{"id":"https://openalex.org/W3004449571","doi":"https://doi.org/10.1017/s0263574720000016","title":"Toward an Intuitive and Iterative 6D Virtual Guide Programming Framework for Assisted Human\u2013Robot Comanipulation","display_name":"Toward an Intuitive and Iterative 6D Virtual Guide Programming Framework for Assisted Human\u2013Robot Comanipulation","publication_year":2020,"publication_date":"2020-02-03","ids":{"openalex":"https://openalex.org/W3004449571","doi":"https://doi.org/10.1017/s0263574720000016","mag":"3004449571"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574720000016","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574720000016","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://laas.hal.science/hal-03626696","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5020047451","display_name":"Susana S\u00e1nchez Restrepo","orcid":null},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I134560555","display_name":"Universit\u00e9 Toulouse III - Paul Sabatier","ror":"https://ror.org/02v6kpv12","country_code":"FR","type":"education","lineage":["https://openalex.org/I134560555"]},{"id":"https://openalex.org/I17866349","display_name":"Universit\u00e9 F\u00e9d\u00e9rale de Toulouse Midi-Pyr\u00e9n\u00e9es","ror":"https://ror.org/004raaa70","country_code":"FR","type":"education","lineage":["https://openalex.org/I17866349"]},{"id":"https://openalex.org/I190497903","display_name":"Laboratoire d'Analyse et d'Architecture des Syst\u00e8mes","ror":"https://ror.org/03vcm6439","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I190497903","https://openalex.org/I193033237","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210152422","https://openalex.org/I4210159245","https://openalex.org/I4405258862","https://openalex.org/I4405259414"]},{"id":"https://openalex.org/I2738703131","display_name":"Commissariat \u00e0 l'\u00c9nergie Atomique et aux \u00c9nergies Alternatives","ror":"https://ror.org/00jjx8s55","country_code":"FR","type":"government","lineage":["https://openalex.org/I2738703131"]},{"id":"https://openalex.org/I4210085861","display_name":"Laboratoire d'Int\u00e9gration des Syst\u00e8mes et des Technologies","ror":"https://ror.org/000dbcc61","country_code":"FR","type":"government","lineage":["https://openalex.org/I2738703131","https://openalex.org/I2738703131","https://openalex.org/I277688954","https://openalex.org/I4210085861","https://openalex.org/I4210117989"]},{"id":"https://openalex.org/I4210128565","display_name":"CEA Paris-Saclay","ror":"https://ror.org/03n15ch10","country_code":"FR","type":"government","lineage":["https://openalex.org/I2738703131","https://openalex.org/I277688954","https://openalex.org/I4210128565"]},{"id":"https://openalex.org/I4210144804","display_name":"Laboratoire de Recherche en Informatique","ror":"https://ror.org/04e3ktk27","country_code":"FR","type":"facility","lineage":["https://openalex.org/I102197404","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I4210144804","https://openalex.org/I4210159245"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Susana S\u00e1nchez Restrepo","raw_affiliation_strings":["Interactive Robotics Laboratory (LRI), CEA-List, Gif-sur-Yvette, France E-mails:","LAAS-CNRS, University of Toulouse, CNRS, UPS,Toulouse, France E-mail:","LAAS-RIS - \u00c9quipe Robotique et InteractionS (  - France)","DIASI (CEA, LIST) - D\u00e9partement Intelligence Ambiante et Syst\u00e8mes Interactifs (CEA Saclay - Nanoinnov 91191 Gif-Sur-Yvette Cedex - France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Interactive Robotics Laboratory (LRI), CEA-List, Gif-sur-Yvette, France E-mails:","institution_ids":["https://openalex.org/I2738703131","https://openalex.org/I4210085861","https://openalex.org/I4210144804"]},{"raw_affiliation_string":"LAAS-CNRS, University of Toulouse, CNRS, UPS,Toulouse, France E-mail:","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I134560555","https://openalex.org/I17866349","https://openalex.org/I190497903"]},{"raw_affiliation_string":"LAAS-RIS - \u00c9quipe Robotique et InteractionS (  - France)","institution_ids":["https://openalex.org/I190497903"]},{"raw_affiliation_string":"DIASI (CEA, LIST) - D\u00e9partement Intelligence Ambiante et Syst\u00e8mes Interactifs (CEA Saclay - Nanoinnov 91191 Gif-Sur-Yvette Cedex - France)","institution_ids":["https://openalex.org/I2738703131","https://openalex.org/I4210085861","https://openalex.org/I4210128565"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079929244","display_name":"Gennaro