{"id":"https://openalex.org/W2947226608","doi":"https://doi.org/10.1108/ir-08-2018-0172","title":"Incorporating artificial skin signals in the constraint-based reactive control of human\u2013robot collaborative manipulation tasks","display_name":"Incorporating artificial skin signals in the constraint-based reactive control of human\u2013robot collaborative manipulation tasks","publication_year":2019,"publication_date":"2019-05-20","ids":{"openalex":"https://openalex.org/W2947226608","doi":"https://doi.org/10.1108/ir-08-2018-0172","mag":"2947226608"},"language":"en","primary_location":{"id":"doi:10.1108/ir-08-2018-0172","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-08-2018-0172","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":true,"oa_status":"green","oa_url":"https://lirias.kuleuven.be/handle/123456789/637921","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5091018862","display_name":"Cristian Vergara","orcid":"https://orcid.org/0000-0003-3962-3419"},"institutions":[{"id":"https://openalex.org/I99464096","display_name":"KU Leuven","ror":"https://ror.org/05f950310","country_code":"BE","type":"education","lineage":["https://openalex.org/I99464096"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Cristian Alejandro Vergara","raw_affiliation_strings":["Department of Mechanical Engineering, KU Leuven, Leuven, Belgium"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, KU Leuven, Leuven, Belgium","institution_ids":["https://openalex.org/I99464096"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038002992","display_name":"Gianni Borghesan","orcid":"https://orcid.org/0000-0002-6023-1498"},"institutions":[{"id":"https://openalex.org/I99464096","display_name":"KU Leuven","ror":"https://ror.org/05f950310","country_code":"BE","type":"education","lineage":["https://openalex.org/I99464096"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Gianni Borghesan","raw_affiliation_strings":["Department of Mechanical Engineering, KU Leuven, Leuven, Belgium"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, KU Leuven, Leuven, Belgium","institution_ids":["https://openalex.org/I99464096"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038134638","display_name":"Erwin Aertbeli\u00ebn","orcid":"https://orcid.org/0000-0002-4514-0934"},"institutions":[{"id":"https://openalex.org/I99464096","display_name":"KU Leuven","ror":"https://ror.org/05f950310","country_code":"BE","type":"education","lineage":["https://openalex.org/I99464096"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Erwin Aertbeli\u00ebn","raw_affiliation_strings":["Department of Mechanical Engineering, KU Leuven, Leuven, Belgium"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, KU Leuven, Leuven, Belgium","institution_ids":["https://openalex.org/I99464096"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5006282526","display_name":"Joris De Schutter","orcid":"https://orcid.org/0000-0001-9619-5815"},"institutions":[{"id":"https://openalex.org/I99464096","display_name":"KU Leuven","ror":"https://ror.org/05f950310","country_code":"BE","type":"education","lineage":["https://openalex.org/I99464096"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Joris De Schutter","raw_affiliation_strings":["Department of Mechanical Engineering, KU Leuven, Leuven, Belgium"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, KU Leuven, Leuven, Belgium","institution_ids":["https://openalex.org/I99464096"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I99464096"],"apc_list":null,"apc_paid":null,"fwci":0.4927,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.63881456,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"46","issue":"3","first_page":"360","last_page":"368"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9991000294685364,"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":0.9991000294685364,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9909999966621399,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9907000064849854,"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/robot","display_name":"Robot","score":0.6994412541389465},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.6479807496070862},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5697944164276123},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4886472821235657},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.44971761107444763},{"id":"https://openalex.org/keywords/a-priori-and-a-posteriori","display_name":"A priori and a posteriori","score":0.44458645582199097},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4332748353481293},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.42851877212524414},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4218016266822815},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.42172276973724365},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.41749900579452515},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.37448906898498535},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.27473220229148865},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2701055407524109}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6994412541389465},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.6479807496070862},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5697944164276123},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4886472821235657},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.44971761107444763},{"id":"https://openalex.org/C75553542","wikidata":"https://www.wikidata.org/wiki/Q178161","display_name":"A