The DOI matches its Crossref record; 11 of the 11 references it cites were found in a registry or an index.
Force-reflection and shared compliant control in operating telemanipulators with time delay
Abstract
Shared compliant control has been incorporated into an advanced six-degree-of-freedom force-reflecting telemanipulation system. With this system the authors have investigated the effect of time delay on human telemanipulation task performance. Time delays of between 2 and 4096 ms were introduced between master and slave arms, and high-precision peg-in-hole tasks were performed by six test operators with two modes of control: kinesthetic force feedback (KFF) and shared compliant control (SCC). Task performance was quantified in terms of the completion time (CT) and the sum of square forces (SOSF). The experimental results demonstrate the superiority of SCC over KFF for time-delayed telemanipulation. SCC has significantly lower rates of increase than KFF in both CT and SOSF with time delay. Only SCC enabled task performance at delays above 1 s. Constant force maintenance tasks were also performed to investigate the effect of time delay on the stability of force reflection. SCC also has beneficial effects on telemanipulation without time delay.>
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
Cites
Impedance Control: An Approach to Manipulation: Part I—Theory
Hogan, N. (1985) · Journal of Dynamic Systems, Measurement, and Control · doi:10.1115/1.3140702 · Cited by 3,673
Hybrid Position/Force Control of Manipulators
Raibert, M. H., & Craig, J. J. (1981) · Journal of Dynamic Systems, Measurement, and Control · doi:10.1115/1.3139652 · Cited by 3,015
Niemeyer, G., & Slotine, J.-J. E. (1991) · IEEE Journal of Oceanic Engineering · doi:10.1109/48.64895 · Cited by 1,407
Quasi-Static Assembly of Compliantly Supported Rigid Parts
Whitney, D. E. (1982) · Journal of Dynamic Systems, Measurement, and Control · doi:10.1115/1.3149634 · Cited by 963
Force Feedback Control of Manipulator Fine Motions
Whitney, D. E. (1977) · Journal of Dynamic Systems, Measurement, and Control · doi:10.1115/1.3427095 · Cited by 720
Performance evaluation of a six-axis generalized force-reflecting teleoperator
Hannaford, B., Wood, L., McAffee, D. A., & Zak, H. (1991) · IEEE Transactions on Systems, Man, and Cybernetics · doi:10.1109/21.97455 · Cited by 293
Self-citationDesign and implementation of a robot control system with traded and shared control capability
Hayati, S. A., & Venkataraman, S. (2003) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/robot.1989.100161 · Cited by 138
Bilateral control of teleoperators with time delay
Anderson, R. J., & Spong, M. W. (2003) · IEEE Conference on Decision and Control (CDC) · doi:10.1109/cdc.1988.194290 · Cited by 82
Kinesthetic coupling between operator and remote manipulator
Bejczy, A. K., & Salisbury, J. K. (1980) · NASA Technical Reports Server (NASA) · Cited by 71
Position-based impedance control - Achieving stability in practice
Lawrence, D., & Stoughton, R. M. (1987) · Guidance, Navigation and Control Conference · doi:10.2514/6.1987-2265 · Cited by 41
Cited by
Time-delay systems: an overview of some recent advances and open problems
Richard, J.-P. (2003) · Automatica · doi:10.1016/s0005-1098(03)00167-5 · Cited by 3,353
Hashtrudi-Zaad, K., & Salcudean, S. E. (2002) · IEEE Transactions on Robotics and Automation · doi:10.1109/70.988981 · Cited by 373
Lunar Contour Crafting - A Novel Technique for ISRU-Based Habitat Development
Khoshnevis, B., Bodiford, M., Burks, K., Ethridge, E., Tucker, D., Kim, W., Toutanji, H., & Fiske, M. (2005) · 43rd AIAA Aerospace Sciences Meeting and Exhibit · doi:10.2514/6.2005-538 · Cited by 138
Self-citationDelay-Adaptive Control of a 7-DOF Robot Manipulator: Design and Experiments
Bertino, A., Naseradinmousavi, P., & Krstic, M. (2022) · IEEE Transactions on Control Systems Technology · doi:10.1109/tcst.2022.3152363 · Cited by 35
Metadata
- Authors
- Kim, W. S., Hannaford, B., & Fejczy, A. K.
- Venue
- IEEE Transactions on Robotics and Automation
- Published
- 1992-04
- Volume
- 8
- Issue
- 2
- Pages
- 176-185
- ISSN
- 1042-296X (ISSN-L)
- OpenAlex
- W2170674250
- Cited by
- 361
- References
- 11
- FWCI
- 40.37
- 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: Force-reflection and shared compliant control in operating telemanipulators with time delay. https://app.cochat.ai/papers/10.1109/70.134272
- The paper
- Kim, W. S., Hannaford, B., & Fejczy, A. K. (1992). Force-reflection and shared compliant control in operating telemanipulators with time delay. IEEE Transactions on Robotics and Automation. https://doi.org/10.1109/70.134272
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.
