{"id":"https://openalex.org/W7225742239","doi":"https://doi.org/10.25740/cc023pq2756","title":"Device Design for Natural Human-Robot Interaction in Collecting Demonstration Data for Robot Learning","display_name":"Device Design for Natural Human-Robot Interaction in Collecting Demonstration Data for Robot Learning","publication_year":2026,"publication_date":"2026-11-10","ids":{"openalex":"https://openalex.org/W7225742239","doi":"https://doi.org/10.25740/cc023pq2756"},"language":"en","primary_location":{"id":"doi:10.25740/cc023pq2756","doi":"https://doi.org/10.25740/cc023pq2756","is_oa":true,"landing_page_url":"https://doi.org/10.25740/cc023pq2756","pdf_url":null,"source":{"id":"https://openalex.org/S7407052831","display_name":"Stanford Digital Repository","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc","license_id":"https://openalex.org/licenses/cc-by-nc","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article-journal"},"volume":null,"type":"article","is_traditional":true,"indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.25740/cc023pq2756","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5114137754","display_name":"Mathusha Rao","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Rao, Mathusha","raw_affiliation_strings":["Stanford University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Stanford University","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047853405","display_name":"Monroe Kennedy","orcid":"https://orcid.org/0000-0002-4567-0409","observed_orcids":["https://orcid.org/0000-0002-4567-0409"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kennedy, Monroe","raw_affiliation_strings":[],"raw_orcid":"https://orcid.org/0000-0002-4567-0409","affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5161374196","display_name":"Stanford University","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Stanford University","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.0,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9711999893188477,"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":0.9711999893188477,"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":0.017799999564886093,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.002199999988079071,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5706999897956848},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5347999930381775},{"id":"https://openalex.org/C107953548","wikidata":"https://www.wikidata.org/wiki/Q1172433","display_name":"Wired glove","level":3,"score":0.5144000053405762},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5095999836921692},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4837999939918518},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.4740000069141388},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.4715999960899353},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.45100000500679016},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.44679999351501465},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.4187999963760376},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.3824999928474426},{"id":"https://openalex.org/C113843644","wikidata":"https://www.wikidata.org/wiki/Q901882","display_name":"Interface (matter)","level":4,"score":0.3813999891281128},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.36079999804496765},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.3555999994277954},{"id":"https://openalex.org/C2777045574","wikidata":"https://www.wikidata.org/wiki/Q196100","display_name":"Slipping","level":2,"score":0.34860000014305115},{"id":"https://openalex.org/C135403697","wikidata":"https://www.wikidata.org/wiki/Q796765","display_name":"Proximity sensor","level":2,"score":0.33660000562667847},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.3244999945163727},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.3172000050544739},{"id":"https://openalex.org/C89505385","wikidata":"https://www.wikidata.org/wiki/Q47146","display_name":"User interface","level":2,"score":0.29429998993873596},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.287200003862381},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.2847999930381775},{"id":"https://openalex.org/C162947575","wikidata":"https://www.wikidata.org/wiki/Q2005645","display_name":"Social robot","level":5,"score":0.2802000045776367},{"id":"https://openalex.org/C2776608160","wikidata":"https://www.wikidata.org/wiki/Q4785462","display_name":"Natural (archaeology)","level":2,"score":0.27959999442100525},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2791999876499176},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.2766000032424927},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.27000001072883606},{"id":"https://openalex.org/C196467688","wikidata":"https://www.wikidata.org/wiki/Q1851985","display_name":"Telerobotics","level":4,"score":0.2648000121116638},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.2574000060558319},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.25699999928474426},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.25270000100135803},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.2524000108242035}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.25740/cc023pq2756","doi":"https://doi.org/10.25740/cc023pq2756","is_oa":true,"landing_page_url":"https://doi.org/10.25740/cc023pq2756","pdf_url":null,"source":{"id":"https://openalex.org/S7407052831","display_name":"Stanford Digital Repository","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc","license_id":"https://openalex.org/licenses/cc-by-nc","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article-journal"}],"best_oa_location":{"id":"doi:10.25740/cc023pq2756","doi":"https://doi.org/10.25740/cc023pq2756","is_oa":true,"landing_page_url":"https://doi.org/10.25740/cc023pq2756","pdf_url":null,"source":{"id":"https://openalex.org/S7407052831","display_name":"Stanford Digital Repository","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc","license_id":"https://openalex.org/licenses/cc-by-nc","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article-journal"},"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Good":[0],"manipulation":[1],"learning":[2,98],"depends":[3],"on":[4,95,185,219,258,271],"recording":[5,59],"the":[6,48,58,65,78,134,146,157,189,200,220,226,250,259,265,268,275],"right":[7],"data":[8,202,205],"signals.":[9],"The":[10],"human":[11,293],"hand":[12,115,172],"is":[13,20,34,160,231],"guided":[14],"not":[15],"just":[16],"by":[17,24],"where":[18,25],"it":[19,26,33,241,252],"in":[21,64,99],"space,":[22],"but":[23],"touches":[27],"an":[28,73,112],"object":[29],"and":[30,43,50,80,116,120,138,166,195,224,289],"how":[31,68],"hard":[32],"pressing,":[35],"yet":[36],"most":[37],"demonstration":[38,294],"systems":[39],"capture":[40],"only":[41],"motion":[42],"camera":[44],"data,":[45],"leaving":[46],"out":[47,106],"contact":[49,201],"force":[51],"information":[52],"that":[53,132,144,198,217],"often":[54],"matters":[55],"most.":[56],"Worse,":[57],"hardware":[60,79],"itself":[61,159],"frequently":[62],"gets":[63],"way,":[66],"changing":[67],"a":[69,92,118,129,139,170,179,192,196,207,213,236,243,283],"person":[70],"naturally":[71],"handles":[72],"object.":[74],"This":[75],"thesis":[76],"describes":[77],"data-collection":[81],"infrastructure":[82],"we":[83,110,167,177],"built":[84,178],"toward":[85],"natural,":[86],"tactile-rich":[87],"demonstration,":[88],"as":[89],"part":[90],"of":[91,107,188],"broader":[93],"effort":[94],"intent-aware":[96],"robot":[97],"visually":[100],"occluded":[101],"settings.":[102],"Three":[103],"things":[104],"came":[105],"it.":[108],"First,":[109],"analysed":[111],"open-source":[113],"tendon-driven":[114],"developed":[117],"kinematic":[119],"tendon-transmission":[121],"model,":[122],"which":[123,228],"led":[124],"to":[125,163,174,295],"two":[126],"mechanical":[127],"fixes:":[128],"chamfered":[130],"winch":[131],"stopped":[133,145],"tendon":[135],"from":[136,148,206,292],"slipping":[137],"thicker,":[140],"double-jointed":[141],"coupling":[142],"link":[143],"fingers":[147],"breaking.":[149],"Both":[150],"worked,":[151],"though":[152,267],"extended":[153],"use":[154],"made":[155],"clear":[156],"platform":[158],"too":[161],"fragile":[162],"build":[164],"on,":[165],"document":[168],"what":[169],"successor":[171],"needs":[173],"avoid.":[175],"Second,":[176],"low-cost":[180],"glove":[181],"with":[182,191,203,298],"force-sensitive":[183],"resistors":[184],"both":[186],"sides":[187],"hand,":[190],"calibration":[193],"model":[194],"pipeline":[197],"merges":[199],"motion-capture":[204],"Rokoko":[208],"glove.":[209],"Third,":[210],"I":[211],"designed":[212],"wireless":[214],"LED":[215],"band":[216],"sits":[218],"robot\u2019s":[221],"last":[222],"joint":[223],"shows":[225],"operator":[227],"control":[229],"mode":[230,233],"active,the":[232],"sleeve,and":[234],"ran":[235],"small":[237],"user":[238],"study":[239],"comparing":[240],"against":[242],"screen-only":[244],"baseline.":[245],"Experienced":[246],"operators":[247],"preferred":[248],"having":[249,272],"sleeve;":[251],"let":[253],"them":[254],"keep":[255],"their":[256],"eyes":[257],"end-effector":[260],"rather":[261],"than":[262],"glancing":[263],"at":[264],"screen,":[266],"benefit":[269],"depended":[270],"already":[273],"learned":[274],"colour":[276],"encoding.":[277],"Together":[278],"these":[279],"three":[280],"components":[281],"form":[282],"toolchain":[284],"for":[285,290],"collecting":[286],"demonstrations":[287],"naturally,":[288],"transitioning":[291],"autonomous":[296],"execution":[297],"teleoperated":[299],"fine-tuning.":[300]},"counts_by_year":[],"updated_date":"2026-11-11T12:16:26.678958","created_date":"2026-11-11T00:00:00"}