{"id":"https://openalex.org/W4391626822","doi":"https://doi.org/10.1108/ir-11-2023-0292","title":"Autonomous path planning and stabilizing force interaction control for robotic massage in unknown environment","display_name":"Autonomous path planning and stabilizing force interaction control for robotic massage in unknown environment","publication_year":2024,"publication_date":"2024-02-07","ids":{"openalex":"https://openalex.org/W4391626822","doi":"https://doi.org/10.1108/ir-11-2023-0292"},"language":"en","primary_location":{"id":"doi:10.1108/ir-11-2023-0292","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-11-2023-0292","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/A5100434646","display_name":"Xiaoqing Zhang","orcid":"https://orcid.org/0000-0003-3765-3059"},"institutions":[{"id":"https://openalex.org/I141962983","display_name":"Shanghai University of Engineering Science","ror":"https://ror.org/0557b9y08","country_code":"CN","type":"education","lineage":["https://openalex.org/I141962983"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xiaoqing Zhang","raw_affiliation_strings":["School of Mechanical and Automotive Engineering, Shanghai University of Engineering Science, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical and Automotive Engineering, Shanghai University of Engineering Science, Shanghai, China","institution_ids":["https://openalex.org/I141962983"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102822785","display_name":"Genliang Xiong","orcid":"https://orcid.org/0000-0002-1303-6980"},"institutions":[{"id":"https://openalex.org/I141962983","display_name":"Shanghai University of Engineering Science","ror":"https://ror.org/0557b9y08","country_code":"CN","type":"education","lineage":["https://openalex.org/I141962983"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Genliang Xiong","raw_affiliation_strings":["School of Mechanical and Automotive Engineering, Shanghai University of Engineering Science, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical and Automotive Engineering, Shanghai University of Engineering Science, Shanghai, China","institution_ids":["https://openalex.org/I141962983"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101796048","display_name":"Yin Peng","orcid":"https://orcid.org/0000-0001-7524-7508"},"institutions":[{"id":"https://openalex.org/I141962983","display_name":"Shanghai University of Engineering Science","ror":"https://ror.org/0557b9y08","country_code":"CN","type":"education","lineage":["https://openalex.org/I141962983"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Peng Yin","raw_affiliation_strings":["School of Mechanical and Automotive Engineering, Shanghai University of Engineering Science, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical and Automotive Engineering, Shanghai University of Engineering Science, Shanghai, China","institution_ids":["https://openalex.org/I141962983"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101906990","display_name":"Yanfeng Gao","orcid":"https://orcid.org/0000-0002-5152-6091"},"institutions":[{"id":"https://openalex.org/I141962983","display_name":"Shanghai University of Engineering Science","ror":"https://ror.org/0557b9y08","country_code":"CN","type":"education","lineage":["https://openalex.org/I141962983"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanfeng Gao","raw_affiliation_strings":["School of Mechanical and Automotive Engineering, Shanghai University of Engineering Science, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical and Automotive Engineering, Shanghai University of Engineering Science, Shanghai, China","institution_ids":["https://openalex.org/I141962983"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5075806509","display_name":"Yan Feng","orcid":"https://orcid.org/0000-0002-4974-7004"},"institutions":[{"id":"https://openalex.org/I141962983","display_name":"Shanghai University of Engineering Science","ror":"https://ror.org/0557b9y08","country_code":"CN","type":"education","lineage":["https://openalex.org/I141962983"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yan Feng","raw_affiliation_strings":["School of Mechanical and Automotive Engineering, Shanghai University of Engineering Science, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical and Automotive Engineering, Shanghai University of Engineering Science, Shanghai, China","institution_ids":["https://openalex.org/I141962983"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5100434646"],"corresponding_institution_ids":["https://openalex.org/I141962983"],"apc_list":null,"apc_paid":null,"fwci":1.1494,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.7438709,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"51","issue":"3","first_page":"518","last_page":"527"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9991999864578247,"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"}},"topics":[{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9991999864578247,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9980000257492065,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9944999814033508,"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/massage","display_name":"Massage","score":0.7607223391532898},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6285122632980347},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5733543634414673},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5610964298248291},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5396372079849243},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5285828709602356},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.46480074524879456},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.444124698638916},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.41740599274635315},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.41071751713752747},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3708348870277405},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3463659882545471