{"id":"https://openalex.org/W4293691719","doi":"https://doi.org/10.1109/hsi55341.2022.9869510","title":"Physical Human-Robot Interaction (pHRI) through Admittance Control of Dynamic Movement Primitives in Sit-to-Stand Assistance Robot","display_name":"Physical Human-Robot Interaction (pHRI) through Admittance Control of Dynamic Movement Primitives in Sit-to-Stand Assistance Robot","publication_year":2022,"publication_date":"2022-07-28","ids":{"openalex":"https://openalex.org/W4293691719","doi":"https://doi.org/10.1109/hsi55341.2022.9869510"},"language":"en","primary_location":{"id":"doi:10.1109/hsi55341.2022.9869510","is_oa":false,"landing_page_url":"https://doi.org/10.1109/hsi55341.2022.9869510","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 15th International Conference on Human System Interaction (HSI)","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/A5067586033","display_name":"Bibhu Sharma","orcid":"https://orcid.org/0000-0002-6017-6847"},"institutions":[{"id":"https://openalex.org/I25399158","display_name":"Mahidol University","ror":"https://ror.org/01znkr924","country_code":"TH","type":"education","lineage":["https://openalex.org/I25399158"]}],"countries":["TH"],"is_corresponding":false,"raw_author_name":"Bibhu Sharma","raw_affiliation_strings":["Mahidol University,Faculty of Engineering,Dept. of Biomedical Engineering,Salaya,Thailand","Dept. of Biomedical Engineering, Faculty of Engineering, Mahidol University, Salaya, Thailand"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mahidol University,Faculty of Engineering,Dept. of Biomedical Engineering,Salaya,Thailand","institution_ids":["https://openalex.org/I25399158"]},{"raw_affiliation_string":"Dept. of Biomedical Engineering, Faculty of Engineering, Mahidol University, Salaya, Thailand","institution_ids":["https://openalex.org/I25399158"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052083086","display_name":"Branesh M. Pillai","orcid":"https://orcid.org/0000-0002-4850-5812"},"institutions":[{"id":"https://openalex.org/I25399158","display_name":"Mahidol University","ror":"https://ror.org/01znkr924","country_code":"TH","type":"education","lineage":["https://openalex.org/I25399158"]}],"countries":["TH"],"is_corresponding":false,"raw_author_name":"Branesh M. Pillai","raw_affiliation_strings":["Mahidol University,Faculty of Engineering,Dept. of Biomedical Engineering,Salaya,Thailand","Dept. of Biomedical Engineering, Faculty of Engineering, Mahidol University, Salaya, Thailand"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mahidol University,Faculty of Engineering,Dept. of Biomedical Engineering,Salaya,Thailand","institution_ids":["https://openalex.org/I25399158"]},{"raw_affiliation_string":"Dept. of Biomedical Engineering, Faculty of Engineering, Mahidol University, Salaya, Thailand","institution_ids":["https://openalex.org/I25399158"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5075294918","display_name":"Jackrit Suthakorn","orcid":"https://orcid.org/0000-0003-1333-3982"},"institutions":[{"id":"https://openalex.org/I25399158","display_name":"Mahidol University","ror":"https://ror.org/01znkr924","country_code":"TH","type":"education","lineage":["https://openalex.org/I25399158"]}],"countries":["TH"],"is_corresponding":false,"raw_author_name":"Jackrit Suthakorn","raw_affiliation_strings":["Mahidol University,Center for Biomedical and Robotics Technology, Faculty of Engineering,Dept. of Biomedical Engineering,Salaya,Thailand","Dept. of Biomedical Engineering, Center for Biomedical and Robotics Technology, Faculty of Engineering, Mahidol University, Salaya, Thailand"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mahidol University,Center for Biomedical and Robotics Technology, Faculty of Engineering,Dept. of Biomedical Engineering,Salaya,Thailand","institution_ids":["https://openalex.org/I25399158"]},{"raw_affiliation_string":"Dept. of Biomedical Engineering, Center for Biomedical and Robotics Technology, Faculty of Engineering, Mahidol University, Salaya, Thailand","institution_ids":["https://openalex.org/I25399158"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I25399158"],"apc_list":null,"apc_paid":null,"fwci":3.4239,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.93321617,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9997000098228455,"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":0.9997000098228455,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9983999729156494,"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":0.9908000230789185,"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/robot","display_name":"Robot","score":0.7628061175346375},{"id":"https://openalex.org/keywords/admittance","display_name":"Admittance","score":0.6976593732833862},{"id":"https://openalex.org/keywords/bang-bang-robot","display_name":"Bang-bang robot","score":0.5908471941947937},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5323565006256104},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.521743655204773},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.5094833970069885},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.49230873584747314},{"id":"https://openalex.org/keywords/snake-arm-robot","display_name":"Snake-arm robot","score":0.47756296396255493},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.47473984956741333},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.46720239520072937},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.45315879583358765},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4490078091621399},{"id":"https://openalex.org/keywords/articulated-robot","display_name":"Articulated robot","score":0.4442393481731415},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.43606191873550415},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.42180997133255005},{"id":"https://openalex.org/keywords/arm-solution","display_name":"Arm