Get quick answers to your questions about the article from our AI researcher chatbot
{'id': 'https://openalex.org/W2111121152', 'doi': 'https://doi.org/10.1109/tbme.2014.2303052', 'title': 'Sensory Subtraction in Robot-Assisted Surgery: Fingertip Skin Deformation Feedback to Ensure Safety and Improve Transparency in Bimanual Haptic Interaction', 'display_name': 'Sensory Subtraction in Robot-Assisted Surgery: Fingertip Skin Deformation Feedback to Ensure Safety and Improve Transparency in Bimanual Haptic Interaction', 'publication_year': 2014, 'publication_date': '2014-02-03', 'ids': {'openalex': 'https://openalex.org/W2111121152', 'doi': 'https://doi.org/10.1109/tbme.2014.2303052', 'mag': '2111121152', 'pmid': 'https://pubmed.ncbi.nlm.nih.gov/24658255'}, 'language': 'en', 'primary_location': {'is_oa': False, 'landing_page_url': 'https://doi.org/10.1109/tbme.2014.2303052', 'pdf_url': None, 'source': {'id': 'https://openalex.org/S5240358', 'display_name': 'IEEE Transactions on Biomedical Engineering', 'issn_l': '0018-9294', 'issn': ['0018-9294', '1558-2531'], 'is_oa': False, 'is_in_doaj': False, 'is_core': True, 'host_organization': 'https://openalex.org/P4310319808', 'host_organization_name': 'Institute of Electrical and Electronics Engineers', 'host_organization_lineage': ['https://openalex.org/P4310319808'], 'host_organization_lineage_names': ['Institute of Electrical and Electronics Engineers'], 'type': 'journal'}, 'license': None, 'license_id': None, 'version': None, 'is_accepted': False, 'is_published': False}, 'type': 'article', 'type_crossref': 'journal-article', 'indexed_in': ['crossref', 'pubmed'], 'open_access': {'is_oa': False, 'oa_status': 'closed', 'oa_url': None, 'any_repository_has_fulltext': False}, 'authorships': [{'author_position': 'first', 'author': {'id': 'https://openalex.org/A5026235291', 'display_name': 'Leonardo Meli', 'orcid': 'https://orcid.org/0000-0002-9375-9109'}, 'institutions': [{'id': 'https://openalex.org/I102064193', 'display_name': 'University of Siena', 'ror': 'https://ror.org/01tevnk56', 'country_code': 'IT', 'type': 'education', 'lineage': ['https://openalex.org/I102064193']}], 'countries': ['IT'], 'is_corresponding': False, 'raw_author_name': 'Leonardo Meli', 'raw_affiliation_strings': ['Dept. of Inf. Eng. & Math., Univ. of Siena, Siena, , Italy'], 'affiliations': [{'raw_affiliation_string': 'Dept. of Inf. Eng. & Math., Univ. of Siena, Siena, , Italy', 'institution_ids': ['https://openalex.org/I102064193']}]}, {'author_position': 'middle', 'author': {'id': 'https://openalex.org/A5058355041', 'display_name': 'Claudio Pacchierotti', 'orcid': 'https://orcid.org/0000-0002-8006-9168'}, 'institutions': [{'id': 'https://openalex.org/I102064193', 'display_name': 'University of Siena', 'ror': 'https://ror.org/01tevnk56', 'country_code': 'IT', 'type': 'education', 'lineage': ['https://openalex.org/I102064193']}], 'countries': ['IT'], 'is_corresponding': False, 'raw_author_name': 'Claudio Pacchierotti', 'raw_affiliation_strings': ['Dept. of Inf. Eng. & Math., Univ. of Siena, Siena, , Italy'], 'affiliations': [{'raw_affiliation_string': 'Dept. of Inf. Eng. & Math., Univ. of Siena, Siena, , Italy', 'institution_ids': ['https://openalex.org/I102064193']}]}, {'author_position': 'last', 'author': {'id': 'https://openalex.org/A5056137946', 'display_name': 'Domenico Prattichizzo', 'orcid': 'https://orcid.org/0000-0001-9051-9698'}, 'institutions': [{'id': 