Raiola","orcid":"https://orcid.org/0000-0003-1481-1106"},"institutions":[{"id":"https://openalex.org/I2738703131","display_name":"Commissariat \u00e0 l'\u00c9nergie Atomique et aux \u00c9nergies Alternatives","ror":"https://ror.org/00jjx8s55","country_code":"FR","type":"government","lineage":["https://openalex.org/I2738703131"]},{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]},{"id":"https://openalex.org/I4210085861","display_name":"Laboratoire d'Int\u00e9gration des Syst\u00e8mes et des Technologies","ror":"https://ror.org/000dbcc61","country_code":"FR","type":"government","lineage":["https://openalex.org/I2738703131","https://openalex.org/I2738703131","https://openalex.org/I277688954","https://openalex.org/I4210085861","https://openalex.org/I4210117989"]},{"id":"https://openalex.org/I4210128565","display_name":"CEA Paris-Saclay","ror":"https://ror.org/03n15ch10","country_code":"FR","type":"government","lineage":["https://openalex.org/I2738703131","https://openalex.org/I277688954","https://openalex.org/I4210128565"]},{"id":"https://openalex.org/I4210144804","display_name":"Laboratoire de Recherche en Informatique","ror":"https://ror.org/04e3ktk27","country_code":"FR","type":"facility","lineage":["https://openalex.org/I102197404","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I4210144804","https://openalex.org/I4210159245"]}],"countries":["FR","IT"],"is_corresponding":true,"raw_author_name":"Gennaro Raiola","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genoa, Italy E-mails:","Interactive Robotics Laboratory (LRI), CEA-List, Gif-sur-Yvette, France E-mails:","IIT - Istituto Italiano di Tecnologia (Via Morego, 30 16163 Genova - Italy)","DIASI (CEA, LIST) - D\u00e9partement Intelligence Ambiante et Syst\u00e8mes Interactifs (CEA Saclay - Nanoinnov 91191 Gif-Sur-Yvette Cedex - France)"],"raw_orcid":"https://orcid.org/0000-0003-1481-1106","affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genoa, Italy E-mails:","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Interactive Robotics Laboratory (LRI), CEA-List, Gif-sur-Yvette, France E-mails:","institution_ids":["https://openalex.org/I2738703131","https://openalex.org/I4210085861","https://openalex.org/I4210144804"]},{"raw_affiliation_string":"IIT - Istituto Italiano di Tecnologia (Via Morego, 30 16163 Genova - Italy)","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"DIASI (CEA, LIST) - D\u00e9partement Intelligence Ambiante et Syst\u00e8mes Interactifs (CEA Saclay - Nanoinnov 91191 Gif-Sur-Yvette Cedex - France)","institution_ids":["https://openalex.org/I2738703131","https://openalex.org/I4210085861","https://openalex.org/I4210128565"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049768589","display_name":"Joris Guerry","orcid":null},"institutions":[{"id":"https://openalex.org/I4210143116","display_name":"\u00c9lectricit\u00e9 de France (France)","ror":"https://ror.org/03wb8xz10","country_code":"FR","type":"company","lineage":["https://openalex.org/I4210143116"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Joris Guerry","raw_affiliation_strings":["EDF R&D, Chatou, France E-mail:","EDF R&D - EDF R&D (France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"EDF R&D, Chatou, France E-mail:","institution_ids":["https://openalex.org/I4210143116"]},{"raw_affiliation_string":"EDF R&D - EDF R&D (France)","institution_ids":["https://openalex.org/I4210143116"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011276187","display_name":"Evelyn D\u2019Elia","orcid":"https://orcid.org/0009-0000-4355-4722"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Evelyn D\u2019Elia","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genoa, Italy E-mails:","IIT - Istituto Italiano di Tecnologia (Via Morego, 30 16163 Genova - Italy)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genoa, Italy E-mails:","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"IIT - Istituto Italiano di Tecnologia (Via Morego, 30 16163 Genova - Italy)","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003928798","display_name":"Xavier Lamy","orcid":"https://orcid.org/0000-0002-5281-0430"},"institutions":[{"id":"https://openalex.org/I2738703131","display_name":"Commissariat \u00e0 l'\u00c9nergie Atomique et aux \u00c9nergies