{"id":"https://openalex.org/W4402228827","doi":"https://doi.org/10.1002/aisy.202400333","title":"Biomechanics\u2010Based User\u2010Adaptive Variable Impedance Control for Enhanced Physical Human\u2013Robot Interaction Using Bayesian Optimization","display_name":"Biomechanics\u2010Based User\u2010Adaptive Variable Impedance Control for Enhanced Physical Human\u2013Robot Interaction Using Bayesian Optimization","publication_year":2024,"publication_date":"2024-09-04","ids":{"openalex":"https://openalex.org/W4402228827","doi":"https://doi.org/10.1002/aisy.202400333"},"language":"en","primary_location":{"id":"doi:10.1002/aisy.202400333","is_oa":true,"landing_page_url":"https://doi.org/10.1002/aisy.202400333","pdf_url":"https://onlinelibrary.wiley.com/doi/pdfdirect/10.1002/aisy.202400333","source":{"id":"https://openalex.org/S4210212817","display_name":"Advanced Intelligent Systems","issn_l":"2640-4567","issn":["2640-4567"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Intelligent Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://onlinelibrary.wiley.com/doi/pdfdirect/10.1002/aisy.202400333","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5035392582","display_name":"Fatemeh Zahedi","orcid":"https://orcid.org/0000-0002-4961-2484"},"institutions":[{"id":"https://openalex.org/I55732556","display_name":"Arizona State University","ror":"https://ror.org/03efmqc40","country_code":"US","type":"education","lineage":["https://openalex.org/I55732556"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Fatemeh Zahedi","raw_affiliation_strings":["School for Engineering of Matter, Transport and Energy Arizona State University  Tempe AZ 85287 USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School for Engineering of Matter, Transport and Energy Arizona State University  Tempe AZ 85287 USA","institution_ids":["https://openalex.org/I55732556"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5049280323","display_name":"Hyunglae Lee","orcid":"https://orcid.org/0000-0003-3853-510X"},"institutions":[{"id":"https://openalex.org/I55732556","display_name":"Arizona State University","ror":"https://ror.org/03efmqc40","country_code":"US","type":"education","lineage":["https://openalex.org/I55732556"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Hyunglae Lee","raw_affiliation_strings":["School for Engineering of Matter, Transport and Energy Arizona State University  Tempe AZ 85287 USA"],"raw_orcid":"https://orcid.org/0000-0003-3853-510X","affiliations":[{"raw_affiliation_string":"School for Engineering of Matter, Transport and Energy Arizona State University  Tempe AZ 85287 USA","institution_ids":["https://openalex.org/I55732556"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5049280323"],"corresponding_institution_ids":["https://openalex.org/I55732556"],"apc_list":{"value":3190,"currency":"USD","value_usd":3190},"apc_paid":{"value":3190,"currency":"USD","value_usd":3190},"fwci":0.8858,"has_fulltext":true,"cited_by_count":7,"citation_normalized_percentile":{"value":0.68818593,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":98},"biblio":{"volume":"7","issue":"2","first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.9994000196456909,"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"}},"topics":[{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.9994000196456909,"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"}},{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9991999864578247,"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"}},{"id":"https://openalex.org/T10982","display_name":"Motor Control and Adaptation","score":0.9959999918937683,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/biomechanics","display_name":"Biomechanics","score":0.735346257686615},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5580130219459534},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5445258617401123},{"id":"https://openalex.org/keywords/bayesian-optimization","display_name":"Bayesian optimization","score":0.4906086027622223},{"id":"https://openalex.org/keywords/bayesian-probability","display_name":"Bayesian probability","score":0.4905344843864441},{"id":"https://openalex.org/keywords/variable","display_name":"Variable (mathematics)","score":0.4749719500541687},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.468627005815506},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4164830446243286},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3774978518486023},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.34601324796676636},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2708258628845215},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.13252562284469604},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.12962788343429565}],"concepts":[{"id":"https://openalex.org/C170700871","wikidata":"https://www.wikidata.org/wiki/Q193378","display_name":"Biomechanics","level":2,"score":0.735346257686615},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5580130219459534},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5445258617401123},{"id":"https://openalex.org/C2778049539","wikidata":"https://www.wikidata.org/wiki/Q17002908","display_name":"Bayesian optimization","level":2,"score":0.4906086027622223},{"id":"https://openalex.org/C107673813","wikidata":"https://www.wikidata.org/wiki/Q812534","display_name":"Bayesian probability","level":2,"score":0.4905344843864441},{"id":"https://openalex.org/C182365436","wikidata":"https://www.wikidata.org/wiki/Q50701","display_name":"Variable (mathematics)","level":2,"score":0.4749719500541687},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.468627005815506},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4164830446243286},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3774978518486023},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.34601324796676636},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2708258628845215},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.13252562284469604},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.12962788343429565},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C42407357","wikidata":"https://www.wikidata.org/wiki/Q521","display_name":"Physiology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1002/aisy.202400333","is_oa":true,"landing_page_url":"https://doi.org/10.1002/aisy.202400333","pdf_url":"https://onlinelibrary.wiley.com/doi/pdfdirect/10.1002/aisy.202400333","source":{"id":"https://openalex.org/S4210212817","display_name":"Advanced