{"id":"https://openalex.org/W2343408765","doi":"https://doi.org/10.1109/hri.2016.7451731","title":"Assistive Teleoperation of Robot Arms via Automatic Time-Optimal Mode Switching.","display_name":"Assistive Teleoperation of Robot Arms via Automatic Time-Optimal Mode Switching.","publication_year":2016,"publication_date":"2016-03-01","ids":{"openalex":"https://openalex.org/W2343408765","doi":"https://doi.org/10.1109/hri.2016.7451731","mag":"2343408765","pmid":"https://pubmed.ncbi.nlm.nih.gov/30035277"},"language":"en","primary_location":{"id":"pmid:30035277","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/30035277","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":"Proceedings of the ... ACM SIGCHI. ACM Conference on Human-Robot Interaction","raw_type":null},"type":"article","indexed_in":["pubmed"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/6053067","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5084585983","display_name":"Laura Herlant","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Laura V Herlant","raw_affiliation_strings":["The Robotics Institute, Carnegie Mellon University","The Robotics Institute, Carnegie Mellon University, United States#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Robotics Institute, Carnegie Mellon University","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"The Robotics Institute, Carnegie Mellon University, United States#TAB#","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057672771","display_name":"Rachel Holladay","orcid":"https://orcid.org/0000-0002-1947-4180"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Rachel M Holladay","raw_affiliation_strings":["The Robotics Institute, Carnegie Mellon University","The Robotics Institute, Carnegie Mellon University, United States#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Robotics Institute, Carnegie Mellon University","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"The Robotics Institute, Carnegie Mellon University, United States#TAB#","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5077719529","display_name":"Siddhartha S Srinivasa","orcid":"https://orcid.org/0000-0002-5091-106X"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Siddhartha S Srinivasa","raw_affiliation_strings":["The Robotics Institute, Carnegie Mellon University","The Robotics Institute, Carnegie Mellon University, United States#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Robotics Institute, Carnegie Mellon University","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"The Robotics Institute, Carnegie Mellon University, United States#TAB#","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":4.4564,"has_fulltext":false,"cited_by_count":64,"citation_normalized_percentile":{"value":0.94405898,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"2016","issue":null,"first_page":"35","last_page":"42"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11707","display_name":"Gaze Tracking and Assistive Technology","score":0.996999979019165,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11707","display_name":"Gaze Tracking and Assistive Technology","score":0.996999979019165,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"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/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9962000250816345,"subfield":{"id":"https://openalex.org/subfields/2742","display_name":"Rehabilitation"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9944999814033508,"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/joystick","display_name":"Joystick","score":0.8453952670097351},{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.6945995092391968},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6520203351974487},{"id":"https://openalex.org/keywords/mode","display_name":"Mode (computer interface)","score":0.5603755116462708},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.555168867111206},{"id":"https://openalex.org/keywords/simple","display_name":"Simple (philosophy)","score":0.5527474284172058},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.5349157452583313},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.5225367546081543},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.49048396944999695},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.45864608883857727},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.43216848373413086},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2300930917263031}],"concepts":[{"id":"https://openalex.org/C96439379","wikidata":"https://www.wikidata.org/wiki/Q178805","display_name":"Joystick","level":2,"score":0.8453952670097351},{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.6945995092391968},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6520203351974487},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.5603755116462708},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.555168867111206},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.5527474284172058},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.5349157452583313},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5225367546081543},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.49048396944999695},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.45864608883857727},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.43216848373413086},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2300930917263031},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"pmid:30035277","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/30035277","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":"Proceedings