{"id":"https://openalex.org/W2978133643","doi":"https://doi.org/10.1109/lra.2019.2945261","title":"Online Identification of Interaction Behaviors From Haptic Data During Collaborative Object Transfer","display_name":"Online Identification of Interaction Behaviors From Haptic Data During Collaborative Object Transfer","publication_year":2019,"publication_date":"2019-10-02","ids":{"openalex":"https://openalex.org/W2978133643","doi":"https://doi.org/10.1109/lra.2019.2945261","mag":"2978133643"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2019.2945261","doi":"https://doi.org/10.1109/lra.2019.2945261","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2019.2945261","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","dongbi-b","jufo-2","ki-jl-1","norway-1","poland-200","russia-white-list-1","vabb-shw"],"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":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"volume":null,"type":"article","is_traditional":true,"indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.1109/LRA.2019.2945261","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5054468538","display_name":"Ay\u015fe K\u00fc\u00e7\u00fcky\u0131lmaz","orcid":"https://orcid.org/0000-0003-3202-6750","observed_orcids":["https://orcid.org/0000-0003-3202-6750"]},"institutions":[{"id":"https://openalex.org/I51532219","display_name":"University of Lincoln","ror":"https://ror.org/03yeq9x20","country_code":"GB","type":"education","lineage":["https://openalex.org/I51532219"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Ayse Kucukyilmaz","raw_affiliation_strings":["School of Computer Science, University of Lincoln, Lincoln, U.K"],"raw_orcid":"https://orcid.org/0000-0003-3202-6750","affiliations":[{"raw_affiliation_string":"School of Computer Science, University of Lincoln, Lincoln, U.K","institution_ids":["https://openalex.org/I51532219"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5082943997","display_name":"Illimar Issak","orcid":"https://orcid.org/0000-0002-5998-6850","observed_orcids":["https://orcid.org/0000-0002-5998-6850"]},"institutions":[{"id":"https://openalex.org/I51532219","display_name":"University of Lincoln","ror":"https://ror.org/03yeq9x20","country_code":"GB","type":"education","lineage":["https://openalex.org/I51532219"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Illimar Issak","raw_affiliation_strings":["School of Computer Science, University of Lincoln, Lincoln, U.K"],"raw_orcid":"https://orcid.org/0000-0002-5998-6850","affiliations":[{"raw_affiliation_string":"School of Computer Science, University of Lincoln, Lincoln, U.K","institution_ids":["https://openalex.org/I51532219"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I51532219"],"apc_list":{"value":2645,"currency":"USD","value_usd":2645},"apc_paid":null,"fwci":0.4622,"has_fulltext":true,"cited_by_count":9,"citation_normalized_percentile":{"value":0.58218483,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":88,"max":97},"biblio":{"volume":"5","issue":"1","first_page":"96","last_page":"102"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9463000297546387,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T10653","display_name":"Robot Manipulation and Learning","score":0.9463000297546387,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.03959999978542328,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.002099999925121665,"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/co-manipulation","display_name":"co-manipulation","score":0.8539999723434448},{"id":"https://openalex.org/keywords/online-classification","display_name":"online classification","score":0.8209999799728394},{"id":"https://openalex.org/keywords/sliding-window-feature-extraction","display_name":"sliding window feature extraction","score":0.9179999828338623},{"id":"https://openalex.org/keywords/support-vector-machine","display_name":"support vector machine","score":0.6480000019073486},{"id":"https://openalex.org/keywords/gaussian-process-classifier","display_name":"Gaussian process classifier","score":0.9300000071525574},{"id":"https://openalex.org/keywords/multiclass-classification","display_name":"multi-class classification","score":0.8050000071525574},{"id":"https://openalex.org/keywords/human-robot-collaboration","display_name":"human-robot collaboration","score":0.7639999985694885},{"id":"https://openalex.org/keywords/robotic-assistants","display_name":"robotic assistants","score":0.4350000023841858}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.745033323764801},{"id":"https://openalex.org/C95623464","wikidata":"https://www.wikidata.org/wiki/Q1096149","display_name":"Classifier (UML)","level":2,"score":0.6079095602035522},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.58933025598526},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5708155035972595},{"id":"https://openalex.org/C12267149","wikidata":"https://www.wikidata.org/wiki/Q282453","display_name":"Support