{"id":"https://openalex.org/W2941519820","doi":"https://doi.org/10.1080/01691864.2019.1607551","title":"Fuzzy-based-admittance controller for safe natural human\u2013robot interaction","display_name":"Fuzzy-based-admittance controller for safe natural human\u2013robot interaction","publication_year":2019,"publication_date":"2019-04-24","ids":{"openalex":"https://openalex.org/W2941519820","doi":"https://doi.org/10.1080/01691864.2019.1607551","mag":"2941519820"},"language":"en","primary_location":{"id":"doi:10.1080/01691864.2019.1607551","is_oa":false,"landing_page_url":"https://doi.org/10.1080/01691864.2019.1607551","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5074802005","display_name":"Nguyen Van Toan","orcid":"https://orcid.org/0000-0001-8154-973X"},"institutions":[{"id":"https://openalex.org/I94518387","display_name":"Hanoi University of Science and Technology","ror":"https://ror.org/04nyv3z04","country_code":"VN","type":"education","lineage":["https://openalex.org/I94518387"]}],"countries":["VN"],"is_corresponding":false,"raw_author_name":"Nguyen Van Toan","raw_affiliation_strings":["School of Mechanical Engineering, Hanoi University of Science and Technology, Hanoi, Vietnam"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Hanoi University of Science and Technology, Hanoi, Vietnam","institution_ids":["https://openalex.org/I94518387"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5007132836","display_name":"Phan B\u00f9i Kh\u00f4i","orcid":"https://orcid.org/0000-0002-1287-8879"},"institutions":[{"id":"https://openalex.org/I94518387","display_name":"Hanoi University of Science and Technology","ror":"https://ror.org/04nyv3z04","country_code":"VN","type":"education","lineage":["https://openalex.org/I94518387"]}],"countries":["VN"],"is_corresponding":true,"raw_author_name":"Phan Bui Khoi","raw_affiliation_strings":["School of Mechanical Engineering, Hanoi University of Science and Technology, Hanoi, Vietnam"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Hanoi University of Science and Technology, Hanoi, Vietnam","institution_ids":["https://openalex.org/I94518387"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5007132836"],"corresponding_institution_ids":["https://openalex.org/I94518387"],"apc_list":null,"apc_paid":null,"fwci":2.017,"has_fulltext":false,"cited_by_count":20,"citation_normalized_percentile":{"value":0.86578746,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":"33","issue":"15-16","first_page":"815","last_page":"823"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9980999827384949,"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":0.9980999827384949,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9961000084877014,"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":0.9868000149726868,"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/control-theory","display_name":"Control theory (sociology)","score":0.7528218030929565},{"id":"https://openalex.org/keywords/admittance","display_name":"Admittance","score":0.7445685863494873},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6696587204933167},{"id":"https://openalex.org/keywords/fuzzy-logic","display_name":"Fuzzy logic","score":0.5940545797348022},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5686282515525818},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.5363249778747559},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.535606324672699},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5342660546302795},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.5057551860809326},{"id":"https://openalex.org/keywords/inertia","display_name":"Inertia","score":0.4643447995185852},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3875710368156433},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23694857954978943},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1307903230190277},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08085975050926208}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7528218030929565},{"id":"https://openalex.org/C108811297","wikidata":"https://www.wikidata.org/wiki/Q214518","display_name":"Admittance","level":3,"score":0.7445685863494873},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6696587204933167},{"id":"https://openalex.org/C58166","wikidata":"https://www.wikidata.org/wiki/Q224821","display_name":"Fuzzy