Alternatives","ror":"https://ror.org/00jjx8s55","country_code":"FR","type":"government","lineage":["https://openalex.org/I2738703131"]},{"id":"https://openalex.org/I4210085861","display_name":"Laboratoire d'Int\u00e9gration des Syst\u00e8mes et des Technologies","ror":"https://ror.org/000dbcc61","country_code":"FR","type":"government","lineage":["https://openalex.org/I2738703131","https://openalex.org/I2738703131","https://openalex.org/I277688954","https://openalex.org/I4210085861","https://openalex.org/I4210117989"]},{"id":"https://openalex.org/I4210128565","display_name":"CEA Paris-Saclay","ror":"https://ror.org/03n15ch10","country_code":"FR","type":"government","lineage":["https://openalex.org/I2738703131","https://openalex.org/I277688954","https://openalex.org/I4210128565"]},{"id":"https://openalex.org/I4210144804","display_name":"Laboratoire de Recherche en Informatique","ror":"https://ror.org/04e3ktk27","country_code":"FR","type":"facility","lineage":["https://openalex.org/I102197404","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I4210144804","https://openalex.org/I4210159245"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Xavier Lamy","raw_affiliation_strings":["Interactive Robotics Laboratory (LRI), CEA-List, Gif-sur-Yvette, France E-mails:","DIASI (CEA, LIST) - D\u00e9partement Intelligence Ambiante et Syst\u00e8mes Interactifs (CEA Saclay - Nanoinnov 91191 Gif-Sur-Yvette Cedex - France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Interactive Robotics Laboratory (LRI), CEA-List, Gif-sur-Yvette, France E-mails:","institution_ids":["https://openalex.org/I2738703131","https://openalex.org/I4210085861","https://openalex.org/I4210144804"]},{"raw_affiliation_string":"DIASI (CEA, LIST) - D\u00e9partement Intelligence Ambiante et Syst\u00e8mes Interactifs (CEA Saclay - Nanoinnov 91191 Gif-Sur-Yvette Cedex - France)","institution_ids":["https://openalex.org/I2738703131","https://openalex.org/I4210085861","https://openalex.org/I4210128565"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5027759574","display_name":"Daniel Sidobre","orcid":"https://orcid.org/0000-0002-5564-2735"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I134560555","display_name":"Universit\u00e9 Toulouse III - Paul Sabatier","ror":"https://ror.org/02v6kpv12","country_code":"FR","type":"education","lineage":["https://openalex.org/I134560555"]},{"id":"https://openalex.org/I17866349","display_name":"Universit\u00e9 F\u00e9d\u00e9rale de Toulouse Midi-Pyr\u00e9n\u00e9es","ror":"https://ror.org/004raaa70","country_code":"FR","type":"education","lineage":["https://openalex.org/I17866349"]},{"id":"https://openalex.org/I190497903","display_name":"Laboratoire d'Analyse et d'Architecture des Syst\u00e8mes","ror":"https://ror.org/03vcm6439","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I190497903","https://openalex.org/I193033237","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210152422","https://openalex.org/I4210159245","https://openalex.org/I4405258862","https://openalex.org/I4405259414"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Daniel Sidobre","raw_affiliation_strings":["LAAS-CNRS, University of Toulouse, CNRS, UPS,Toulouse, France E-mail:","LAAS-RIS - \u00c9quipe Robotique et InteractionS (  - France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LAAS-CNRS, University of Toulouse, CNRS, UPS,Toulouse, France E-mail:","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I134560555","https://openalex.org/I17866349","https://openalex.org/I190497903"]},{"raw_affiliation_string":"LAAS-RIS - \u00c9quipe Robotique et InteractionS (  - France)","institution_ids":["https://openalex.org/I190497903"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":10,"corresponding_author_ids":["https://openalex.org/A5079929244"],"corresponding_institution_ids":["https://openalex.org/I2738703131","https://openalex.org/I30771326","https://openalex.org/I4210085861","https://openalex.org/I4210128565","https://openalex.org/I4210144804"],"apc_list":null,"apc_paid":null,"fwci":0.7076,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.66634234,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"38","issue":"10","first_page":"1778","last_page":"1806"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9994999766349792,"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":0.9994999766349792,"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":0.9986000061035156,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.998199999332428,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7407915592193604},{"id":"https://openalex.org/keywords/component","display_name":"Component (thermodynamics)","score":0.5991576313972473},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.5975645184516907},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5912646651268005},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.577805757522583},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.5640332698822021},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5101404786109924},{"id":"https://openalex.org/keywords/translation","display_name":"Translation (biology)","score":0.4778327941894531},{"id":"https://openalex.org/keywords/virtual-actor","display_name":"Virtual actor","score":0.45201122760772705},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4425428509712219},{"id":"https://openalex.org/keywords/virtual-reality","display_name":"Virtual reality","score":0.3958471417427063},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.33987557888031006},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.12678059935569763},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.09119266271591187}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7407915592193604},{"id":"https://openalex.org/C168167062","wikidata":"https://www.wikidata.org/wiki/Q1117970","display_name":"Component (thermodynamics)","level":2,"score":0.5991576313972473},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.5975645184516907},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5912646651268005},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.577805757522583},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.5640332698822021},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5101404786109924},{"id":"https://openalex.org/C149364088","wikidata":"https://www.wikidata.org/wiki/Q185917","display_name":"Translation (biology)","level":4,"score":0.4778327941894531},{"id":"https://openalex.org/C150303390","wikidata":"https://www.wikidata.org/wiki/Q1983852","display_name":"Virtual actor","level":3,"score":0.45201122760772705},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4425428509712219},{"id":"https://openalex.org/C194969405","wikidata":"https://www.wikidata.org/wiki/Q170519","display_name":"Virtual reality","level":2,"score":0.3958471417427063},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.33987557888031006},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.12678059935569763},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.09119266271591187},{"id":"https://openalex.org/C105580179","wikidata":"https://www.wikidata.org/wiki/Q188928","display_name":"Messenger RNA","level":3,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1017/s0263574720000016","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574720000016","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"},{"id":"pmh:oai:HAL:hal-03626696v1","is_oa":true,"landing_page_url":"https://laas.hal.science/hal-03626696","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"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":"Robotica, 2020, Human\u2013robot interaction, 38 (10), pp.1778-1806. ⟨10.1017/S0263574720000016⟩","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-03626696v1","is_oa":true,"landing_page_url":"https://laas.hal.science/hal-03626696","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"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":"Robotica, 2020, Human\u2013robot interaction, 38 (10), pp.1778-1806. ⟨10.1017/S0263574720000016⟩","raw_type":"info:eu-repo/semantics/article"},"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.4099999964237213,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":50,"referenced_works":["https://openalex.org/W5756894","https://openalex.org/W70717209","https://openalex.org/W146858336","https://openalex.org/W1500533596","https://openalex.org/W1517823811","https://openalex.org/W1556513228","https://openalex.org/W1965099686","https://openalex.org/W1968560364","https://openalex.org/W1992776806","https://openalex.org/W2006650073","https://openalex.org/W2015525141","https://openalex.org/W2017279921","https://openalex.org/W2017484120","https://openalex.org/W2021487080","https://openalex.org/W2034966370","https://openalex.org/W2036590970","https://openalex.org/W2044544244","https://openalex.org/W2063182199","https://openalex.org/W2064173399","https://openalex.org/W2074809255","https://openalex.org/W