Intelligent Systems","issn_l":"2640-4567","issn":["2640-4567"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Intelligent Systems","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1002/aisy.202400333","is_oa":true,"landing_page_url":"https://doi.org/10.1002/aisy.202400333","pdf_url":"https://onlinelibrary.wiley.com/doi/pdfdirect/10.1002/aisy.202400333","source":{"id":"https://openalex.org/S4210212817","display_name":"Advanced Intelligent Systems","issn_l":"2640-4567","issn":["2640-4567"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Intelligent Systems","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1225109304","display_name":"CAREER: Transparent Robot-Aided Rehabilitation (TRAIN): Robot-Aided Rehabilitation with Refined Characterization of Altered Biomechanics & Enhanced Physical Human-Robot Interaction","funder_award_id":"1846885","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G400635716","display_name":"User-Adaptive and Safe Control of a Wearable Upper-Extremity Exoskeleton Robot","funder_award_id":"1925110","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4402228827.pdf","grobid_xml":"https://content.openalex.org/works/W4402228827.grobid-xml"},"referenced_works_count":44,"referenced_works":["https://openalex.org/W102487131","https://openalex.org/W646585437","https://openalex.org/W1489427801","https://openalex.org/W1500588313","https://openalex.org/W1864504421","https://openalex.org/W1885639605","https://openalex.org/W2000359198","https://openalex.org/W2011172323","https://openalex.org/W2014165423","https://openalex.org/W2038967717","https://openalex.org/W2056240245","https://openalex.org/W2057980365","https://openalex.org/W2101392974","https://openalex.org/W2104181254","https://openalex.org/W2112707027","https://openalex.org/W2115775963","https://openalex.org/W2207129347","https://openalex.org/W2296039882","https://openalex.org/W2317988884","https://openalex.org/W2412438256","https://openalex.org/W2605924076","https://openalex.org/W2700163520","https://openalex.org/W2768174095","https://openalex.org/W2770249584","https://openalex.org/W2788331089","https://openalex.org/W2789905221","https://openalex.org/W2793677370","https://openalex.org/W2909711564","https://openalex.org/W2916172723","https://openalex.org/W2939037429","https://openalex.org/W2945117614","https://openalex.org/W2967549816","https://openalex.org/W2974868458","https://openalex.org/W2982429175","https://openalex.org/W3000400585","https://openalex.org/W3012211643","https://openalex.org/W3021861071","https://openalex.org/W3037801069","https://openalex.org/W3131095376","https://openalex.org/W3143066847","https://openalex.org/W4211049957","https://openalex.org/W4220739299","https://openalex.org/W4302768712","https://openalex.org/W4304777328"],"related_works":["https://openalex.org/W3014307317","https://openalex.org/W2668228314","https://openalex.org/W3106461837","https://openalex.org/W1537355970","https://openalex.org/W581996473","https://openalex.org/W4283700523","https://openalex.org/W3168182983","https://openalex.org/W2183559900","https://openalex.org/W4401858220","https://openalex.org/W4387415141"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,86,99,117],"biomechanics\u2010based,":[4,174],"user\u2010adaptive":[5,132,175],"variable":[6,128,176],"impedance":[7,34,129,177],"controller":[8,21,80,109,140,163],"designed":[9],"to":[10,56,183],"enhance":[11,184],"the":[12,23,32,45,58,62,79,91,108,111,139,158,161,165,170,173],"performance":[13,143],"of":[14,26,44,50,61,172],"coupled":[15,63],"human\u2013robot":[16,64,186],"systems":[17],"during":[18],"motion.":[19,51,196],"The":[20,52,104],"integrates":[22],"biomechanical":[24],"characteristics":[25],"human":[27,74,94],"limbs":[28],"and":[29,38,48,76,150,180],"dynamically":[30],"adjusts":[31],"robotic":[33,101],"parameters\u2014specifically":[35],"damping,":[36],"stiffness,":[37],"equilibrium":[39],"trajectory\u2014based":[40],"on":[41],"real\u2010time":[42],"estimations":[43],"user's":[46],"intent":[47],"direction":[49],"primary":[53],"goal":[54],"is":[55,120],"minimize":[57],"energy":[59],"expenditure":[60],"system":[65,68],"while":[66],"maintaining":[67],"passivity.":[69],"To":[70,89],"address":[71],"uncertainties":[72],"in":[73,157,188],"behavior":[75],"noisy":[77],"observations,":[78],"employs":[81],"Bayesian":[82],"optimization":[83],"combined":[84,142],"with":[85,138],"Gaussian":[87],"process.":[88],"validate":[90],"proposed":[92],"approach,":[93],"experiments":[95],"are":[96],"conducted":[97],"using":[98],"standard":[100],"arm":[102],"manipulator.":[103],"results":[105],"demonstrate":[106],"that":[107,119,191],"eliminates":[110],"need":[112],"for":[113],"manual":[114],"parameter":[115,133],"tuning,":[116],"process":[118],"typically":[121],"time\u2010consuming.":[122],"A":[123],"comparative":[124],"analysis":[125],"against":[126],"two":[127],"controllers":[130],"without":[131],"adjustments":[134],"reveal":[135],"significant":[136],"benefits,":[137],"improving":[141],"metrics\u2014such":[144],"as":[145],"accuracy,":[146],"speed,":[147],"user":[148],"effort,":[149],"smoothness\u2014by":[151],"over":[152,164],"13%.":[153],"Notably,":[154],"all":[155],"participants":[156],"study":[159],"preferred":[160],"optimized":[162],"alternatives.":[166],"These":[167],"findings":[168],"highlight":[169],"effectiveness":[171],"control":[178],"approach":[179],"its":[181],"potential":[182],"physical":[185],"interaction":[187],"various":[189],"applications":[190],"involve":[192],"repetitive":[193],"or":[194],"continuous":[195]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":5}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}