'https://openalex.org/I102064193', 'display_name': 'University of Siena', 'ror': 'https://ror.org/01tevnk56', 'country_code': 'IT', 'type': 'education', 'lineage': ['https://openalex.org/I102064193']}], 'countries': ['IT'], 'is_corresponding': False, 'raw_author_name': 'Domenico Prattichizzo', 'raw_affiliation_strings': ['Dept. of Inf. Eng. & Math., Univ. of Siena, Siena, , Italy'], 'affiliations': [{'raw_affiliation_string': 'Dept. of Inf. Eng. & Math., Univ. of Siena, Siena, , Italy', 'institution_ids': ['https://openalex.org/I102064193']}]}], 'institution_assertions': [], 'countries_distinct_count': 1, 'institutions_distinct_count': 1, 'corresponding_author_ids': [], 'corresponding_institution_ids': [], 'apc_list': None, 'apc_paid': None, 'fwci': 14.855, 'has_fulltext': True, 'fulltext_origin': 'ngrams', 'cited_by_count': 94, 'citation_normalized_percentile': {'value': 0.999976, 'is_in_top_1_percent': True, 'is_in_top_10_percent': True}, 'cited_by_percentile_year': {'min': 98, 'max': 99}, 'biblio': {'volume': '61', 'issue': '4', 'first_page': '1318', 'last_page': '1327'}, 'is_retracted': False, 'is_paratext': False, 'primary_topic': {'id': 'https://openalex.org/T11687', 'display_name': 'Teleoperation and Haptic Systems', 'score': 0.9996, 'subfield': {'id': 'https://openalex.org/subfields/2210', 'display_name': 'Mechanical Engineering'}, 'field': {'id': 'https://openalex.org/fields/22', 'display_name': 'Engineering'}, 'domain': {'id': 'https://openalex.org/domains/3', 'display_name': 'Physical Sciences'}}, 'topics': [{'id': 'https://openalex.org/T11687', 'display_name': 'Teleoperation and Haptic Systems', 'score': 0.9996, 'subfield': {'id': 'https://openalex.org/subfields/2210', 'display_name': 'Mechanical Engineering'}, 'field': {'id': 'https://openalex.org/fields/22', 'display_name': 'Engineering'}, 'domain': {'id': 'https://openalex.org/domains/3', 'display_name': 'Physical Sciences'}}, {'id': 'https://openalex.org/T10914', 'display_name': 'Tactile and Sensory Interactions', 'score': 0.9937, 'subfield': {'id': 'https://openalex.org/subfields/2805', 'display_name': 'Cognitive Neuroscience'}, 'field': {'id': 'https://openalex.org/fields/28', 'display_name': 'Neuroscience'}, 'domain': {'id': 'https://openalex.org/domains/1', 'display_name': 'Life Sciences'}}, {'id': 'https://openalex.org/T10868', 'display_name': 'Soft Robotics and Applications', 'score': 0.9763, 'subfield': {'id': 'https://openalex.org/subfields/2204', 'display_name': 'Biomedical Engineering'}, 'field': {'id': 'https://openalex.org/fields/22', 'display_name': 'Engineering'}, 'domain': {'id': 'https://openalex.org/domains/3', 'display_name': 'Physical Sciences'}}], 'keywords': [{'id': 'https://openalex.org/keywords/kinesthetic-learning', 'display_name': 'Kinesthetic learning', 'score': 0.9502365}, {'id': 'https://openalex.org/keywords/teleoperation', 'display_name': 'Teleoperation', 'score': 0.8728156}, {'id': 'https://openalex.org/keywords/sensory-substitution', 'display_name': 'Sensory Substitution', 'score': 0.8337564}, {'id': 'https://openalex.org/keywords/subtraction', 'display_name': 'Subtraction', 'score': 0.64737403}], 'concepts': [{'id': 'https://openalex.org/C55457006', 'wikidata': 'https://www.wikidata.org/wiki/Q3647098', 'display_name': 'Kinesthetic learning', 'level': 2, 'score': 0.9502365}, {'id': 'https://openalex.org/C152086174', 'wikidata': 'https://www.wikidata.org/wiki/Q3030571', 'display_name': 'Haptic technology', 