vector machine","level":2,"score":0.5155110359191895},{"id":"https://openalex.org/C2779903281","wikidata":"https://www.wikidata.org/wiki/Q6888026","display_name":"Modalities","level":2,"score":0.5086125135421753},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.4959138333797455},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.48618000745773315},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.41432157158851624},{"id":"https://openalex.org/C36289849","wikidata":"https://www.wikidata.org/wiki/Q34749","display_name":"Social science","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C59822182","wikidata":"https://www.wikidata.org/wiki/Q441","display_name":"Botany","level":1,"score":0.0},{"id":"https://openalex.org/C144024400","wikidata":"https://www.wikidata.org/wiki/Q21201","display_name":"Sociology","level":0,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1109/lra.2019.2945261","doi":"https://doi.org/10.1109/lra.2019.2945261","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2019.2945261","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","dongbi-b","jufo-2","ki-jl-1","norway-1","poland-200","russia-white-list-1","vabb-shw"],"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":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:eprints.lincoln.ac.uk:37631","doi":null,"is_oa":false,"landing_page_url":"http://eprints.lincoln.ac.uk/id/eprint/37631/1/Kucukyilmaz-Humanoids19-OnlineClassification.pdf","pdf_url":"http://eprints.lincoln.ac.uk/id/eprint/37631/1/Kucukyilmaz-Humanoids19-OnlineClassification.pdf","source":{"id":"https://openalex.org/S4377196275","display_name":"Lincoln Repository (University of Lincoln)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I51532219","host_organization_name":"University of Lincoln","host_organization_lineage":["https://openalex.org/I51532219"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"","raw_type":"Article"},{"id":"pmh:oai:nottingham-repository.worktribe.com:4040501","doi":null,"is_oa":true,"landing_page_url":"https://doi.org/10.1109/LRA.2019.2945261","pdf_url":null,"source":{"id":"https://openalex.org/S4306402483","display_name":"Repository@Nottingham (University of Nottingham)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I142263535","host_organization_name":"University of Nottingham","host_organization_lineage":["https://openalex.org/I142263535"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"Journal Article"},{"id":"pmh:oai:https://nottingham-repository.worktribe.com/:4040501","doi":null,"is_oa":true,"landing_page_url":"https://nottingham-repository.worktribe.com/output/4040501","pdf_url":"https://nottingham-repository.worktribe.com/preview/4040560/2019-Isaak-RAL19-OnlineClassification.pdf","source":{"id":"https://openalex.org/S4306402483","display_name":"Repository@Nottingham (University of Nottingham)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I142263535","host_organization_name":"University of Nottingham","host_organization_lineage":["https://openalex.org/I142263535"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Journal Article"},{"id":"pmh:oai:figshare.com:article/24379063","doi":null,"is_oa":true,"landing_page_url":"https://figshare.com/articles/journal_contribution/Online_Identification_of_Interaction_Behaviors_from_Haptic_Data_during_Collaborative_Object_Transfer/24379063","pdf_url":null,"source":{"id":"https://openalex.org/S4377196282","display_name":"Figshare","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I4210132348","host_organization_name":"Figshare (United Kingdom)","host_organization_lineage":["https://openalex.org/I4210132348"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Text"}],"best_oa_location":{"id":"pmh:oai:nottingham-repository.worktribe.com:4040501","doi":null,"is_oa":true,"landing_page_url":"https://doi.org/10.1109/LRA.2019.2945261","pdf_url":null,"source":{"id":"https://openalex.org/S4306402483","display_name":"Repository@Nottingham (University of Nottingham)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I142263535","host_organization_name":"University of Nottingham","host_organization_lineage":["https://openalex.org/I142263535"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"Journal Article"},"sustainable_development_goals":[],"study_designs":[],"awards":[{"id":"https://openalex.org/G496985822","display_name":null,"funder_award_id":"10.13039/501100000266","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G52136313","display_name":"Human-Guided Learning and Benchmarking of Robotic Heap Sorting","funder_award_id":"ANR-18-CHR3-0001","funder_id":"https://openalex.org/F4320320883","funder_display_name":"Agence Nationale de la Recherche"},{"id":"https://openalex.org/G528393513","display_name":"National Centre for Nuclear Robotics (NCNR)","funder_award_id":"EP/R02572X/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G6187844611","display_name":"HEAP: