The DOI matches its Crossref record.
Performance evaluation of a six-axis generalized force-reflecting teleoperator
Abstract
Recent work in real-time distributed computation and control has culminated in a prototype force-reflecting telemanipulation system having dissimilar master (cable-driven force-reflecting hand controller) and slave (PUMA 560 robot with custom controller), extremely high sampling rate (1000 Hz), and low loop computation delay (5 ms). In a series of experiments with this system and five trained test operators covering more than 100 h of teleoperation, performance in a series of generic and application-driven tasks with and without force feedback was measured, and with control shared between teleoperation and local sensor referenced control. Measurements defining task performance include 100-Hz recording of six-axis force-torque information, task completion time, and visual observation of predefined task errors. It is shown that all performance measures improved as capability was added along a spectrum of capabilities ranging from pure position control through force-reflecting teleoperation and shared control. Performance was maximal for the barehanded operator.>
Overview
The claims and statistics of this paper haven’t been checked yet.
Run the check — free, no account needed. It reads the open-access text and checks the sources it cites.
Integrity signals
Registry
Cites
Statistics
Verification
Claims the paper makes
The claims and statistics of this paper haven’t been checked yet.
Run the check — free, no account needed. It reads the open-access text and checks the sources it cites.
Self-check
Percentages, sums and reported differences re-computed from the paper’s own numbers.
The self-check needs the paper’s full text.
Citations
Cited by
Force-reflection and shared compliant control in operating telemanipulators with time delay
Kim, W. S., Hannaford, B., & Fejczy, A. K. (1992) · IEEE Transactions on Robotics and Automation · doi:10.1109/70.134272 · Cited by 361
Self-citationDevelopment of Soft-Actuator-Based Wearable Tactile Display
Koo, I. M., Jung, K., Koo, J. C., Nam, J.-D., Lee, Y. K., & Choi, H. R. (2008) · IEEE Transactions on Robotics · doi:10.1109/tro.2008.921561 · Cited by 277
Steinbach, E., Hirche, S., Ernst, M., Brandi, F., Chaudhari, R., Kammerl, J., & Vittorias, I. (2012) · Proceedings of the IEEE · doi:10.1109/jproc.2011.2182100 · Cited by 198
Murray, A. M., Klatzky, R. L., & Khosla, P. K. (2003) · Presence: Teleoperators and Virtual Environments · doi:10.1162/105474603321640923 · Cited by 99
Performance measurement in scaled teleoperation for microsurgery
Salcudean, S. E., Ku, S., & Bell, G. (1997) · Lecture Notes in Computer Science · doi:10.1007/bfb0029304 · Cited by 96
Metadata
- Authors
- Hannaford, B., Wood, L., McAffee, D. A., & Zak, H.
- Venue
- IEEE Transactions on Systems, Man, and Cybernetics
- Published
- 1991
- Volume
- 21
- Issue
- 3
- Pages
- 620-633
- ISSN
- 0018-9472 (ISSN-L)
- OpenAlex
- W2101435663
- Cited by
- 293
- References
- 0
- FWCI
- 45.62
- Type
- journal article
- Language
- en
- Open access
- closed
About these checks
Registry, retraction, Cites and statistics results are computed, not judged, with one exception: a printed reference that no index lists is read once by a model before it counts as a citation error. Claims are extracted by a model and kept only when their quote appears verbatim in the text; each cited source is then checked, with a model’s help, for whether it says what the claim relies on. Those verdicts can be wrong — read the claim’s quote and the cited source before relying on one.
Statistics and arithmetic are recomputed, not judged.
Confidence bands are shown only for fields calibrated on our annotated test set. None is calibrated yet, so no band is shown.
What counts as a claim ›How we measure confidence ›How we check this ›
Are you an author, or do you see a problem with this page? Request a review
How to cite
Cite CoChat for the checks on this page, and the paper for its own findings.
- This page
- CoChat. (2026). Citation check: Performance evaluation of a six-axis generalized force-reflecting teleoperator. https://app.cochat.ai/papers/10.1109/21.97455
- The paper
- Hannaford, B., Wood, L., McAffee, D. A., & Zak, H. (1991). Performance evaluation of a six-axis generalized force-reflecting teleoperator. IEEE Transactions on Systems, Man, and Cybernetics. https://doi.org/10.1109/21.97455
Data sources
Bibliographic data: Semantic Scholar, OpenAlex, Crossref.
Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