solution","score":0.4120975732803345},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2849845290184021},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.27072417736053467},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1967625916004181},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.07519969344139099},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07448866963386536}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7628061175346375},{"id":"https://openalex.org/C108811297","wikidata":"https://www.wikidata.org/wiki/Q214518","display_name":"Admittance","level":3,"score":0.6976593732833862},{"id":"https://openalex.org/C584957","wikidata":"https://www.wikidata.org/wiki/Q4854909","display_name":"Bang-bang robot","level":5,"score":0.5908471941947937},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5323565006256104},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.521743655204773},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.5094833970069885},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.49230873584747314},{"id":"https://openalex.org/C107863493","wikidata":"https://www.wikidata.org/wiki/Q1428288","display_name":"Snake-arm robot","level":5,"score":0.47756296396255493},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.47473984956741333},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.46720239520072937},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.45315879583358765},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4490078091621399},{"id":"https://openalex.org/C138417311","wikidata":"https://www.wikidata.org/wiki/Q3180664","display_name":"Articulated robot","level":5,"score":0.4442393481731415},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.43606191873550415},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.42180997133255005},{"id":"https://openalex.org/C25592040","wikidata":"https://www.wikidata.org/wiki/Q3562730","display_name":"Arm solution","level":5,"score":0.4120975732803345},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2849845290184021},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.27072417736053467},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1967625916004181},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.07519969344139099},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07448866963386536},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","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:10.1109/hsi55341.2022.9869510","is_oa":false,"landing_page_url":"https://doi.org/10.1109/hsi55341.2022.9869510","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 15th International Conference on Human System Interaction (HSI)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8199999928474426,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320322401","display_name":"Mahidol University","ror":"https://ror.org/01znkr924"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W1482427705","https://openalex.org/W1601369794","https://openalex.org/W1971038910","https://openalex.org/W1973352801","https://openalex.org/W2023308665","https://openalex.org/W2047042704","https://openalex.org/W2068228087","https://openalex.org/W2103143489","https://openalex.org/W2117869083","https://openalex.org/W2120286225","https://openalex.org/W2123967136","https://openalex.org/W2124815790","https://openalex.org/W2129963663","https://openalex.org/W2134098442","https://openalex.org/W2148124684","https://openalex.org/W2157484716","https://openalex.org/W2291804674","https://openalex.org/W2420591246","https://openalex.org/W2586687222","https://openalex.org/W2593465928","https://openalex.org/W2740706671","https://openalex.org/W2755451731","https://openalex.org/W2777674866","https://openalex.org/W2795105096","https://openalex.org/W2909404881","https://openalex.org/W3164437494","https://openalex.org/W4229871732","https://openalex.org/W4388252761","https://openalex.org/W6633596363","https://openalex.org/W6678157427","https://openalex.org/W6678616629","https://openalex.org/W6681979036"],"related_works":["https://openalex.org/W3044674998","https://openalex.org/W2139206564","https://openalex.org/W2209062660","https://openalex.org/W2923650232","https://openalex.org/W1519911623","https://openalex.org/W2015234660","https://openalex.org/W2221249211","https://openalex.org/W4293691719","https://openalex.org/W2054286638","https://openalex.org/W2173840982"],"abstract_inverted_index":{"Physically":[0],"assistance":[1,51],"robots":[2],"have":[3],"been":[4],"conceptualized":[5],"to":[6,16],"compensate":[7],"or":[8],"augment":[9],"the":[10,17,36,42,73,82,86,89,111,122,133,140,144],"human":[11],"musculoskeletal":[12],"function.":[13],"However,":[14],"due":[15],"concerns":[18],"of":[19,44,55,60,88,124],"safety":[20],"and":[21,80,136,143],"effectiveness":[22],"for":[23,78,94],"physical":[24],"human-robot":[25,95],"interaction":[26,96],"(pHRI)":[27],"in":[28,47,68,132],"such":[29],"robots,":[30],"compliant":[31],"joints":[32],"are":[33,66],"preferred":[34],"over":[35],"rigid":[37],"joints.":[38],"This":[39],"paper":[40],"illustrates":[41],"implementation":[43,123],"admittance":[45,103,125],"control":[46,104],"a":[48,69],"sit-to-stand":[49],"(STS)":[50],"robot.":[52],"The":[53,127],"3-degrees":[54],"freedom":[56],"(dof)":[57],"robot":[58,134],"comprises":[59],"ball":[61],"screw-based":[62],"linear":[63],"actuators":[64],"that":[65],"arranged":[67],"parallel":[70],"configuration.":[71],"While":[72],"actuation":[74],"system":[75,105],"is":[76,106,130],"preferable":[77],"strength":[79],"performance,":[81],"non-backdrivable":[83],"characteristic":[84],"corroborates":[85],"rigidity":[87],"joint,":[90],"making":[91],"it":[92],"unfavorable":[93],"operation.":[97],"To":[98],"enhance":[99],"compliance,":[100],"force":[101,141],"sensor-based":[102],"implemented.":[107],"Regarding":[108],"motion":[109,145],"planning,":[110],"trajectory":[112],"were":[113],"modeled":[114],"as":[115],"Dynamic":[116],"Movement":[117],"Primitives":[118],"(DMP),":[119],"which":[120],"facilitates":[121],"control.":[126],"proposed":[128],"model":[129],"implemented":[131],"prototype":[135],"validated":[137],"by":[138],"illustrating":[139],"input":[142],"output.":[146]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}