priori and a posteriori","level":2,"score":0.44458645582199097},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4332748353481293},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.42851877212524414},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4218016266822815},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.42172276973724365},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.41749900579452515},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.37448906898498535},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.27473220229148865},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2701055407524109},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"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/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","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/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1108/ir-08-2018-0172","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-08-2018-0172","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"},{"id":"pmh:oai:lirias2repo.kuleuven.be:123456789/637921","is_oa":true,"landing_page_url":"https://lirias.kuleuven.be/handle/123456789/637921","pdf_url":null,"source":{"id":"https://openalex.org/S7407055369","display_name":"Lirias","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Industrial Robot, vol. 46 (3), (360-368)","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:lirias2repo.kuleuven.be:123456789/637921","is_oa":true,"landing_page_url":"https://lirias.kuleuven.be/handle/123456789/637921","pdf_url":null,"source":{"id":"https://openalex.org/S7407055369","display_name":"Lirias","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Industrial Robot, vol. 46 (3), (360-368)","raw_type":"info:eu-repo/semantics/article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W2013439434","https://openalex.org/W2042682870","https://openalex.org/W2053000265","https://openalex.org/W2061369443","https://openalex.org/W2084615382","https://openalex.org/W2133844819","https://openalex.org/W2151992157","https://openalex.org/W2154777391","https://openalex.org/W2169360335","https://openalex.org/W2170620126","https://openalex.org/W2281447589","https://openalex.org/W2318055712","https://openalex.org/W2586840159","https://openalex.org/W2730676472","https://openalex.org/W2758436592","https://openalex.org/W2783598731","https://openalex.org/W2888391846"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2371519816","https://openalex.org/W2043154226","https://openalex.org/W2369529107","https://openalex.org/W2109948066","https://openalex.org/W2329043542","https://openalex.org/W1678858522","https://openalex.org/W3195090107","https://openalex.org/W38056103","https://openalex.org/W2161157331"],"abstract_inverted_index":{"Purpose":[0],"The":[1,32,47,124,151],"purpose":[2],"of":[3,27,110,149,161,168,178],"this":[4,135],"paper":[5,136],"is":[6,127,175],"to":[7,88,92],"develop":[8],"a":[9,44,95,132,138,144,179],"control":[10],"strategy":[11],"for":[12],"human\u2013robot":[13,180],"collaborative":[14,181],"manipulation":[15],"tasks":[16],"that":[17],"can":[18,64],"deal":[19],"with":[20,98],"proximity":[21,170],"signals":[22],"from":[23,58],"373":[24],"interconnected":[25],"cells":[26],"an":[28,38,122,143,184],"artificial":[29,60],"skin.":[30,61],"Design/methodology/approach":[31],"robot":[33,48,91],"and":[34,51,71,164],"the":[35,56,59,77,90,113,118,154,159,165,169,176],"operator":[36],"accomplish":[37],"industrial":[39],"task":[40,191],"while":[41],"interacting":[42],"in":[43],"shared":[45],"workspace.":[46],"controller":[49],"detects":[50],"avoids":[52],"collisions":[53,107],"based":[54,157],"on":[55,158],"information":[57],"Conflicting":[62],"constraints":[63,73,83,103],"be":[65],"handled":[66],"by":[67,75,108],"prioritizing":[68],"between":[69],"hard":[70],"soft":[72,82,102],"or":[74,120],"weighing":[76],"different":[78],"constraints.":[79],"Findings":[80],"Weak":[81],"(low":[84],"weight)":[85,105],"are":[86],"specified":[87],"command":[89],"move":[93],"along":[94,117],"nominal":[96],"path":[97,119],"constant":[99],"velocity.":[100],"Stronger":[101],"(higher":[104],"prevent":[106],"means":[109],"either":[111],"moving":[112],"end":[114],"effector":[115],"backward":[116],"circumventing":[121],"obstacle.":[123],"proposed":[125],"approach":[126],"validated":[128],"experimentally.":[129],"Originality/value":[130],"As":[131],"first":[133],"contribution,":[134],"proposes":[137],"discrete":[139],"optimization":[140,185],"algorithm":[141,152],"activates":[142],"priori":[145],"selected":[146],"maximum":[147],"number":[148],"cells.":[150],"selects":[153],"appropriate":[155],"distribution":[156,167],"amplitude":[160],"each":[162],"signal":[163],"spatial":[166],"measurements.":[171],"A":[172],"second":[173],"contribution":[174],"specification":[177,192],"application":[182],"as":[183],"problem":[186],"using":[187],"eTaSL":[188],"(expression":[189],"graph-based":[190],"language),":[193],"which":[194],"provides":[195],"reactive":[196],"control.":[197]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2020,"cited_by_count":3}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