'level': 2, 'score': 0.93830144}, {'id': 'https://openalex.org/C161759796', 'wikidata': 'https://www.wikidata.org/wiki/Q3982902', 'display_name': 'Teleoperation', 'level': 3, 'score': 0.8728156}, {'id': 'https://openalex.org/C8651855', 'wikidata': 'https://www.wikidata.org/wiki/Q356133', 'display_name': 'Sensory substitution', 'level': 3, 'score': 0.8337564}, {'id': 'https://openalex.org/C68060419', 'wikidata': 'https://www.wikidata.org/wiki/Q40754', 'display_name': 'Subtraction', 'level': 2, 'score': 0.64737403}, {'id': 'https://openalex.org/C94487597', 'wikidata': 'https://www.wikidata.org/wiki/Q11101', 'display_name': 'Sensory system', 'level': 2, 'score': 0.6313657}, {'id': 'https://openalex.org/C41008148', 'wikidata': 'https://www.wikidata.org/wiki/Q21198', 'display_name': 'Computer science', 'level': 0, 'score': 0.51728487}, {'id': 'https://openalex.org/C44154836', 'wikidata': 'https://www.wikidata.org/wiki/Q45045', 'display_name': 'Simulation', 'level': 1, 'score': 0.45433006}, {'id': 'https://openalex.org/C90509273', 'wikidata': 'https://www.wikidata.org/wiki/Q11012', 'display_name': 'Robot', 'level': 2, 'score': 0.40287772}, {'id': 'https://openalex.org/C154945302', 'wikidata': 'https://www.wikidata.org/wiki/Q11660', 'display_name': 'Artificial intelligence', 'level': 1, 'score': 0.33797556}, {'id': 'https://openalex.org/C15744967', 'wikidata': 'https://www.wikidata.org/wiki/Q9418', 'display_name': 'Psychology', 'level': 0, 'score': 0.15300938}, {'id': 'https://openalex.org/C33923547', 'wikidata': 'https://www.wikidata.org/wiki/Q395', 'display_name': 'Mathematics', 'level': 0, 'score': 0.088955075}, {'id': 'https://openalex.org/C138496976', 'wikidata': 'https://www.wikidata.org/wiki/Q175002', 'display_name': 'Developmental psychology', 'level': 1, 'score': 0.0}, {'id': 'https://openalex.org/C94375191', 'wikidata': 'https://www.wikidata.org/wiki/Q11205', 'display_name': 'Arithmetic', 'level': 1, 'score': 0.0}, {'id': 'https://openalex.org/C180747234', 'wikidata': 'https://www.wikidata.org/wiki/Q23373', 'display_name': 'Cognitive psychology', 'level': 1, 'score': 0.0}], 'mesh': [{'descriptor_ui': 'D001698', 'descriptor_name': 'Biomedical Engineering', 'qualifier_ui': 'Q000295', 'qualifier_name': 'instrumentation', 'is_major_topic': True}, {'descriptor_ui': 'D005246', 'descriptor_name': 'Feedback', 'qualifier_ui': '', 'qualifier_name': None, 'is_major_topic': True}, {'descriptor_ui': 'D012371', 'descriptor_name': 'Robotics', 'qualifier_ui': 'Q000295', 'qualifier_name': 'instrumentation', 'is_major_topic': True}, {'descriptor_ui': 'D025321', 'descriptor_name': 'Surgery, Computer-Assisted', 'qualifier_ui': 'Q000295', 'qualifier_name': 'instrumentation', 'is_major_topic': True}, {'descriptor_ui': 'D001698', 'descriptor_name': 'Biomedical Engineering', 'qualifier_ui': '', 'qualifier_name': None, 'is_major_topic': False}, {'descriptor_ui': 'D005385', 'descriptor_name': 'Fingers', 'qualifier_ui': '', 'qualifier_name': None, 'is_major_topic': False}, {'descriptor_ui': 'D005385', 'descriptor_name': 'Fingers', 'qualifier_ui': 'Q000502', 'qualifier_name': 'physiology', 'is_major_topic': False}, {'descriptor_ui': 'D006801', 'descriptor_name': 'Humans', 'qualifier_ui': '', 'qualifier_name': None, 'is_major_topic': False}, {'descriptor_ui': 'D012371', 'descriptor_name': 'Robotics', 'qualifier_ui': '', 'qualifier_name': None, 'is_major_topic': False}, {'descriptor_ui': 'D025321', 'descriptor_name': 