{"id":"https://openalex.org/W3004495768","doi":"https://doi.org/10.1108/ir-03-2019-0045","title":"Intuitive gesture-based control system with collision avoidance for robotic manipulators","display_name":"Intuitive gesture-based control system with collision avoidance for robotic manipulators","publication_year":2020,"publication_date":"2020-01-13","ids":{"openalex":"https://openalex.org/W3004495768","doi":"https://doi.org/10.1108/ir-03-2019-0045","mag":"3004495768"},"language":"en","primary_location":{"id":"doi:10.1108/ir-03-2019-0045","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-03-2019-0045","pdf_url":null,"source":{"id":"https://openalex.org/S166948985","display_name":"Industrial Robot the international journal of robotics research and application","issn_l":"0143-991X","issn":["0143-991X","1758-5791"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319811","host_organization_name":"Emerald Publishing Limited","host_organization_lineage":["https://openalex.org/P4310319811"],"host_organization_lineage_names":["Emerald Publishing Limited"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Industrial Robot: the international journal of robotics research and application","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/A5003364034","display_name":"Grant Rudd","orcid":null},"institutions":[{"id":"https://openalex.org/I33434090","display_name":"University of Massachusetts Boston","ror":"https://ror.org/04ydmy275","country_code":"US","type":"education","lineage":["https://openalex.org/I33434090"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Grant Rudd","raw_affiliation_strings":["University of Massachusetts Boston, Boston, Massachusetts, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Massachusetts Boston, Boston, Massachusetts, USA","institution_ids":["https://openalex.org/I33434090"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010164812","display_name":"Liam Daly","orcid":null},"institutions":[{"id":"https://openalex.org/I33434090","display_name":"University of Massachusetts Boston","ror":"https://ror.org/04ydmy275","country_code":"US","type":"education","lineage":["https://openalex.org/I33434090"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Liam Daly","raw_affiliation_strings":["University of Massachusetts Boston, Boston, Massachusetts, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Massachusetts Boston, Boston, Massachusetts, USA","institution_ids":["https://openalex.org/I33434090"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5029564172","display_name":"Filip \u010cu\u010dkov","orcid":"https://orcid.org/0000-0002-7504-0547"},"institutions":[{"id":"https://openalex.org/I33434090","display_name":"University of Massachusetts Boston","ror":"https://ror.org/04ydmy275","country_code":"US","type":"education","lineage":["https://openalex.org/I33434090"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Filip Cuckov","raw_affiliation_strings":["University of Massachusetts Boston, Boston, Massachusetts, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Massachusetts Boston, Boston, Massachusetts, USA","institution_ids":["https://openalex.org/I33434090"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.7442,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.70733266,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"47","issue":"2","first_page":"243","last_page":"251"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11398","display_name":"Hand Gesture Recognition Systems","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11398","display_name":"Hand Gesture Recognition Systems","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9994000196456909,"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":0.9933000206947327,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6877692937850952},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6595723628997803},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.5371860265731812},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5366323590278625},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5323249101638794},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4814397692680359},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.4762837290763855},{"id":"https://openalex.org/keywords/mobile-manipulator","display_name":"Mobile manipulator","score":0.46702292561531067},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.45696893334388733},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4297705590724945},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.42255860567092896},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.41007229685783386},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.40330246090888977},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2700200080871582}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6877692937850952},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6595723628997803},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.5371860265731812},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5366323590278625},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5323249101638794},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4814397692680359},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.4762837290763855},{"id":"https://openalex.org/C190727649","wikidata":"https://www.wikidata.org/wiki/Q1941532","display_name":"Mobile