{"id":"https://openalex.org/W4403677756","doi":"https://doi.org/10.1109/case59546.2024.10711807","title":"Estimation of Human Compliance Parameters during Robot Kinesthetic Teaching by Compensation of the Dynamics of the Force-Torque Sensor","display_name":"Estimation of Human Compliance Parameters during Robot Kinesthetic Teaching by Compensation of the Dynamics of the Force-Torque Sensor","publication_year":2024,"publication_date":"2024-08-28","ids":{"openalex":"https://openalex.org/W4403677756","doi":"https://doi.org/10.1109/case59546.2024.10711807"},"language":"en","primary_location":{"id":"doi:10.1109/case59546.2024.10711807","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case59546.2024.10711807","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE 20th International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://findresearcher.sdu.dk/ws/files/276390633/EsCASE24_0728_FI_new.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5033934469","display_name":"Emil Lykke Diget","orcid":"https://orcid.org/0000-0001-6743-5613"},"institutions":[{"id":"https://openalex.org/I177969490","display_name":"University of Southern Denmark","ror":"https://ror.org/03yrrjy16","country_code":"DK","type":"education","lineage":["https://openalex.org/I177969490"]},{"id":"https://openalex.org/I184886455","display_name":"Maersk (Denmark)","ror":"https://ror.org/046gbzb64","country_code":"DK","type":"company","lineage":["https://openalex.org/I184886455"]}],"countries":["DK"],"is_corresponding":true,"raw_author_name":"Emil Lykke Diget","raw_affiliation_strings":["University of Southern Denmark,SDU Robotics, the Maersk Mc-Kinney Moller Institute,Denmark"],"affiliations":[{"raw_affiliation_string":"University of Southern Denmark,SDU Robotics, the Maersk Mc-Kinney Moller Institute,Denmark","institution_ids":["https://openalex.org/I184886455","https://openalex.org/I177969490"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064712655","display_name":"I\u00f1igo Iturrate","orcid":"https://orcid.org/0000-0001-7922-1946"},"institutions":[{"id":"https://openalex.org/I184886455","display_name":"Maersk (Denmark)","ror":"https://ror.org/046gbzb64","country_code":"DK","type":"company","lineage":["https://openalex.org/I184886455"]},{"id":"https://openalex.org/I177969490","display_name":"University of Southern Denmark","ror":"https://ror.org/03yrrjy16","country_code":"DK","type":"education","lineage":["https://openalex.org/I177969490"]}],"countries":["DK"],"is_corresponding":false,"raw_author_name":"I\u00f1igo Iturrate","raw_affiliation_strings":["University of Southern Denmark,SDU Robotics, the Maersk Mc-Kinney Moller Institute,Denmark"],"affiliations":[{"raw_affiliation_string":"University of Southern Denmark,SDU Robotics, the Maersk Mc-Kinney Moller Institute,Denmark","institution_ids":["https://openalex.org/I184886455","https://openalex.org/I177969490"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5088328087","display_name":"Christoffer Sloth","orcid":"https://orcid.org/0000-0002-3309-6278"},"institutions":[{"id":"https://openalex.org/I177969490","display_name":"University of Southern Denmark","ror":"https://ror.org/03yrrjy16","country_code":"DK","type":"education","lineage":["https://openalex.org/I177969490"]},{"id":"https://openalex.org/I184886455","display_name":"Maersk (Denmark)","ror":"https://ror.org/046gbzb64","country_code":"DK","type":"company","lineage":["https://openalex.org/I184886455"]}],"countries":["DK"],"is_corresponding":false,"raw_author_name":"Christoffer Sloth","raw_affiliation_strings":["University of Southern Denmark,SDU Robotics, the Maersk Mc-Kinney Moller Institute,Denmark"],"affiliations":[{"raw_affiliation_string":"University of Southern Denmark,SDU Robotics, the Maersk Mc-Kinney Moller Institute,Denmark","institution_ids":["https://openalex.org/I184886455","https://openalex.org/I177969490"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5033934469"],"corresponding_institution_ids":["https://openalex.org/I177969490","https://openalex.org/I184886455"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.21620824,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"3393","last_page":"3399"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9768999814987183,"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":0.9768999814987183,"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/T13722","display_name":"Ergonomics and Human Factors","score":0.9702000021934509,"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/T13827","display_name":"Mechatronics Education and Applications","score":0.9294999837875366,"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/kinesthetic-learning","display_name":"Kinesthetic learning","score":0.8620359897613525},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.7270858287811279},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.7254856824874878},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5582534074783325},{"id":"https://openalex.org/keywords/dynamics","display_name":"Dynamics (music)","score":0.5408942699432373},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5146323442459106},{"id":"https://openalex.org/keywords/compliance","display_name":"Compliance (psychology)","score":0.5125658512115479},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4929966628551483},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.34750574827194214},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3124200105667114},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2562642991542816},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.22540995478630066},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.14453542232513428},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.14420545101165771},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.11278188228607178}],"concepts":[{"id":"https://openalex.org/C55457006","wikidata":"https://www.wikidata.org/wiki/Q3647098","display_name":"Kinesthetic learning","level":2,"score":0.8620359897613525},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.7270858287811279},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.7254856824874878},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5582534074783325},{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.5408942699432373},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5146323442459106},{"id":"https://openalex.org/C2781460075","wikidata":"https://www.wikidata.org/wiki/Q1399332","display_name":"Compliance (psychology)","level":2,"score":0.5125658512115479},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4929966628551483},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.34750574827194214},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3124200105667114},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2562642991542816},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.22540995478630066},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.14453542232513428},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.14420545101165771},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.11278188228607178},{"id":"https://openalex.org/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","level":1,"score":0.0},{"id":"https://openalex.org/C138496976","wikidata":"https://www.wikidata.org/wiki/Q175002","display_name":"Developmental psychology","level":1,"score":0.0},{"id":"https://openalex.org/C77805123","wikidata":"https://www.wikidata.org/wiki/Q161272","display_name":"Social psychology","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/case59546.2024.10711807","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case59546.2024.10711807","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE 20th International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"},{"id":"pmh:oai:sdu.dk:openaire_cris_publications/0ebb731d-7975-4124-9ed7-c8609d1e4a69","is_oa":true,"landing_page_url":"https://portal.findresearcher.sdu.dk/da/publications/0ebb731d-7975-4124-9ed7-c8609d1e4a69","pdf_url":"https://findresearcher.sdu.dk/ws/files/276390633/EsCASE24_0728_FI_new.pdf","source":{"id":"https://openalex.org/S4306400423","display_name":"University of Southern Denmark Research Portal (University of Southern Denmark)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I177969490","host_organization_name":"University of Southern Denmark","host_organization_lineage":["https://openalex.org/I177969490"],"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":"Diget, E L, Iturrate, I & Sloth, C 2024, Estimation of Human Compliance Parameters During Robot Kinesthetic Teaching by Compensation of the Dynamics of the Force-Torque Sensor. in 2024 IEEE 20th International Conference on Automation Science and Engineering (CASE). IEEE, Proceedings - IEEE International Conference on Automation Science and Engineering, pp. 3393-3399, 2024 IEEE 20th International Conference on Automation Science and Engineering, Bari, Italy, 28/08/2024. https://doi.org/10.1109/CASE59546.2024.10711807","raw_type":"info:eu-repo/semantics/publishedVersion"}],"best_oa_location":{"id":"pmh:oai:sdu.dk:openaire_cris_publications/0ebb731d-7975-4124-9ed7-c8609d1e4a69","is_oa":true,"landing_page_url":"https://portal.findresearcher.sdu.dk/da/publications/0ebb731d-7975-4124-9ed7-c8609d1e4a69","pdf_url":"https://findresearcher.sdu.dk/ws/files/276390633/EsCASE24_0728_FI_new.pdf","source":{"id":"https://openalex.org/S4306400423","display_name":"University of Southern Denmark Research Portal (University of Southern Denmark)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I177969490","host_organization_name":"University of Southern Denmark","host_organization_lineage":["https://openalex.org/I177969490"],"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":"Diget, E L, Iturrate, I & Sloth, C 2024, Estimation of Human Compliance Parameters During Robot Kinesthetic Teaching by Compensation of the Dynamics of the Force-Torque Sensor. in 2024 IEEE 20th International Conference on Automation Science and Engineering (CASE). IEEE, Proceedings - IEEE International Conference on Automation Science and Engineering, pp. 3393-3399, 2024 IEEE 20th International Conference on Automation Science and Engineering, Bari, Italy, 