},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3384265899658203},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.31963616609573364},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.0838402509689331}],"concepts":[{"id":"https://openalex.org/C175259745","wikidata":"https://www.wikidata.org/wiki/Q179415","display_name":"Massage","level":3,"score":0.7607223391532898},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6285122632980347},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5733543634414673},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5610964298248291},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5396372079849243},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5285828709602356},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.46480074524879456},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.444124698638916},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.41740599274635315},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.41071751713752747},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3708348870277405},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3463659882545471},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3384265899658203},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.31963616609573364},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0838402509689331},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C204787440","wikidata":"https://www.wikidata.org/wiki/Q188504","display_name":"Alternative medicine","level":2,"score":0.0},{"id":"https://openalex.org/C142724271","wikidata":"https://www.wikidata.org/wiki/Q7208","display_name":"Pathology","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1108/ir-11-2023-0292","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-11-2023-0292","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":[{"score":0.5299999713897705,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W1511549914","https://openalex.org/W1974971584","https://openalex.org/W2002153324","https://openalex.org/W2009642500","https://openalex.org/W2017972342","https://openalex.org/W2083334607","https://openalex.org/W2100873103","https://openalex.org/W2105126143","https://openalex.org/W2106021820","https://openalex.org/W2108500284","https://openalex.org/W2130340820","https://openalex.org/W2194775991","https://openalex.org/W2281978847","https://openalex.org/W2512112547","https://openalex.org/W2526314823","https://openalex.org/W2737417095","https://openalex.org/W2796779902","https://openalex.org/W2806455024","https://openalex.org/W2884585870","https://openalex.org/W2895422053","https://openalex.org/W3026452467","https://openalex.org/W3040760326","https://openalex.org/W4221166649","https://openalex.org/W4229588126","https://openalex.org/W4293087476","https://openalex.org/W4295832261","https://openalex.org/W4301392650","https://openalex.org/W4309065804","https://openalex.org/W4312514544","https://openalex.org/W4385631311"],"related_works":["https://openalex.org/W3157682546","https://openalex.org/W2183409668","https://openalex.org/W1634445912","https://openalex.org/W1520033421","https://openalex.org/W3004588887","https://openalex.org/W2371382826","https://openalex.org/W2369195552","https://openalex.org/W2284127233","https://openalex.org/W583560571","https://openalex.org/W4206417539"],"abstract_inverted_index":{"Purpose":[0],"To":[1],"ensure":[2],"the":[3,56,63,68,75,84,96,105,127,142,152,161,164,171,183,192,206,210,214],"motion":[4],"attitude":[5],"and":[6,32,41,59,71,80,89,107,114,132,150,182,203,217,228],"stable":[7,33,227],"contact":[8],"force":[9,119,173,230],"of":[10,62,74,83,99,110,129,163,213],"massage":[11,29,85,157,215,221],"robot":[12,207],"working":[13,57],"on":[14,45],"unknown":[15],"human":[16,111,165],"tissue":[17,112,133],"environment,":[18],"this":[19],"study":[20],"aims":[21],"to":[22,66,94,102,125,155,160,223],"propose":[23],"a":[24,52,147,178,226],"robotic":[25],"system":[26],"for":[27,54],"autonomous":[28],"path":[30,60,81,222],"planning":[31,82,220],"interaction":[34],"control.":[35],"Design/methodology/approach":[36],"First,":[37],"back":[38],"region":[39],"extraction":[40],"acupoint":[42,143],"recognition":[43,144],"based":[44],"deep":[46,199],"learning":[47],"is":[48,123,185],"proposed,":[49],"which":[50],"provides":[51],"basis":[53],"determining":[55],"area":[58,86,216],"points":[61],"robot.":[64],"Second,":[65],"realize":[67],"standard":[69],"approach":[70],"movement":[72],"trajectory":[73],"expert":[76],"massage,":[77],"3D":[78,201],"reconstruction":[79,202],"are":[87,92],"performed,":[88],"normal":[90,97],"vectors":[91],"calculated":[93],"control":[95,121,175,232],"orientation":[98],"robot-end.":[100],"Finally,":[101],"cope":[103],"with":[104,146],"soft":[106],"hard":[108],"changes":[109],"state":[113],"body":[115],"movement,":[116],"an":[117],"adaptive":[118,172],"tracking":[120,174,231],"strategy":[122],"presented":[124],"compensate":[126],"uncertainty":[128],"environmental":[130],"position":[131],"hardness":[134],"online.":[135],"Findings":[136],"Improved":[137],"network":[138],"model":[139],"can":[140,176,208],"accomplish":[141],"task":[145],"large":[148],"accuracy":[149],"integrate":[151],"point":[153],"cloud":[154],"generate":[156],"trajectories":[158],"adapted":[159],"shape":[162,211],"body.":[166],"Experimental":[167],"results":[168],"show":[169],"that":[170],"obtain":[177],"relatively":[179],"smooth":[180],"force,":[181],"error":[184],"basically":[186],"within":[187],"\u00b1":[188],"0.2":[189],"N":[190],"during":[191,233],"online":[193],"experiment.":[194],"Originality/value":[195],"This":[196],"paper":[197],"incorporates":[198],"learning,":[200],"impedance":[204],"control,":[205],"understand":[209],"features":[212],"adapt":[218],"its":[219],"carry":[224],"out":[225],"safe":[229],"dynamic":[234],"robot\u2013human":[235],"contact.":[236]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":2}],"updated_date":"2026-03-14T08:43:22.919905","created_date":"2025-10-10T00:00:00"}