{"id":"https://openalex.org/W7161324469","doi":"https://doi.org/10.1007/s10846-026-02401-0","title":"Toward Seamless Physical Human-Humanoid Interaction: Insights from Control, Intent, and Modeling with a Vision for What Comes Next","display_name":"Toward Seamless Physical Human-Humanoid Interaction: Insights from Control, Intent, and Modeling with a Vision for What Comes Next","publication_year":2026,"publication_date":"2026-05-15","ids":{"openalex":"https://openalex.org/W7161324469","doi":"https://doi.org/10.1007/s10846-026-02401-0"},"language":"en","primary_location":{"id":"doi:10.1007/s10846-026-02401-0","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10846-026-02401-0","pdf_url":null,"source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent &amp; Robotic Systems","raw_type":"journal-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://doi.org/10.1007/s10846-026-02401-0","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5136250638","display_name":"Gustavo A. Cardona","orcid":null},"institutions":[{"id":"https://openalex.org/I86501945","display_name":"University of Delaware","ror":"https://ror.org/01sbq1a82","country_code":"US","type":"education","lineage":["https://openalex.org/I86501945"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Gustavo A. Cardona","raw_affiliation_strings":["Department of Mechanical Engineering, University of Delaware, 210 S College Ave, Newark, 19716, DE, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Delaware, 210 S College Ave, Newark, 19716, DE, USA","institution_ids":["https://openalex.org/I86501945"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056254656","display_name":"Shubham S. Kumbhar","orcid":null},"institutions":[{"id":"https://openalex.org/I86501945","display_name":"University of Delaware","ror":"https://ror.org/01sbq1a82","country_code":"US","type":"education","lineage":["https://openalex.org/I86501945"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Shubham S. Kumbhar","raw_affiliation_strings":["Department of Mechanical Engineering, University of Delaware, 210 S College Ave, Newark, 19716, DE, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Delaware, 210 S College Ave, Newark, 19716, DE, USA","institution_ids":["https://openalex.org/I86501945"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5136213489","display_name":"Panagiotis Artemiadis","orcid":null},"institutions":[{"id":"https://openalex.org/I86501945","display_name":"University of Delaware","ror":"https://ror.org/01sbq1a82","country_code":"US","type":"education","lineage":["https://openalex.org/I86501945"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Panagiotis Artemiadis","raw_affiliation_strings":["Department of Mechanical Engineering, University of Delaware, 210 S College Ave, Newark, 19716, DE, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Delaware, 210 S College Ave, Newark, 19716, DE, USA","institution_ids":["https://openalex.org/I86501945"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5136213489"],"corresponding_institution_ids":["https://openalex.org/I86501945"],"apc_list":{"value":2990,"currency":"USD","value_usd":2990},"apc_paid":{"value":2990,"currency":"USD","value_usd":2990},"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.55742899,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"112","issue":"3","first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.7246000170707703,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},"topics":[{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.7246000170707703,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T12290","display_name":"Human Motion and Animation","score":0.029400000348687172,"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/T11431","display_name":"Action Observation and Synchronization","score":0.021700000390410423,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/perspective","display_name":"Perspective (graphical)","score":0.304500013589859},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.2994000017642975},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.2971999943256378},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.272599995136261},{"id":"https://openalex.org/keywords/visualization","display_name":"Visualization","score":0.2578999996185303}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.572700023651123},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3231000006198883},{"id":"https://openalex.org/C12713177","wikidata":"https://www.wikidata.org/wiki/Q1900281","display_name":"Perspective (graphical)","level":2,"score":0.304500013589859},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.2994000017642975},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.2971999943256378},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.28690001368522644},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.272599995136261},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.2578999996185303},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.24740000069141388},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.24660000205039978}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1007/s10846-026-02401-0","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10846-026-02401-0","pdf_url":null,"source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent &amp; Robotic Systems","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:2512.07765","is_oa":true,"landing_page_url":"https://arxiv.org/abs/2512.07765","pdf_url":"https://arxiv.org/pdf/2512.07765","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"doi:10.1007/s10846-026-02401-0","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10846-026-02401-0","pdf_url":null,"source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent &amp; Robotic Systems","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G390685395","display_name":"MRI: Development of an Integrated Instrument for Testing Safety and Robustness of Robotic Co-Workers in Dynamic Environments","funder_award_id":"2018905","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G8156680727","display_name":"Robot-induced personalized ground stiffness perturbations for long-term gait adaptation and rehabilitation after stroke","funder_award_id":"2415093","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":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Physical":[0],"Human-Humanoid":[1],"Interaction":[2],"(pHHI)":[3],"is":[4,214],"a":[5,159,227],"rapidly":[6],"advancing":[7],"field":[8],"with":[9,243],"significant":[10,103],"implications":[11],"for":[12,75,96,119,147,209,229],"deploying":[13],"robots":[14],"in":[15,30,98,197,246],"unstructured,":[16],"human-centric":[17],"environments.":[18],"In":[19],"this":[20,198],"review,":[21],"we":[22,53,157,200],"examine":[23],"the":[24,28,73,138,182,202],"current":[25,62,139],"state":[26],"of":[27,80,162,184],"art":[29],"pHHI":[31],"through":[32],"three":[33,203],"core":[34,204],"pillars:":[35],"(i)":[36],"humanoid":[37,235],"modeling":[38,92],"and":[39,45,60,68,91,175,180,192,222,241],"control,":[40],"(ii)":[41],"human":[42,48,83,99,244],"intent":[43,86],"estimation,":[44],"(iii)":[46],"computational":[47],"models.":[49],"For":[50,194],"each":[51,109,195],"pillar,":[52],"survey":[54],"representative":[55],"approaches,":[56],"identify":[57],"open":[58],"challenges,":[59],"analyze":[61],"limitations":[63],"that":[64,94,150,206,232],"hinder":[65],"robust,":[66,220],"scalable,":[67],"adaptive":[69],"interaction.":[70],"These":[71],"include":[72],"need":[74],"whole-body":[76],"control":[77],"strategies":[78],"capable":[79],"handling":[81],"uncertain":[82],"dynamics,":[84],"real-time":[85],"inference":[87],"under":[88],"limited":[89],"sensing,":[90],"techniques":[93],"account":[95],"variability":[97],"physical":[100,173,224],"states.":[101],"Although":[102],"progress":[104],"has":[105],"been":[106],"made":[107],"within":[108],"domain,":[110],"integration":[111],"across":[112,122],"pillars":[113,205],"remains":[114],"limited.":[115],"We":[116],"propose":[117,144],"pathways":[118],"unifying":[120],"methods":[121],"these":[123,154],"areas":[124],"to":[125,136,143,152,190,215,218,237],"enable":[126],"cohesive":[127],"interaction":[128,163],"frameworks.":[129],"This":[130],"structure":[131],"enables":[132],"us":[133],"not":[134],"only":[135],"map":[137],"landscape":[140],"but":[141],"also":[142],"concrete":[145],"directions":[146],"future":[148,230],"research":[149,231],"aim":[151],"bridge":[153],"domains.":[155],"Additionally,":[156],"introduce":[158],"unified":[160],"taxonomy":[161],"types":[164],"based":[165],"on":[166,181],"modality,":[167],"distinguishing":[168],"between":[169],"direct":[170],"interactions":[171,177],"(e.g.,":[172,178],"contact)":[174],"indirect":[176],"object-mediated),":[179],"level":[183],"robot":[185],"engagement,":[186],"ranging":[187],"from":[188],"assistance":[189],"cooperation":[191],"collaboration.":[193],"category":[196],"taxonomy,":[199],"provide":[201],"highlight":[207],"opportunities":[208],"cross-pillar":[210],"unification.":[211],"Our":[212],"goal":[213],"suggest":[216],"avenues":[217],"advance":[219],"safe,":[221],"intuitive":[223],"interaction,":[225],"providing":[226],"roadmap":[228],"will":[233],"allow":[234],"systems":[236],"effectively":[238],"understand,":[239],"anticipate,":[240],"collaborate":[242],"partners":[245],"diverse":[247],"real-world":[248],"settings.":[249]},"counts_by_year":[],"updated_date":"2026-08-01T09:00:35.917206","created_date":"2026-05-16T00:00:00"}