2089145243","https://openalex.org/W2095714487","https://openalex.org/W2096045964","https://openalex.org/W2097961592","https://openalex.org/W2100131114","https://openalex.org/W2110065044","https://openalex.org/W2115213670","https://openalex.org/W2119652442","https://openalex.org/W2121746989","https://openalex.org/W2124832378","https://openalex.org/W2133818147","https://openalex.org/W2136447622","https://openalex.org/W2147774191","https://openalex.org/W2154543878","https://openalex.org/W2159399231","https://openalex.org/W2167971611","https://openalex.org/W2170632959","https://openalex.org/W2188295614","https://openalex.org/W2199658141","https://openalex.org/W2293451440","https://openalex.org/W2580438233","https://openalex.org/W2752209622","https://openalex.org/W2768152608","https://openalex.org/W2806425261","https://openalex.org/W2808933219","https://openalex.org/W2884325870","https://openalex.org/W2899323806","https://openalex.org/W4240191599","https://openalex.org/W4300929448","https://openalex.org/W4323517655"],"related_works":["https://openalex.org/W4236696095","https://openalex.org/W3143779693","https://openalex.org/W2626808643","https://openalex.org/W2004064826","https://openalex.org/W3103727510","https://openalex.org/W97045569","https://openalex.org/W3000714840","https://openalex.org/W1527069879","https://openalex.org/W4297153906","https://openalex.org/W3104124721"],"abstract_inverted_index":{"SUMMARY":[0],"In":[1],"human\u2013robot":[2,263],"comanipulation,":[3],"virtual":[4,58,74,89,127,141,180,240],"guides":[5,59,75,90,142,241,259],"are":[6,47],"an":[7,225,232,261],"important":[8],"tool":[9],"used":[10],"to":[11,24,30,76,138,175,190,207,235,242],"assist":[12],"the":[13,19,22,26,38,41,55,67,71,86,112,123,136,155,165,171,195,198,205,237,249,254],"human":[14,250],"worker":[15],"as":[16,35,148],"they":[17],"constrain":[18],"movement":[20],"of":[21,51,57,66,73,88,111,126,151,162,214,239,245,257],"robot":[23],"improve":[25],"task":[27],"accuracy":[28],"and":[29,44,64,102,105,114,121,158,182,247],"avoid":[31],"undesirable":[32],"effects,":[33],"such":[34],"collisions":[36],"with":[37,78],"environment.":[39],"Consequently,":[40],"physical":[42],"effort":[43],"cognitive":[45],"overload":[46],"reduced":[48],"during":[49,253],"accomplishment":[50],"comanipulative":[52],"tasks.":[53],"However,":[54],"construction":[56],"often":[60],"requires":[61],"expert":[62],"knowledge":[63],"modeling":[65],"task,":[68],"which":[69,145],"restricts":[70],"usefulness":[72],"scenarios":[77],"fixed":[79],"constraints.":[80],"Moreover,":[81],"few":[82],"approaches":[83,98],"have":[84,99],"addressed":[85],"implementation":[87],"enforcing":[91],"orientation":[92,103,166],"constraints":[93],"and,":[94],"when":[95],"done,":[96],"these":[97,119,229,258],"treated":[100],"translation":[101,156],"separately,":[104],"consequently":[106],"there":[107],"is":[108,173,201],"no":[109],"synchronization":[110],"translational":[113,188],"rotational":[115],"motions.":[116],"To":[117],"overcome":[118],"challenges":[120],"enhance":[122],"programming":[124,255],"flexibility":[125],"guides,":[128],"we":[129,146],"present":[130],"a":[131,149,178,209,215],"new":[132],"framework":[133],"that":[134,228],"allows":[135],"user":[137,172,206],"create":[139],"6D":[140],"through":[143],"XSplines":[144],"define":[147,177],"combination":[150],"Akima":[152],"splines":[153],"for":[154,164,204],"component":[157],"spherical":[159],"cubic":[160],"interpolation":[161],"quaternions":[163],"component.":[167],"For":[168],"complex":[169],"tasks,":[170],"able":[174],"initially":[176],"3D":[179],"guide":[181,216],"then":[183],"use":[184,238],"this":[185],"assistance":[186],"in":[187,224,260],"motion":[189],"concentrate":[191],"only":[192],"on":[193],"defining":[194],"orientations":[196],"along":[197],"path.":[199],"It":[200],"also":[202],"possible":[203],"modify":[208],"particular":[210],"point":[211],"or":[212],"portion":[213],"while":[217],"being":[218],"assisted":[219,262],"by":[220],"it.":[221],"We":[222],"demonstrate":[223],"industrial":[226],"scenario":[227],"innovations":[230],"provide":[231],"intuitive":[233],"solution":[234],"extend":[236],"6":[243],"degrees":[244],"freedom":[246],"increase":[248],"worker\u2019s":[251],"comfort":[252],"phase":[256],"comanipulation":[264],"context.":[265]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1}],"updated_date":"2026-07-26T07:53:14.480251","created_date":"2020-02-14T00:00:00"}