of the ... ACM SIGCHI. ACM Conference on Human-Robot Interaction","raw_type":null},{"id":"pmh:oai:pubmedcentral.nih.gov:6053067","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/6053067","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"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":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Proc ACM SIGCHI","raw_type":"Text"},{"id":"mag:2343408765","is_oa":false,"landing_page_url":"https://www.ri.cmu.edu/pub_files/2016/3/mode_switching.pdf","pdf_url":null,"source":{"id":"https://openalex.org/S4306418552","display_name":"Human-Robot Interaction","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":"conference"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":"Human-Robot Interaction","raw_type":null}],"best_oa_location":{"id":"pmh:oai:pubmedcentral.nih.gov:6053067","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/6053067","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"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":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Proc ACM SIGCHI","raw_type":"Text"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/8","display_name":"Decent work and economic growth","score":0.4099999964237213}],"awards":[{"id":"https://openalex.org/G3708874961","display_name":null,"funder_award_id":"R01 EB019335","funder_id":"https://openalex.org/F4320337363","funder_display_name":"National Institute of Biomedical Imaging and Bioengineering"}],"funders":[{"id":"https://openalex.org/F4320337363","display_name":"National Institute of Biomedical Imaging and Bioengineering","ror":"https://ror.org/00372qc85"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W266133316","https://openalex.org/W1574909067","https://openalex.org/W1803036023","https://openalex.org/W1972446461","https://openalex.org/W1975795790","https://openalex.org/W1979091739","https://openalex.org/W1982809790","https://openalex.org/W1986081132","https://openalex.org/W1988497697","https://openalex.org/W1993579557","https://openalex.org/W2003299461","https://openalex.org/W2005519915","https://openalex.org/W2014200002","https://openalex.org/W2016296065","https://openalex.org/W2049799957","https://openalex.org/W2052679282","https://openalex.org/W2061134854","https://openalex.org/W2069265687","https://openalex.org/W2096594537","https://openalex.org/W2105925198","https://openalex.org/W2107556128","https://openalex.org/W2111956227","https://openalex.org/W2114916192","https://openalex.org/W2120653115","https://openalex.org/W2128529067","https://openalex.org/W2129387344","https://openalex.org/W2145332332","https://openalex.org/W2147299197","https://openalex.org/W2151607640","https://openalex.org/W2155190729","https://openalex.org/W2165243602","https://openalex.org/W2169528473","https://openalex.org/W2171741667","https://openalex.org/W2240800126"],"related_works":["https://openalex.org/W2483674195","https://openalex.org/W2963507484","https://openalex.org/W2806711014","https://openalex.org/W2105925198","https://openalex.org/W2588104504","https://openalex.org/W2111956227","https://openalex.org/W3011722025","https://openalex.org/W2106215490","https://openalex.org/W2884642747","https://openalex.org/W2790215017","https://openalex.org/W266133316","https://openalex.org/W3090359064","https://openalex.org/W2963366811","https://openalex.org/W2962776080","https://openalex.org/W2592007507","https://openalex.org/W2098774185","https://openalex.org/W2467604901","https://openalex.org/W2121095571","https://openalex.org/W2008359193","https://openalex.org/W1986081132"],"abstract_inverted_index":{"Assistive":[0],"robotic":[1],"arms":[2,28],"are":[3],"increasingly":[4],"enabling":[5],"users":[6,74,111],"with":[7,35,55,72],"upper":[8],"extremity":[9],"disabilities":[10],"to":[11,33,47],"perform":[12],"activities":[13],"of":[14,26,75,90,105,125],"daily":[15,73],"living":[16],"on":[17],"their":[18],"own.":[19],"However,":[20,69],"the":[21,27,76,113],"increased":[22],"capability":[23],"and":[24,41,92,131],"dexterity":[25],"also":[29],"makes":[30],"them":[31],"harder":[32],"control":[34,48,67],"simple,":[36],"low-dimensional":[37,57],"interfaces":[38],"like":[39,52,59,128,135],"joysticks":[40],"sip-and-puff":[42],"interfaces.":[43],"A":[44],"common":[45],"technique":[46],"a":[49,56,60,84,122,132],"high-dimensional":[50],"system":[51],"an":[53],"arm":[54,79],"input":[58],"joystick":[61],"is":[62,118],"through":[63],"switching":[64,82,101,137],"between":[65],"multiple":[66],"modes.":[68],"our":[70],"interviews":[71],"Kinova":[77],"JACO":[78],"identified":[80],"mode":[81,100,126],"as":[83],"key":[85,116],"problem,":[86],"both":[87],"in":[88],"terms":[89],"time":[91,107,129],"cognitive":[93],"load.":[94],"We":[95],"further":[96],"confirmed":[97],"objectively":[98],"that":[99,119],"consumes":[102],"about":[103],"17.4%":[104],"execution":[106],"even":[108,121],"for":[109],"able-bodied":[110],"controlling":[112],"JACO.":[114],"Our":[115],"insight":[117],"using":[120],"simple":[123,133],"model":[124],"switching,":[127],"optimality,":[130],"intervention,":[134],"automatically":[136],"modes,":[138],"significantly":[139],"improves":[140],"user":[141],"satisfaction.":[142]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":15},{"year":2021,"cited_by_count":10},{"year":2020,"cited_by_count":13},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":7},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":2}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}
