{"id":"W2131622280","doi":"10.1109/robot.1998.677219","title":"Design of haptic interface through stiffness modulation for endosurgery: theory and experiments","year":2002,"lang":"en","type":"article","venue":"","topic":"Teleoperation and Haptic Systems","field":"Engineering","cited_by":5,"is_retracted":false,"has_abstract":true,"ca_institutions":"Simon Fraser University","funders":"","keywords":"Haptic technology; Interface (matter); Stiffness; Computer science; Reflection (computer programming); Simulation; Control engineering; Engineering; Structural engineering","routes":{"ca_aff":true,"ca_fund":false,"ca_venue":false,"about_ca":false,"invisible_to_affiliation_only":false},"retraction":null,"screen":null,"direct_labels":[],"prediction":{"model_version":"codex-gemma-dda1882f352a","candidate_categories":[],"consensus_categories":[],"category_scores_codex":[0.0001107347,0.00006599708,0.0001082834,0.00002449787,0.00001928162,0.00001559013,0.00002780113,0.00003012109,0.0001998885],"category_scores_gemma":[0.00001817323,0.00005817428,0.00001452011,0.00002984568,0.00001326428,0.0001088063,0.000004706365,0.00001525818,0.00000708299],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.00001099997,"about_ca_system_score_gemma":0.00000119859,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.000002996319,"about_ca_topic_score_gemma":3.118944e-7,"domain_scores_codex":[0.9996284,0.00002464941,0.0001525159,0.00007146392,0.00004890083,0.00007411531],"domain_scores_gemma":[0.9997328,0.0001355079,0.00001579806,0.00007835437,0.00002042357,0.0000171226],"domain_codex":null,"domain_gemma":null,"domain_candidate":null,"domain_consensus":null,"study_design_codex":"bench_or_experimental","study_design_gemma":"simulation_or_modeling","study_design_scores_codex":[0.00008962095,0.0001014742,0.0001391034,0.0003189731,0.0002160888,8.034524e-7,0.0175498,0.1850872,0.6934237,0.06282177,0.003942215,0.03630928],"study_design_scores_gemma":[0.000416014,0.00002387064,0.0001064053,0.00002225109,0.000006469347,0.000002609881,0.0004237494,0.9532228,0.04493701,0.0003727264,0.0003697845,0.00009633389],"study_design_candidate":"simulation_or_modeling","study_design_consensus":null,"genre_codex":"methods","genre_gemma":"empirical","genre_scores_codex":[0.07513233,0.0005069135,0.9224283,0.000008987916,0.0001823006,0.0002597871,0.000001460004,0.00008896724,0.001391019],"genre_scores_gemma":[0.9955618,0.00001968706,0.003787457,0.00001119775,0.0000191667,0.00003623626,8.959114e-7,0.00001343998,0.0005501456],"genre_candidate":"empirical","genre_consensus":null,"teacher_disagreement_score":0.9204294,"threshold_uncertainty_score":0.2372278,"prediction_status":"machine_predicted_unvalidated"},"machine_scores":{"provisional":true,"baseline":true,"maturity_gate_passed":false,"score_opus":0.05446562826700908,"score_gpt":0.2630736714509802,"score_spread":0.2086080431839711,"validation_status":"score_only:v0-immature-baseline","note":"Baseline scores from an immature model (maturity gate not passed). Scores rank; they never assert a category."}}