Human-Guided Learning and Benchmarking of Robotic Heap Sorting","funder_award_id":"EP/S033718/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G8111436725","display_name":"HEAP: Human-Guided Learning and Benchmarking of Robotic Heap Sorting","funder_award_id":"EP/S033718/2","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320320883","display_name":"Agence Nationale de la Recherche","ror":"https://ror.org/00rbzpz17"},{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2978133643.pdf","grobid_xml":"https://content.openalex.org/works/W2978133643.grobid-xml"},"referenced_works_count":27,"referenced_works":["https://openalex.org/W112573420","https://openalex.org/W150683582","https://openalex.org/W223932681","https://openalex.org/W1579694346","https://openalex.org/W1967904302","https://openalex.org/W1976163866","https://openalex.org/W1979103965","https://openalex.org/W1997932767","https://openalex.org/W2001473763","https://openalex.org/W2009805725","https://openalex.org/W2016787012","https://openalex.org/W2019526129","https://openalex.org/W2038581140","https://openalex.org/W2093847762","https://openalex.org/W2097540174","https://openalex.org/W2103075707","https://openalex.org/W2105925198","https://openalex.org/W2120328935","https://openalex.org/W2146701564","https://openalex.org/W2152106902","https://openalex.org/W2160083885","https://openalex.org/W2168121194","https://openalex.org/W2169513627","https://openalex.org/W2504989182","https://openalex.org/W2587713860","https://openalex.org/W2593425479","https://openalex.org/W4211049957"],"related_works":["https://openalex.org/W3023279113","https://openalex.org/W3095837294","https://openalex.org/W1976163866","https://openalex.org/W2046840249","https://openalex.org/W4386043349","https://openalex.org/W4399640197","https://openalex.org/W2784271688","https://openalex.org/W2887687214","https://openalex.org/W4411462810","https://openalex.org/W3046619595"],"abstract_inverted_index":{"Joint":[0],"object":[1,134,169],"transfer":[2],"is":[3,8,16,98,138],"a":[4,29,104,116,141,160,185,207,215],"complex":[5],"task,":[6,30],"which":[7],"less":[9,12],"structured":[10],"and":[11,43,68,191,213,223],"specific":[13],"than":[14],"what":[15],"existing":[17],"in":[18,27,80,159,170],"several":[19],"industrial":[20],"settings.":[21,111],"When":[22],"two":[23,91],"humans":[24,92],"are":[25,150],"involved":[26],"such":[28],"they":[31,60],"cooperate":[32],"through":[33],"different":[34],"modalities":[35],"to":[36,46,119,128,152,166,175,197],"understand":[37],"the":[38,65,77,102,130,193],"interaction":[39,66,72,131,163,199,234],"states":[40,73],"during":[41,87,95,125,133],"operation":[42],"mutually":[44],"adapt":[45],"one":[47],"another's":[48],"actions.":[49],"Mutual":[50],"adaptation":[51],"implies":[52],"that":[53],"both":[54,229],"partners":[55,78],"can":[56,74],"identify":[57,129,198],"how":[58,90],"well":[59],"collaborate":[61],"(i.e.":[62],"infer":[63],"about":[64],"state)":[67],"act":[69],"accordingly.":[70],"These":[71],"define":[75],"whether":[76],"work":[79,93],"harmony,":[81],"face":[82],"conflicts,":[83],"or":[84],"remain":[85],"passive":[86],"interaction.":[88],"Understanding":[89],"together":[94],"physical":[96,161],"interactions":[97],"important":[99],"when":[100,231],"exploring":[101],"ways":[103],"robotic":[105],"assistant":[106],"should":[107],"operate":[108],"under":[109],"similar":[110],"This":[112],"study":[113],"acts":[114],"as":[115],"first":[117],"step":[118],"implement":[120],"an":[121,168,171],"automatic":[122],"classification":[123,137,195],"mechanism":[124],"ongoing":[126],"collaboration":[127],"state":[132],"co-manipulation.":[135],"The":[136,156],"done":[139],"on":[140],"dataset":[142],"consisting":[143],"of":[144],"data":[145],"from":[146],"40":[147],"subjects,":[148],"who":[149],"partnered":[151],"form":[153],"20":[154],"dyads.":[155],"dyads":[157],"experiment":[158],"human-human":[162],"(pHHI)":[164],"scenario":[165],"move":[167],"haptics-enabled":[172],"virtual":[173],"environment":[174],"reach":[176],"predefined":[177],"goal":[178],"configurations.":[179],"In":[180],"this":[181],"study,":[182],"we":[183],"propose":[184],"sliding-window":[186],"approach":[187,204],"for":[188,220],"feature":[189],"extraction":[190],"demonstrate":[192],"online":[194],"methodology":[196],"patterns.":[200],"We":[201],"evaluate":[202],"our":[203],"using":[205],"1)":[206],"support":[208],"vector":[209],"machine":[210],"classifier":[211,218],"(SVMc)":[212],"2)":[214],"Gaussian":[216],"Process":[217],"(GPc)":[219],"multi-class":[221],"classification,":[222],"achieve":[224],"over":[225],"80%":[226],"accuracy":[227],"with":[228],"classifiers":[230],"identifying":[232],"general":[233],"types.":[235]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":2}],"updated_date":"2026-11-06T12:05:46.655746","created_date":"2019-10-10T00:00:00"}