manipulator","level":4,"score":0.46702292561531067},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.45696893334388733},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4297705590724945},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.42255860567092896},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.41007229685783386},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.40330246090888977},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2700200080871582},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1108/ir-03-2019-0045","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-03-2019-0045","pdf_url":null,"source":{"id":"https://openalex.org/S166948985","display_name":"Industrial Robot the international journal of robotics research and application","issn_l":"0143-991X","issn":["0143-991X","1758-5791"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319811","host_organization_name":"Emerald Publishing Limited","host_organization_lineage":["https://openalex.org/P4310319811"],"host_organization_lineage_names":["Emerald Publishing Limited"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Industrial Robot: the international journal of robotics research and application","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.8100000023841858,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W151252481","https://openalex.org/W1912691361","https://openalex.org/W1969451263","https://openalex.org/W1984187457","https://openalex.org/W1994850720","https://openalex.org/W2018204822","https://openalex.org/W2039604658","https://openalex.org/W2081993906","https://openalex.org/W2082586922","https://openalex.org/W2100678253","https://openalex.org/W2141103690","https://openalex.org/W2291971958","https://openalex.org/W2297492119","https://openalex.org/W2321079037","https://openalex.org/W2394957224","https://openalex.org/W2416407175","https://openalex.org/W2493390627","https://openalex.org/W2549847961","https://openalex.org/W2562212366","https://openalex.org/W2896438524","https://openalex.org/W2911323448"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W4253519380","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W2356867392","https://openalex.org/W2782776446","https://openalex.org/W3043170174","https://openalex.org/W2155948905","https://openalex.org/W2357323510","https://openalex.org/W4366961261"],"abstract_inverted_index":{"Purpose":[0],"This":[1,48,289],"paper":[2],"aims":[3,291],"to":[4,29,36,52,77,83,116,132,137,165,260,262,273,285,292],"present":[5],"an":[6,38,303],"intuitive":[7,39],"control":[8,73,225],"system":[9,49],"for":[10,60,67,134],"robotic":[11,46,79,88,157],"manipulators":[12],"that":[13,218],"pairs":[14],"a":[15,18,45,85,162,274],"Leap":[16,100,174,204,245],"Motion,":[17,101],"low-cost":[19],"optical":[20],"tracking":[21,171],"and":[22,31,34,43,55,58,63,110,127,148,167,207,223,231,238,283],"gesture":[23],"recognition":[24],"device,":[25],"with":[26,188],"the":[27,95,99,102,108,113,119,123,135,139,143,169,173,182,199,203,208,219,227,244,254,271,280,287,294],"ability":[28],"record":[30],"replay":[32],"trajectories":[33,242],"operation":[35],"create":[37],"method":[40],"of":[41,90,112,122,172,214,221,226,235,256],"controlling":[42],"programming":[44,257,301,306],"manipulator.":[47],"was":[50,81,104,130,229],"designed":[51,82],"be":[53],"extensible":[54],"includes":[56],"modules":[57],"methods":[59,234,255,298],"obstacle":[61,68],"detection":[62],"dynamic":[64],"trajectory":[65],"modification":[66],"avoidance.":[69],"Design/methodology/approach":[70],"The":[71,212],"presented":[72],"architecture,":[74],"while":[75],"portable":[76],"any":[78],"platform,":[80],"actuate":[84],"six":[86,240],"degree-of-freedom":[87,241],"manipulator":[89,103,158],"our":[91,155,233],"own":[92],"design.":[93],"From":[94],"data":[96],"collected":[97,195],"by":[98,106,159,196,269],"controlled":[105],"mapping":[107],"position":[109],"orientation":[111],"human":[114,296],"hand":[115],"values":[117],"in":[118,181,186,252],"joint":[120],"space":[121],"robot.":[124],"Additional":[125],"recording":[126,197,237],"playback":[128],"functionality":[129],"implemented":[131],"allow":[133],"robot":[136,228],"repeat":[138],"desired":[140],"tasks":[141],"once":[142],"task":[144,272],"had":[145],"been":[146],"demonstrated":[147],"recorded.":[149],"Findings":[150],"Experiments":[151],"were":[152,179,194],"conducted":[153,180],"on":[154],"custom-built":[156],"first":[160],"using":[161],"simulation":[163,184],"model":[164],"characterize":[166],"quantify":[168],"robot\u2019s":[170],"Motion":[175,205,246],"generated":[176],"trajectory.":[177],"Tests":[178],"Gazebo":[183],"software":[185],"conjunction":[187],"Robot":[189],"Operating":[190],"System,":[191],"where":[192],"results":[193,213],"both":[198],"real-time":[200,224],"input":[201],"from":[202,243],"sensor,":[206],"corresponding":[209],"pose":[210],"data.":[211],"these":[215],"experiments":[216],"show":[217],"goal":[220],"accurate":[222],"achieved":[230],"validated":[232],"transcribing,":[236],"repeating":[239],"camera.":[247],"Originality/value":[248],"As":[249],"robots":[250],"evolve":[251,261],"complexity,":[253],"them":[258],"need":[259],"become":[263],"more":[264],"intuitive.":[265],"Humans":[266],"instinctively":[267],"teach":[268],"demonstrating":[270],"given":[275],"subject,":[276],"who":[277],"then":[278],"observes":[279],"various":[281],"poses":[282],"tries":[284],"replicate":[286],"motions.":[288],"work":[290],"integrate":[293],"natural":[295],"teaching":[297],"into":[299],"robotics":[300],"through":[302],"intuitive,":[304],"demonstration-based":[305],"method.":[307]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
