{"id":"https://openalex.org/W4405489447","doi":"https://doi.org/10.1109/embc53108.2024.10782229","title":"Scalable, Fast, Highly-Accurate Human-to-Robot Skill Transfer for the Dexterous, Efficient Operation of Histology Microtomes","display_name":"Scalable, Fast, Highly-Accurate Human-to-Robot Skill Transfer for the Dexterous, Efficient Operation of Histology Microtomes","publication_year":2024,"publication_date":"2024-07-15","ids":{"openalex":"https://openalex.org/W4405489447","doi":"https://doi.org/10.1109/embc53108.2024.10782229","pmid":"https://pubmed.ncbi.nlm.nih.gov/40040051"},"language":"en","primary_location":{"id":"doi:10.1109/embc53108.2024.10782229","is_oa":false,"landing_page_url":"https://doi.org/10.1109/embc53108.2024.10782229","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 46th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref","pubmed"],"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/A5087540060","display_name":"Felipe Sanches","orcid":null},"institutions":[{"id":"https://openalex.org/I154130895","display_name":"University of Auckland","ror":"https://ror.org/03b94tp07","country_code":"NZ","type":"education","lineage":["https://openalex.org/I154130895"]}],"countries":["NZ"],"is_corresponding":false,"raw_author_name":"Felipe Sanches","raw_affiliation_strings":["The University of Auckland,New Dexterity Research Group,New Zealand"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Auckland,New Dexterity Research Group,New Zealand","institution_ids":["https://openalex.org/I154130895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065794603","display_name":"Geng Gao","orcid":"https://orcid.org/0000-0002-8814-2665"},"institutions":[{"id":"https://openalex.org/I178645029","display_name":"Illumina (United States)","ror":"https://ror.org/05k34t975","country_code":"US","type":"company","lineage":["https://openalex.org/I178645029"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Geng Gao","raw_affiliation_strings":["Acumino"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Acumino","institution_ids":["https://openalex.org/I178645029"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Nathan Elangovan","orcid":null},"institutions":[{"id":"https://openalex.org/I154130895","display_name":"University of Auckland","ror":"https://ror.org/03b94tp07","country_code":"NZ","type":"education","lineage":["https://openalex.org/I154130895"]}],"countries":["NZ"],"is_corresponding":false,"raw_author_name":"Nathan Elangovan","raw_affiliation_strings":["The University of Auckland,New Dexterity Research Group,New Zealand"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Auckland,New Dexterity Research Group,New Zealand","institution_ids":["https://openalex.org/I154130895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069925920","display_name":"Ricardo V. Godoy","orcid":"https://orcid.org/0000-0002-5323-9299"},"institutions":[{"id":"https://openalex.org/I154130895","display_name":"University of Auckland","ror":"https://ror.org/03b94tp07","country_code":"NZ","type":"education","lineage":["https://openalex.org/I154130895"]}],"countries":["NZ"],"is_corresponding":false,"raw_author_name":"Ricardo V. Godoy","raw_affiliation_strings":["The University of Auckland,New Dexterity Research Group,New Zealand"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Auckland,New Dexterity Research Group,New Zealand","institution_ids":["https://openalex.org/I154130895"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Tom White","orcid":null},"institutions":[{"id":"https://openalex.org/I178645029","display_name":"Illumina (United States)","ror":"https://ror.org/05k34t975","country_code":"US","type":"company","lineage":["https://openalex.org/I178645029"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tom White","raw_affiliation_strings":["Acumino"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Acumino","institution_ids":["https://openalex.org/I178645029"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016820774","display_name":"Patrick Jarvis","orcid":null},"institutions":[{"id":"https://openalex.org/I178645029","display_name":"Illumina (United States)","ror":"https://ror.org/05k34t975","country_code":"US","type":"company","lineage":["https://openalex.org/I178645029"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Patrick Jarvis","raw_affiliation_strings":["Acumino"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Acumino","institution_ids":["https://openalex.org/I178645029"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5043544803","display_name":"Minas Liarokapis","orcid":"https://orcid.org/0000-0002-6016-1477"},"institutions":[{"id":"https://openalex.org/I154130895","display_name":"University of Auckland","ror":"https://ror.org/03b94tp07","country_code":"NZ","type":"education","lineage":["https://openalex.org/I154130895"]}],"countries":["NZ"],"is_corresponding":false,"raw_author_name":"Minas Liarokapis","raw_affiliation_strings":["The University of Auckland,New Dexterity Research Group,New Zealand"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Auckland,New Dexterity Research Group,New Zealand","institution_ids":["https://openalex.org/I154130895"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.20364649,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"2024","issue":null,"first_page":"1","last_page":"5"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.996999979019165,"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":0.996999979019165,"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":0.9968000054359436,"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/T11984","display_name":"Anatomy and Medical