{"entities":{"Q1857474":{"pageid":1868216,"ns":120,"title":"Item:Q1857474","lastrevid":69136110,"modified":"2026-04-13T05:00:14Z","type":"item","id":"Q1857474","labels":{"en":{"language":"en","value":"Haptic direct-drive robot control scheme in virtual reality"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 1871038"}},"aliases":{},"claims":{"P31":[{"mainsnak":{"snaktype":"value","property":"P31","hash":"fd5912e4dab4b881a8eb0eb27e7893fef55176ad","datavalue":{"value":{"entity-type":"item","numeric-id":56887,"id":"Q56887"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1857474$BD9BB798-AC74-41E2-956C-0C39A7547A93","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"42f1038ceac3d059837019747057c22681970950","datavalue":{"value":{"text":"Haptic direct-drive robot control scheme in virtual reality","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q1857474$C4C13D5C-F131-4F11-A61A-4A52373B55FB","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"54919af9a105721faa1de7d71a25b478c994a1af","datavalue":{"value":"1007.68686","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1857474$DD6A35EF-EDF7-46F7-B41F-AE3F71FB24B5","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"b043dae736d3aad5cc1c53cc36e85daa190bb49e","datavalue":{"value":"10.1023/A:1021156903545","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1857474$A2294622-B5DC-402C-8CD7-954A2615E122","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"677f2380720b8c327d01e6fbbe2cb6650f871b7b","datavalue":{"value":{"entity-type":"item","numeric-id":508784,"id":"Q508784"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1857474$6F20889E-4C58-4973-BA85-C50E9EF8AEB8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"5dce8c42e917ce4b25d9febe0dc0b1da92eac17e","datavalue":{"value":{"entity-type":"item","numeric-id":1857472,"id":"Q1857472"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1857474$39960404-46EB-486A-8888-A62C71C86E3B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"00ca57a8073feda126140dafae1f3abb97039024","datavalue":{"value":{"entity-type":"item","numeric-id":980635,"id":"Q980635"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1857474$197E1B52-69D6-4B1E-A0FC-7B56AD81F0EF","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"40361964928fc77b24100ad341af3160a53194d0","datavalue":{"value":{"entity-type":"item","numeric-id":279449,"id":"Q279449"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1857474$546D430C-C23F-47F2-A45B-21762F49A206","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"8b52df0cb93c7806667d725dbe9cfd2eb5e433b6","datavalue":{"value":{"entity-type":"item","numeric-id":185894,"id":"Q185894"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1857474$11C7B8B9-085A-4EBC-985B-8119DF8C446A","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"01951c93e885717866d268dd1e73bbf555019176","datavalue":{"value":{"time":"+2003-02-19T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q1857474$BE5FCF5A-8D91-4A9B-9BDD-CADACDC8C736","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"61f5e4db0e91212ef2106e3db512d71730a68751","datavalue":{"value":"68U99","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1857474$6EF6DD9C-E044-4A1F-813F-C2417339EBEA","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"46ffee837b0dbcd63fffc2834ebe2705f88e57be","datavalue":{"value":"68T40","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1857474$2F180C75-382C-495B-B0A2-FBC7709CBAA2","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"ebf0f2849b55956bfa4d8a6c8afd54fb9e567526","datavalue":{"value":"68T45","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1857474$3ED1C92A-7FAA-46E8-8F14-D0E2A0206B00","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"98ce7f5a50d3ffafcf735430ef459c07f080d20d","datavalue":{"value":"1871038","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1857474$732B5C1F-069B-4740-9077-20F22A0F3BB6","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"8e5a8a9b482df7c1b5947f4e49819a77d991c2a7","datavalue":{"value":"haptic device","type":"string"},"datatype":"string"},"type":"statement","id":"Q1857474$448AFEEE-3D13-47C8-B3AA-A2B1939F22EB","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"b455b34e5f8546dbc695d91d9ba238685d615b52","datavalue":{"value":"virtual reality","type":"string"},"datatype":"string"},"type":"statement","id":"Q1857474$3BEBF82A-AE2F-4FF5-8E71-90D399918911","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"0a7326a2845c24db52c7e9d0c72bd72d697cb2d4","datavalue":{"value":"direct-drive arm","type":"string"},"datatype":"string"},"type":"statement","id":"Q1857474$B46E63C5-C082-4E6D-9284-EF3A6F5599D7","rank":"normal"}],"P1460":[{"mainsnak":{"snaktype":"value","property":"P1460","hash":"57f7fea50d2ce1b39b695c4a1313582eed405e38","datavalue":{"value":{"entity-type":"item","numeric-id":5976449,"id":"Q5976449"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1857474$66CD48D0-9BB5-4C47-A289-E01483E64614","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"52c193fe7109dff789086f9fd950ce8ae47c3f8a","datavalue":{"value":"https://doi.org/10.1023/a:1021156903545","type":"string"},"datatype":"url"},"type":"statement","id":"Q1857474$21E4DF4C-1BAE-4EE2-8C91-03697C1B2B13","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"b6d9a25a8286b1886e3bde05772c1253b5985f0f","datavalue":{"value":"W1589688353","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1857474$1DED2052-0F3C-420C-BB14-292AAE74342D","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"fa62babec5c46b4a452fdda683e432ef9729d7ba","datavalue":{"value":{"entity-type":"item","numeric-id":2249312,"id":"Q2249312"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"7e05fbb33426fde2cac45d30ffa71f6dc4c565d3","datavalue":{"value":{"amount":"+0.7460100054740906","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1857474$9F09A6F6-48B2-4AC8-B998-1D7D7624A530","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"219e606f331dfdd79d651be9bb8e63188fc26fe1","datavalue":{"value":{"entity-type":"item","numeric-id":2771865,"id":"Q2771865"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"c7455e9724a0dffd1c4b7b4bfd0ad15b53c0033c","datavalue":{"value":{"amount":"+0.7178211212158203","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1857474$294128C6-64C2-4641-886C-C2BA5FD9B33F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"76564b8c8f5e7c3f90f693c5d35daf6749fc9398","datavalue":{"value":{"entity-type":"item","numeric-id":1768843,"id":"Q1768843"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"d711999074d427313c9188ecbd9c4bc59a573387","datavalue":{"value":{"amount":"+0.7176111936569214","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1857474$892BE614-17CC-43AC-A706-191EAB32143E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"802e6af62d678d188d00a10adce2ab935f80ffa0","datavalue":{"value":{"entity-type":"item","numeric-id":2121032,"id":"Q2121032"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"b42a2f9d4c42535b99a26c2996e869798a8de2a7","datavalue":{"value":{"amount":"+0.7140154242515564","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1857474$6C6AC994-D24F-460D-86D1-7F7CD63D6C8D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"464d40975e0d3011db08c5a627d657327bfb4076","datavalue":{"value":{"entity-type":"item","numeric-id":2758854,"id":"Q2758854"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"838a1697704ab2e144871468fa42fbc6e4965175","datavalue":{"value":{"amount":"+0.7055516242980957","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1857474$5CF13FB0-9FD7-4853-B794-47D213520C23","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Haptic direct-drive robot control scheme in virtual reality","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Haptic_direct-drive_robot_control_scheme_in_virtual_reality"}}}}}