The DOI matches its Crossref record; 43 of the 43 references it cites were found in a registry or an index.
Tele-impedance: Teleoperation with impedance regulation using a body–machine interface
Open accessAbstract
This work presents the concept of tele-impedance as a method for remotely controlling a robotic arm in interaction with uncertain environments. As an alternative to bilateral force-reflecting teleoperation control, in tele-impedance a compound reference command is sent to the slave robot including both the desired motion trajectory and impedance profile, which are then realized by the remote controller without explicit feedback to the operator. We derive the reference command from a novel body–machine interface (BMI) applied to the master operator’s arm, using only non-intrusive position and electromyography (EMG) measurements, and excluding any feedback from the remote site except for looking at the task. The proposed BMI exploits a novel algorithm to decouple the estimates of force and stiffness of the human arm while performing the task. The endpoint (wrist) position of the human arm is monitored by an optical tracking system and used for the closed-loop position control of the robot’s end-effector. The concept is demonstrated in two experiments, namely a peg-in-the-hole and a ball-catching task, which illustrate complementary aspects of the method. The performance of tele-impedance control is assessed by comparing the results obtained with the slave arm under either constantly low or high stiffness.
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
Internal models for motor control and trajectory planning.
Kawato, M. (1999) · Current Opinion in Neurobiology · doi:10.1016/s0959-4388(99)00028-8 · Cited by 2,685
Neural, mechanical, and geometric factors subserving arm posture in humans
Mussa-Ivaldi, F., Hogan, N., & Bizzi, E. (1985) · The Journal of Neuroscience · doi:10.1523/jneurosci.05-10-02732.1985 · Cited by 1,158
The central nervous system stabilizes unstable dynamics by learning optimal impedance
Burdet, E., Osu, R., Franklin, D. W., Milner, T. E., & Kawato, M. (2001) · Nature · doi:10.1038/35106566 · Cited by 1,097
Albu-Schäffer, A., Ott, C., & Hirzinger, G. (2007) · The International Journal of Robotics Research · doi:10.1177/0278364907073776 · Cited by 815
Space teleoperation through time delay: review and prognosis
Sheridan, T. B. (1993) · IEEE Transactions on Robotics and Automation · doi:10.1109/70.258052 · Cited by 765
Noninvasive Brain-Actuated Control of a Mobile Robot by Human EEG
del R. Millan, J., Renkens, F., Mourino, J., & Gerstner, W. (2004) · IEEE Transactions on Biomedical Engineering · doi:10.1109/tbme.2004.827086 · Cited by 740
Role of Cocontraction in Arm Movement Accuracy
Gribble, P. L., Mullin, L. I., Cothros, N., & Mattar, A. (2003) · Journal of Neurophysiology · doi:10.1152/jn.01020.2002 · Cited by 660
Bicchi, A., & Tonietti, G. (2004) · IEEE Robotics & Automation Magazine · doi:10.1109/mra.2004.1310939 · Cited by 654
Self-citationThe DLR lightweight robot: design and control concepts for robots in human environments
Albu‐Schäffer, A., Haddadin, S., Ott, C., Stemmer, A., Wimböck, T., & Hirzinger, G. (2007) · Industrial Robot: An International Journal · doi:10.1108/01439910710774386 · Cited by 623
Telemanipulation with Time Delays
Niemeyer, G., & Slotine, J.-J. E. (2004) · The International Journal of Robotics Research · doi:10.1177/0278364904045563 · Cited by 539
Cited by
Bi, L., Feleke, A. >., & Guan, C. (2019) · Biomedical Signal Processing and Control · doi:10.1016/j.bspc.2019.02.011 · Cited by 418
Stability Considerations for Variable Impedance Control
Kronander, K., & Billard, A. (2016) · IEEE Transactions on Robotics · doi:10.1109/tro.2016.2593492 · Cited by 284
Dynamic movement primitives in robotics: A tutorial survey
Saveriano, M., Abu-Dakka, F. J., Kramberger, A., & Peternel, L. (2023) · The International Journal of Robotics Research · doi:10.1177/02783649231201196 · Cited by 267
Pang, M., Guo, S., Huang, Q., Ishihara, H., & Hirata, H. (2015) · Journal of Medical and Biological Engineering · doi:10.1007/s40846-015-0033-8 · Cited by 53
Metadata
- Authors
- Ajoudani, A., Tsagarakis, N., & Bicchi, A.
- Venue
- The International Journal of Robotics Research
- Publisher
- SAGE Publications
- Published
- 2012-10-31
- Volume
- 31
- Issue
- 13
- Pages
- 1642-1656
- ISSN
- 0278-3649 (ISSN-L)
- 1741-3176
- OpenAlex
- W1969976050
- Cited by
- 276
- References
- 43
- FWCI
- 17.15
- Type
- journal article
- Language
- en
- Open access
- green
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: Tele-impedance: Teleoperation with impedance regulation using a body–machine interface. https://app.cochat.ai/papers/10.1177/0278364912464668
- The paper
- Ajoudani, A., Tsagarakis, N., & Bicchi, A. (2012). Tele-impedance: Teleoperation with impedance regulation using a body–machine interface. The International Journal of Robotics Research. https://doi.org/10.1177/0278364912464668
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.
