.2009.61"},{"key":"14","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2011.2172945"},{"key":"15","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2008.2005710"},{"key":"16","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2012.2189398"}],"container-title":["Journal of Robotics"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/downloads.hindawi.com\/journals\/jr\/2014\/646574.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/downloads.hindawi.com\/journals\/jr\/2014\/646574.xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/downloads.hindawi.com\/journals\/jr\/2014\/646574.pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2020,5,11]],"date-time":"2020-05-11T22:11:57Z","timestamp":1589235117000},"score":1,"resource":{"primary":{"URL":"http:\/\/www.hindawi.com\/journals\/jr\/2014\/646574\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2014]]},"references-count":16,"alternative-id":["646574","646574"],"URL":"https:\/\/doi.org\/10.1155\/2014\/646574","relation":{},"ISSN":["1687-9600","1687-9619"],"issn-type":[{"type":"print","value":"1687-9600"},{"type":"electronic","value":"1687-9619"}],"subject":[],"published":{"date-parts":[[2014]]}}}