28/08/2024. https://doi.org/10.1109/CASE59546.2024.10711807","raw_type":"info:eu-repo/semantics/publishedVersion"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2207154851","display_name":null,"funder_award_id":"10105220","funder_id":"https://openalex.org/F4320319254","funder_display_name":"EUROfusion"},{"id":"https://openalex.org/G2221327065","display_name":null,"funder_award_id":"101052200","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G2293481551","display_name":null,"funder_award_id":"101052200","funder_id":"https://openalex.org/F4320334323","funder_display_name":"Euratom Research and Training Programme"},{"id":"https://openalex.org/G2696919616","display_name":null,"funder_award_id":"101052200 -EUROfusion","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G3562821882","display_name":null,"funder_award_id":"101052200","funder_id":"https://openalex.org/F4320319254","funder_display_name":"EUROfusion"},{"id":"https://openalex.org/G5602149345","display_name":null,"funder_award_id":"10105220","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G5715107461","display_name":null,"funder_award_id":"01052200","funder_id":"https://openalex.org/F4320319254","funder_display_name":"EUROfusion"},{"id":"https://openalex.org/G6869258750","display_name":null,"funder_award_id":"101052200 -EUROfusion","funder_id":"https://openalex.org/F4320334323","funder_display_name":"Euratom Research and Training Programme"},{"id":"https://openalex.org/G6889393189","display_name":null,"funder_award_id":"EUROfusion","funder_id":"https://openalex.org/F4320334323","funder_display_name":"Euratom Research and Training Programme"},{"id":"https://openalex.org/G8051717526","display_name":null,"funder_award_id":"Grant","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G839272515","display_name":null,"funder_award_id":"10105220","funder_id":"https://openalex.org/F4320334323","funder_display_name":"Euratom Research and Training Programme"},{"id":"https://openalex.org/G8770809938","display_name":null,"funder_award_id":"01052200","funder_id":"https://openalex.org/F4320334323","funder_display_name":"Euratom Research and Training Programme"}],"funders":[{"id":"https://openalex.org/F4320313796","display_name":"Innovationsfonden","ror":"https://ror.org/00daj4111"},{"id":"https://openalex.org/F4320319254","display_name":"EUROfusion","ror":null},{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320334323","display_name":"Euratom Research and Training Programme","ror":null}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4403677756.pdf","grobid_xml":"https://content.openalex.org/works/W4403677756.grobid-xml"},"referenced_works_count":28,"referenced_works":["https://openalex.org/W130083205","https://openalex.org/W230475630","https://openalex.org/W1967377907","https://openalex.org/W1979744165","https://openalex.org/W1994124704","https://openalex.org/W2068088498","https://openalex.org/W2081212520","https://openalex.org/W2082196037","https://openalex.org/W2115730616","https://openalex.org/W2126172323","https://openalex.org/W2126585005","https://openalex.org/W2227841920","https://openalex.org/W2590861908","https://openalex.org/W2770249584","https://openalex.org/W2810902810","https://openalex.org/W2905086610","https://openalex.org/W2963203687","https://openalex.org/W2980410359","https://openalex.org/W2980511619","https://openalex.org/W2994446013","https://openalex.org/W3015560802","https://openalex.org/W3036075398","https://openalex.org/W3041689547","https://openalex.org/W3106655522","https://openalex.org/W4240172577","https://openalex.org/W4247208295","https://openalex.org/W4386587006","https://openalex.org/W4388903837"],"related_works":["https://openalex.org/W3111440524","https://openalex.org/W2558272010","https://openalex.org/W2068552404","https://openalex.org/W4392899229","https://openalex.org/W2921166921","https://openalex.org/W4385174651","https://openalex.org/W4396516836","https://openalex.org/W3162087156","https://openalex.org/W1597792207","https://openalex.org/W2372125609"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,14,37,107],"method":[4],"for":[5],"estimating":[6],"the":[7,10,23,26,31,34,46,50,57,60,67,73],"compliance":[8],"of":[9,25,33,59],"human":[11,68],"arm":[12],"in":[13,102],"robot":[15],"kinesthetic":[16],"teaching":[17],"scenario,":[18],"while":[19],"taking":[20],"into":[21],"account":[22],"dynamics":[24,32,52,69],"force-torque":[27],"sensor.":[28],"We":[29,97],"model":[30],"sensor":[35,51],"as":[36],"second":[38],"order":[39],"system":[40],"and":[41,84,104],"identify":[42],"this":[43],"experimentally.":[44],"With":[45],"estimated":[47],"transfer":[48],"function,":[49],"can":[53],"be":[54],"removed":[55],"from":[56],"measurements":[58],"human-robot":[61],"interaction":[62],"experiment,":[63],"such":[64],"that":[65],"only":[66],"is":[70],"measured.":[71],"Once":[72],"signal":[74],"has":[75],"been":[76],"filtered,":[77],"we":[78],"use":[79],"regularized":[80],"Dynamic":[81],"Regressor":[82],"Extension":[83],"Mixing":[85],"to":[86],"estimate":[87],"these":[88],"parameters":[89],"with":[90],"better":[91],"convergence":[92],"characteristics":[93],"than":[94],"previously-used":[95],"estimators.":[96],"validate":[98],"our":[99],"results":[100],"both":[101],"simulation":[103],"experimentally":[105],"on":[106],"real":[108],"robot.":[109]},"counts_by_year":[],"updated_date":"2026-03-25T14:56:36.534964","created_date":"2025-10-10T00:00:00"}