'Surgery, Computer-Assisted', 'qualifier_ui': 'Q000379', 'qualifier_name': 'methods', 'is_major_topic': False}, {'descriptor_ui': 'D025321', 'descriptor_name': 'Surgery, Computer-Assisted', 'qualifier_ui': '', 'qualifier_name': None, 'is_major_topic': False}, {'descriptor_ui': 'D013647', 'descriptor_name': 'Task Performance and Analysis', 'qualifier_ui': '', 'qualifier_name': None, 'is_major_topic': False}, {'descriptor_ui': 'D017216', 'descriptor_name': 'Telemedicine', 'qualifier_ui': '', 'qualifier_name': None, 'is_major_topic': False}, {'descriptor_ui': 'D014110', 'descriptor_name': 'Touch', 'qualifier_ui': 'Q000502', 'qualifier_name': 'physiology', 'is_major_topic': False}, {'descriptor_ui': 'D014110', 'descriptor_name': 'Touch', 'qualifier_ui': '', 'qualifier_name': None, 'is_major_topic': False}], 'locations_count': 2, 'locations': [{'is_oa': False, 'landing_page_url': 'https://doi.org/10.1109/tbme.2014.2303052', 'pdf_url': None, 'source': {'id': 'https://openalex.org/S5240358', 'display_name': 'IEEE Transactions on Biomedical Engineering', 'issn_l': '0018-9294', 'issn': ['0018-9294', '1558-2531'], 'is_oa': False, 'is_in_doaj': False, 'is_core': True, 'host_organization': 'https://openalex.org/P4310319808', 'host_organization_name': 'Institute of Electrical and Electronics Engineers', 'host_organization_lineage': ['https://openalex.org/P4310319808'], 'host_organization_lineage_names': ['Institute of Electrical and Electronics Engineers'], 'type': 'journal'}, 'license': None, 'license_id': None, 'version': None, 'is_accepted': False, 'is_published': False}, {'is_oa': False, 'landing_page_url': 'https://pubmed.ncbi.nlm.nih.gov/24658255', 'pdf_url': None, 'source': {'id': 'https://openalex.org/S4306525036', 'display_name': 'PubMed', 'issn_l': None, 'issn': None, 'is_oa': False, 'is_in_doaj': False, 'is_core': False, 'host_organization': 'https://openalex.org/I1299303238', 'host_organization_name': 'National Institutes of Health', 'host_organization_lineage': ['https://openalex.org/I1299303238'], 'host_organization_lineage_names': ['National Institutes of Health'], 'type': 'repository'}, 'license': None, 'license_id': None, 'version': None, 'is_accepted': False, 'is_published': False}], 'best_oa_location': None, 'sustainable_development_goals': [], 'grants': [], 'datasets': [], 'versions': [], 'referenced_works_count': 42, 'referenced_works': ['https://openalex.org/W1481857892', 'https://openalex.org/W1507905345', 'https://openalex.org/W1552815313', 'https://openalex.org/W1922760316', 'https://openalex.org/W1969300690', 'https://openalex.org/W1974792822', 'https://openalex.org/W1978512749', 'https://openalex.org/W1988007333', 'https://openalex.org/W1990132940', 'https://openalex.org/W2001373887', 'https://openalex.org/W2009180946', 'https://openalex.org/W2018787758', 'https://openalex.org/W2027887952', 'https://openalex.org/W2030898082', 'https://openalex.org/W2047613945', 'https://openalex.org/W2051317696', 'https://openalex.org/W2070328658', 'https://openalex.org/W2092511662', 'https://openalex.org/W2099914424', 'https://openalex.org/W2101759527', 'https://openalex.org/W2105853760', 'https://openalex.org/W2112420768', 'https://openalex.org/W2113858239', 'https://openalex.org/W2115763420', 'https://openalex.org/W2116822311', 'https://openalex.org/W2117594247', 'https://openalex.org/W2133041452', 'https://openalex.org/W2135464393', 'https://openalex.org/W2142098163', 