{"id":"https://openalex.org/W2172281605","doi":"https://doi.org/10.1109/acc.2009.5160062","title":"Control scheme for human-robot co-manipulation of uncertain, time-varying loads","display_name":"Control scheme for human-robot co-manipulation of uncertain, time-varying loads","publication_year":2009,"publication_date":"2009-01-01","ids":{"openalex":"https://openalex.org/W2172281605","doi":"https://doi.org/10.1109/acc.2009.5160062","mag":"2172281605"},"language":"en","primary_location":{"id":"doi:10.1109/acc.2009.5160062","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2009.5160062","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 American Control Conference","raw_type":"proceedings-article"},"type":"conference-paper","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/A5014945485","display_name":"Stefan Lichiardopol","orcid":null},"institutions":[{"id":"https://openalex.org/I83019370","display_name":"Eindhoven University of Technology","ror":"https://ror.org/02c2kyt77","country_code":"NL","type":"education","lineage":["https://openalex.org/I83019370"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Stefan Lichiardopol","raw_affiliation_strings":["Dynamics and Control Group, Department of Mechanical Engineering, Technical University Eindhoven, Eindhoven, Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dynamics and Control Group, Department of Mechanical Engineering, Technical University Eindhoven, Eindhoven, Netherlands","institution_ids":["https://openalex.org/I83019370"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004028181","display_name":"Nathan van de Wouw","orcid":"https://orcid.org/0000-0002-6745-9137"},"institutions":[{"id":"https://openalex.org/I83019370","display_name":"Eindhoven University of Technology","ror":"https://ror.org/02c2kyt77","country_code":"NL","type":"education","lineage":["https://openalex.org/I83019370"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Nathan van de Wouw","raw_affiliation_strings":["Dynamics and Control Group, Department of Mechanical Engineering, Technical University Eindhoven, Eindhoven, Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dynamics and Control Group, Department of Mechanical Engineering, Technical University Eindhoven, Eindhoven, Netherlands","institution_ids":["https://openalex.org/I83019370"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5022300438","display_name":"Henk Nijmeijer","orcid":"https://orcid.org/0000-0001-5883-6191"},"institutions":[{"id":"https://openalex.org/I83019370","display_name":"Eindhoven University of Technology","ror":"https://ror.org/02c2kyt77","country_code":"NL","type":"education","lineage":["https://openalex.org/I83019370"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Henk Nijmeijer","raw_affiliation_strings":["Dynamics and Control Group, Department of Mechanical Engineering, Technical University Eindhoven, Eindhoven, Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dynamics and Control Group, Department of Mechanical Engineering, Technical University Eindhoven, Eindhoven, Netherlands","institution_ids":["https://openalex.org/I83019370"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I83019370"],"apc_list":null,"apc_paid":null,"fwci":2.027,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.87385681,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"1485","last_page":"1490"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9804999828338623,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9804999828338623,"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/T14011","display_name":"Elevator Systems and Control","score":0.9801999926567078,"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":0.9772999882698059,"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/computer-science","display_name":"Computer science","score":0.6414138078689575},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6201874613761902},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6143671274185181},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.5914870500564575},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5906442999839783},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.5614287257194519},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5321105122566223},{"id":"https://openalex.org/keywords/operator","display_name":"Operator (biology)","score":0.465995192527771},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.4433857798576355},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.437313973903656},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.42571038007736206},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.42276179790496826},{"id":"https://openalex.org/keywords/phase","display_name":"Phase (matter)","score":0.4187333583831787},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3380163013935089},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.27938973903656006},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2587636709213257},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10808232426643372}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6414138078689575},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6201874613761902},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6143671274185181},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.5914870500564575},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5906442999839783},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.5614287257194519},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5321105122566223},{"id":"https://openalex.org/C17020691","wikidata":"https://www.wikidata.org/wiki/Q139677","display_name":"Operator (biology)","level":5,"score":0.465995192527771},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.4433857798576355},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.437313973903656},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.42571038007736206},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.42276179790496826},{"id":"https://openalex.org/C44280652","wikidata":"https://www.wikidata.org/wiki/Q104837","display_name":"Phase (matter)","level":2,"score":0.4187333583831787},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3380163013935089},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.27938973903656006},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2587636709213257},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10808232426643372},{"id":"https://openalex.org/C86339819","wikidata":"https://www.wikidata.org/wiki/Q407384","display_name":"Transcription factor","level":3,"score":0.0},{"id":"https://openalex.org/C178790620","wikidata":"https://www.wikidata.org/wiki/Q11351","display_name":"Organic chemistry","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/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","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/C158448853","wikidata":"https://www.wikidata.org/wiki/Q425218","display_name":"Repressor","level":4,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"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/C170154142","wikidata":"https://www.wikidata.org/wiki/Q150737","display_name":"Architectural engineering","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1109/acc.2009.5160062","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2009.5160062","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 American Control Conference","raw_type":"proceedings-article"},{"id":"pmh:oai:pure.tue.nl:openaire_cris_publications/5872d5fc-8766-4a55-be99-0406b1f4fcd0","is_oa":false,"landing_page_url":"https://research.tue.nl/en/publications/5872d5fc-8766-4a55-be99-0406b1f4fcd0","pdf_url":null,"source":{"id":"https://openalex.org/S4406922641","display_name":"TU/e Research Portal","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":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Lichiardopol, S, Wouw, van de, N & Nijmeijer, H 2009, Control scheme for human-robot co-manipulation of uncertain, time-varying loads. in Proceedings of the 28th American Control Conference, (ACC '09) 10 - 12 June 2009, St. Louis, MO, USA. Institute of Electrical and Electronics Engineers, Piscataway, NJ, pp. 1485-1490. https://doi.org/10.1109/ACC.2009.5160062","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:663395","is_oa":false,"landing_page_url":"http://library.tue.nl/csp/dare/LinkToRepository.csp?recordnumber=663395","pdf_url":null,"source":{"id":"https://openalex.org/S4406922641","display_name":"TU/e Research Portal","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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":null},{"id":"pmh:oai:library.tue.nl:663395","is_oa":false,"landing_page_url":"http://repository.tue.nl/663395","pdf_url":null,"source":{"id":"https://openalex.org/S4406922641","display_name":"TU/e Research Portal","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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":null},{"id":"pmh:tue:oai:pure.tue.nl:publications/5872d5fc-8766-4a55-be99-0406b1f4fcd0","is_oa":false,"landing_page_url":"https://research.tue.nl/nl/publications/5872d5fc-8766-4a55-be99-0406b1f4fcd0","pdf_url":null,"source":{"id":"https://openalex.org/S4306401843","display_name":"Data Archiving and Networked Services (DANS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1322597698","host_organization_name":"Royal Netherlands Academy of Arts and Sciences","host_organization_lineage":["https://openalex.org/I1322597698"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Proceedings of the 28th American Control Conference, (ACC '09) 10 - 12 June 2009, St. Louis, MO, USA, 1485 - 1490","raw_type":"info:eu-repo/semantics/conferencepaper"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W1502197149","https://openalex.org/W1587352729","https://openalex.org/W2062525791","https://openalex.org/W2126985986","https://openalex.org/W2132991926","https://openalex.org/W2151410339","https://openalex.org/W2157191603","https://openalex.org/W2165626406","https://openalex.org/W2170229295","https://openalex.org/W2171850069","https://openalex.org/W2506256498","https://openalex.org/W2539649908","https://openalex.org/W6683286432"],"related_works":["https://openalex.org/W2391397427","https://openalex.org/W1996341361","https://openalex.org/W4366609476","https://openalex.org/W2078127841","https://openalex.org/W2919815400","https://openalex.org/W2156518980","https://openalex.org/W2159353126","https://openalex.org/W2093621301","https://openalex.org/W849053048","https://openalex.org/W2517515794"],"abstract_inverted_index":{"The":[0,34,47,63,104],"collaboration":[1],"between":[2,77],"a":[3,7,12,32,52,91,115],"human":[4,71,82,97],"operator":[5],"and":[6,30,80],"robotic":[8],"manipulator":[9],"for":[10,114],"performing":[11],"joint":[13],"task":[14],"is":[15,50,58,66,83,99,107],"the":[16,24,39,67,70,74,78,81,85,88,95,102],"main":[17],"topic":[18],"of":[19,23,41,51,69,94,111],"this":[20],"article.":[21],"One":[22],"most":[25],"common":[26],"tasks":[27],"involves":[28],"transporting":[29],"positioning":[31],"load.":[33,86,103],"proposed":[35,105],"control":[36,48],"strategy":[37],"allows":[38],"co-manipulation":[40],"loads":[42],"with":[43],"unknown,":[44],"time-varying":[45],"mass.":[46],"algorithm":[49],"cyclic":[53],"nature,":[54],"where":[55],"each":[56],"cycle":[57],"subdivided":[59],"into":[60],"two":[61],"stages.":[62],"first":[64],"phase":[65],"estimation":[68],"force,":[72],"since":[73],"only":[75],"connection":[76],"robot":[79,117],"via":[84],"In":[87],"second":[89],"phase,":[90],"scaled":[92],"version":[93],"estimated":[96],"force":[98],"applied":[100],"to":[101],"approach":[106],"illustrated":[108],"by":[109],"means":[110],"simulation":[112],"results":[113],"two-link":[116],"manipulator.":[118]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":2},{"year":2012,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}