Technology","score":0.9961000084877014,"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/scalability","display_name":"Scalability","score":0.7302600145339966},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7236427664756775},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5869462490081787},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4790250360965729},{"id":"https://openalex.org/keywords/transfer","display_name":"Transfer (computing)","score":0.44133228063583374},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4405618906021118},{"id":"https://openalex.org/keywords/medical-robotics","display_name":"Medical robotics","score":0.41957780718803406},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4178360104560852},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.32678550481796265},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1800653040409088},{"id":"https://openalex.org/keywords/parallel-computing","display_name":"Parallel computing","score":0.1075637936592102},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.05315595865249634}],"concepts":[{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.7302600145339966},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7236427664756775},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5869462490081787},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4790250360965729},{"id":"https://openalex.org/C2776175482","wikidata":"https://www.wikidata.org/wiki/Q1195816","display_name":"Transfer (computing)","level":2,"score":0.44133228063583374},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4405618906021118},{"id":"https://openalex.org/C2985005502","wikidata":"https://www.wikidata.org/wiki/Q6806593","display_name":"Medical robotics","level":3,"score":0.41957780718803406},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4178360104560852},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.32678550481796265},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1800653040409088},{"id":"https://openalex.org/C173608175","wikidata":"https://www.wikidata.org/wiki/Q232661","display_name":"Parallel computing","level":1,"score":0.1075637936592102},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.05315595865249634}],"mesh":[{"descriptor_ui":"D004867","descriptor_name":"Equipment Design","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D004867","descriptor_name":"Equipment Design","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D008328","descriptor_name":"Man-Machine Systems","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":true},{"descriptor_ui":"D065287","descriptor_name":"Robotic Surgical Procedures","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D065287","descriptor_name":"Robotic Surgical Procedures","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false}],"locations_count":2,"locations":[{"id":"doi:10.1109/embc53108.2024.10782229","is_oa":false,"landing_page_url":"https://doi.org/10.1109/embc53108.2024.10782229","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 46th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)","raw_type":"proceedings-article"},{"id":"pmid:40040051","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/40040051","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W2002161214","https://openalex.org/W2037988980","https://openalex.org/W2050268494","https://openalex.org/W2098436483","https://openalex.org/W2125295331","https://openalex.org/W2141664020","https://openalex.org/W2146461823","https://openalex.org/W2326141327","https://openalex.org/W2751303130","https://openalex.org/W2772607898","https://openalex.org/W2834877435","https://openalex.org/W2976464777","https://openalex.org/W2998871646","https://openalex.org/W3000402468","https://openalex.org/W3088381276","https://openalex.org/W4200018444","https://openalex.org/W4224274022","https://openalex.org/W4310951985","https://openalex.org/W4362506308","https://openalex.org/W4389665473","https://openalex.org/W4389666152","https://openalex.org/W4403677415"],"related_works":["https://openalex.org/W2389214306","https://openalex.org/W2965083567","https://openalex.org/W4235240664","https://openalex.org/W1838576100","https://openalex.org/W2095886385","https://openalex.org/W2889616422","https://openalex.org/W2089704382","https://openalex.org/W1983399550","https://openalex.org/W97075385","https://openalex.org/W2357523926"],"abstract_inverted_index":{"Humans":[0],"are":[1,42,85],"capable":[2],"of":[3,102],"performing":[4],"intricate":[5],"and":[6,21,32,74,92],"complex":[7],"tasks,":[8],"enabling":[9],"seamless":[10],"interaction":[11],"with":[12,31,80],"their":[13],"surroundings.":[14],"Therefore,":[15],"capturing":[16],"the":[17,55,70,77,96,100],"human":[18,56,71],"demonstrated":[19,57],"skills":[20,24,84],"transferring":[22],"these":[23,40],"to":[25,95,109],"robots":[26,51],"is":[27,108],"beneficial":[28],"when":[29],"engaging":[30],"executing":[33],"tasks":[34],"in":[35,88],"a":[36,64,89,103],"human-oriented":[37],"world.":[38],"However,":[39],"demonstrations":[41],"not":[43],"always":[44],"transferable":[45],"as":[46],"kinematic":[47],"differences":[48],"can":[49],"prevent":[50],"from":[52],"properly":[53],"replicating":[54],"strategies.":[58],"In":[59],"this":[60],"work,":[61],"we":[62],"propose":[63],"human-to-robot":[65],"skill":[66],"transfer":[67],"system,":[68],"where":[69],"demonstrator":[72],"wears":[73],"directly":[75],"controls":[76],"robot's":[78],"end-effectors":[79],"appropriate":[81],"interfaces.":[82],"These":[83],"then":[86],"transferred":[87],"scalable,":[90],"fast,":[91],"highly-accurate":[93],"manner":[94],"robotic":[97,117],"system":[98],"for":[99],"operation":[101],"pathology":[104],"microtome.":[105],"The":[106],"goal":[107],"address":[110],"hospital":[111],"labour":[112],"gaps":[113],"by":[114],"introducing":[115],"highly-dexterous":[116],"automation.":[118]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}