'https://openalex.org/W2142380406', 'https://openalex.org/W2153681681', 'https://openalex.org/W2155342391', 'https://openalex.org/W2156381976', 'https://openalex.org/W2162604092', 'https://openalex.org/W2165663387', 'https://openalex.org/W2403684270', 'https://openalex.org/W3121386509', 'https://openalex.org/W398292', 'https://openalex.org/W4214690803', 'https://openalex.org/W4241088297', 'https://openalex.org/W4250047768', 'https://openalex.org/W4285719527'], 'related_works': ['https://openalex.org/W4229057662', 'https://openalex.org/W3195731900', 'https://openalex.org/W2970545857', 'https://openalex.org/W2327210927', 'https://openalex.org/W2232239115', 'https://openalex.org/W2164858976', 'https://openalex.org/W2097347938', 'https://openalex.org/W2094105667', 'https://openalex.org/W2074483596', 'https://openalex.org/W2044297498'], 'abstract_inverted_index': {'This': [0], 'study': [1], 'presents': [2], 'a': [3, 20, 24, 39, 95, 141, 148], 'novel': [4], 'approach': [5, 62, 93], 'to': [6, 60, 102, 132], 'force': [7, 32, 122], 'feedback': [8, 73], 'in': [9, 75, 94, 117, 144, 151], 'robot-assisted': [10], 'surgery.': [11], 'It': [12], 'consists': [13], 'of': [14, 19, 53, 86, 106, 119, 127, 147], 'substituting': [15], 'haptic': [16, 44, 153], 'stimuli,': [17], 'composed': [18], 'kinesthetic': [21, 51], 'component': [22], 'and': [23, 47, 49, 84, 124], 'skin': [25], 'deformation,': [26], 'with': [27, 130], 'cutaneous': [28], 'stimuli': [29], 'only.': [30], 'The': [31], 'generated': [33], 'can': [34], 'then': [35], 'be': [36], 'thought': [37], 'as': [38, 63], 'subtraction': [40, 67, 113], 'between': [41], 'the': [42, 50, 82, 87, 91, 103, 107, 128, 145, 152], 'complete': [43], 'interaction,': [45], 'cutaneous,': [46], 'kinesthetic,': [48], 'part': [52], 'it.': [54], 'For': [55], 'this': [56, 61], 'reason,': [57], 'we': [58], 'refer': [59], 'sensory': [64, 78, 135], 'subtraction.': [65], 'Sensory': [66, 112], 'aims': [68], 'at': [69], 'outperforming': [70], 'other': [71], 'nonkinesthetic': [72], 'techniques': [74], 'teleoperation': [76, 99], '(e.g.,': [77], 'substitution)': [79], 'while': [80], 'guaranteeing': [81], 'stability': [83], 'safety': [85], 'system.': [88], 'We': [89], 'tested': [90], 'proposed': [92], 'challenging': [96], '7-DoF': [97], 'bimanual': [98], 'task,': [100], 'similar': [101], 'Pegboard': [104], 'experiment': [105], 'da': [108], 'Vinci': [109], 'Skills': [110], 'Simulator.': [111], 'showed': [114], 'improved': [115], 'performance': [116], 'terms': [118], 'completion': [120], 'time,': [121], 'exerted,': [123], 'total': [125], 'displacement': [126], 'rings': [129], 'respect': [131], 'two': [133], 'popular': [134], 'substitution': [136], 'techniques.': [137], 'Moreover,': [138], 'it': [139], 'guaranteed': [140], 'stable': [142], 'interaction': [143], 'presence': [146], 'communication': [149], 'delay': [150], 'loop.': [154]}, 'cited_by_api_url': 'https://api.openalex.org/works?filter=cites:W2111121152', 'counts_by_year': [{'year': 2024, 'cited_by_count': 3}, {'year': 2023, 'cited_by_count': 4}, {'year': 2022, 'cited_by_count': 9}, {'year': 2021, 'cited_by_count': 7}, {'year': 2020, 'cited_by_count': 6}, {'year': 2019, 'cited_by_count': 7}, {'year': 2018, 'cited_by_count': 12}, {'year': 2017, 'cited_by_count': 10}, {'year': 2016, 'cited_by_count': 9}, {'year': 2015, 'cited_by_count': 23}, {'year': 2014, 'cited_by_count': 4}], 'updated_date': '2025-01-06T13:00:46.176800', 'created_date': '2016-06-24'}