logic","level":2,"score":0.5940545797348022},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5686282515525818},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.5363249778747559},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.535606324672699},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5342660546302795},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.5057551860809326},{"id":"https://openalex.org/C110407247","wikidata":"https://www.wikidata.org/wiki/Q122508","display_name":"Inertia","level":2,"score":0.4643447995185852},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3875710368156433},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23694857954978943},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1307903230190277},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08085975050926208},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1080/01691864.2019.1607551","is_oa":false,"landing_page_url":"https://doi.org/10.1080/01691864.2019.1607551","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1549432795","https://openalex.org/W1553483187","https://openalex.org/W1846144685","https://openalex.org/W1856925845","https://openalex.org/W1996340840","https://openalex.org/W2076780588","https://openalex.org/W2078310783","https://openalex.org/W2079325629","https://openalex.org/W2080504789","https://openalex.org/W2087527234","https://openalex.org/W2097116200","https://openalex.org/W2099184899","https://openalex.org/W2104939641","https://openalex.org/W2115906629","https://openalex.org/W2117067859","https://openalex.org/W2118281745","https://openalex.org/W2147171344","https://openalex.org/W2181554967","https://openalex.org/W2284269953","https://openalex.org/W2416909497","https://openalex.org/W2463323926","https://openalex.org/W2487032359","https://openalex.org/W2523105571","https://openalex.org/W2744207720"],"related_works":["https://openalex.org/W2200472972","https://openalex.org/W2031643172","https://openalex.org/W2367857055","https://openalex.org/W2047335472","https://openalex.org/W2021013760","https://openalex.org/W2024162929","https://openalex.org/W4312935962","https://openalex.org/W1988042083","https://openalex.org/W1594265855","https://openalex.org/W3205034227"],"abstract_inverted_index":{"In":[0],"recent":[1],"years,":[2],"a":[3,145],"great":[4],"amount":[5],"of":[6,25,40,58,75,113,120,128,180],"research":[7],"on":[8,18,110,148,195,200],"physical":[9],"human\u2013robot":[10,169],"interaction":[11],"has":[12],"been":[13],"conducted,":[14],"and":[15,35,42,93,122,150],"mainly":[16],"concentrated":[17],"safety":[19],"issues":[20],"to":[21,27,87,94,116,165],"minimize":[22],"the":[23,28,31,38,46,63,100,118,126,133,154,157,167,192],"risk":[24],"accidents":[26],"operator":[29,96],"during":[30,99,125],"cooperation":[32,65],"between":[33],"human":[34,193],"robot.":[36,155],"Unfortunately,":[37],"identification":[39,119],"inertia":[41,121],"damping":[43,123],"matrices":[44,124],"in":[45,72,77,131,186],"dynamic":[47],"admittance":[48,60,107],"model":[49],"is":[50,53,66,80,85,136,174],"time-consuming,":[51],"which":[52,79,132,187],"still":[54],"an":[55,105,177],"open":[56],"problem":[57],"previous":[59],"controllers.":[61],"Additionally,":[62],"natural":[64,168],"that":[67],"cooperative":[68,91],"movements":[69],"are":[70],"implemented":[71],"every":[73],"degree":[74],"freedom":[76],"space,":[78],"rarely":[81],"concerned":[82],"while":[83],"it":[84],"important":[86],"implement":[88],"more":[89],"complex":[90],"movements,":[92],"help":[95],"feels":[97],"naturally":[98],"cooperation.":[101],"This":[102],"paper":[103],"presents":[104],"alternative":[106],"controller":[108,129,159,173],"based":[109],"inference":[111],"mechanism":[112],"fuzzy":[114],"logic":[115],"eliminate":[117],"process":[127],"formulation":[130],"end-effector\u2019s":[134,162],"velocity":[135],"adaptively":[137],"adjusted":[138],"via":[139,191],"external":[140],"wrench":[141],"(force/torque":[142],"measured":[143],"by":[144,153,176],"sensor":[146,198],"mounted":[147,199],"end-effector)":[149],"power":[151],"transmitted":[152],"Moreover,":[156],"proposed":[158],"also":[160],"considers":[161],"full":[163],"DOF":[164],"guarantee":[166],"interaction.":[170],"The":[171],"fuzzy-admittance":[172],"evaluated":[175],"experimental":[178],"set-up":[179],"teaching":[181],"task":[182],"using":[183],"6-DOF":[184],"manipulator":[185,188],"moves":[189],"passively":[190],"impact":[194],"real-time":[196],"force/torque":[197],"end-effector.":[201]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":4}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}