{"id":"https://openalex.org/W2221034911","doi":"https://doi.org/10.1109/humanoids.2015.7363596","title":"Reducing human fall injuries using a mobile manipulator","display_name":"Reducing human fall injuries using a mobile manipulator","publication_year":2015,"publication_date":"2015-11-01","ids":{"openalex":"https://openalex.org/W2221034911","doi":"https://doi.org/10.1109/humanoids.2015.7363596","mag":"2221034911"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids.2015.7363596","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2015.7363596","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"},"type":"article","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/A5113723415","display_name":"Joshua P. Lurz","orcid":null},"institutions":[{"id":"https://openalex.org/I193531525","display_name":"George Washington University","ror":"https://ror.org/00y4zzh67","country_code":"US","type":"education","lineage":["https://openalex.org/I193531525"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Joshua Lurz","raw_affiliation_strings":["Computer Science at George Washington University, Washington DC"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science at George Washington University, Washington DC","institution_ids":["https://openalex.org/I193531525"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5049448053","display_name":"Evan Drumwright","orcid":null},"institutions":[{"id":"https://openalex.org/I193531525","display_name":"George Washington University","ror":"https://ror.org/00y4zzh67","country_code":"US","type":"education","lineage":["https://openalex.org/I193531525"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Evan Drumwright","raw_affiliation_strings":["Faculty in Computer Science, George Washington University, Washington DC"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty in Computer Science, George Washington University, Washington DC","institution_ids":["https://openalex.org/I193531525"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I193531525"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.14645324,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"4","issue":null,"first_page":"504","last_page":"511"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10114","display_name":"Balance, Gait, and Falls Prevention","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/3612","display_name":"Physical Therapy, Sports Therapy and Rehabilitation"},"field":{"id":"https://openalex.org/fields/36","display_name":"Health Professions"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},"topics":[{"id":"https://openalex.org/T10114","display_name":"Balance, Gait, and Falls Prevention","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/3612","display_name":"Physical Therapy, Sports Therapy and Rehabilitation"},"field":{"id":"https://openalex.org/fields/36","display_name":"Health Professions"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9980999827384949,"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/T10444","display_name":"Context-Aware Activity Recognition Systems","score":0.9957000017166138,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.9062298536300659},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5794647932052612},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4766417443752289},{"id":"https://openalex.org/keywords/poison-control","display_name":"Poison control","score":0.4493914544582367},{"id":"https://openalex.org/keywords/mobile-manipulator","display_name":"Mobile manipulator","score":0.44101086258888245},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4351836144924164},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.42493391036987305},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.4179079532623291},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.41721513867378235},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.16843533515930176},{"id":"https://openalex.org/keywords/medical-emergency","display_name":"Medical emergency","score":0.10869932174682617}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.9062298536300659},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5794647932052612},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4766417443752289},{"id":"https://openalex.org/C3017944768","wikidata":"https://www.wikidata.org/wiki/Q1450463","display_name":"Poison control","level":2,"score":0.4493914544582367},{"id":"https://openalex.org/C190727649","wikidata":"https://www.wikidata.org/wiki/Q1941532","display_name":"Mobile manipulator","level":4,"score":0.44101086258888245},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4351836144924164},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.42493391036987305},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.4179079532623291},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.41721513867378235},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.16843533515930176},{"id":"https://openalex.org/C545542383","wikidata":"https://www.wikidata.org/wiki/Q2751242","display_name":"Medical emergency","level":1,"score":0.10869932174682617}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/humanoids.2015.7363596","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2015.7363596","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7900000214576721,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":43,"referenced_works":["https://openalex.org/W135756700","https://openalex.org/W1529132405","https://openalex.org/W1584982640","https://openalex.org/W1740425877","https://openalex.org/W1930899833","https://openalex.org/W1967769980","https://openalex.org/W1967973994","https://openalex.org/W1990968105","https://openalex.org/W1993925701","https://openalex.org/W1997371559","https://openalex.org/W2002749254","https://openalex.org/W2006838911","https://openalex.org/W2011085754","https://openalex.org/W2019223072","https://openalex.org/W2034056207","https://openalex.org/W2055723328","https://openalex.org/W2063336728","https://openalex.org/W2066260126","https://openalex.org/W2079999017","https://openalex.org/W2093345000","https://openalex.org/W2094737044","https://openalex.org/W2098377564","https://openalex.org/W2113818520","https://openalex.org/W2117595903","https://openalex.org/W2118123110","https://openalex.org/W2121062110","https://openalex.org/W2125288818","https://openalex.org/W2128814754","https://openalex.org/W2128817122","https://openalex.org/W2133140997","https://openalex.org/W2133715100","https://openalex.org/W2144678203","https://openalex.org/W2147661848","https://openalex.org/W2152897465","https://openalex.org/W2157641498","https://openalex.org/W2158265288","https://openalex.org/W2158623817","https://openalex.org/W2159296038","https://openalex.org/W2164433571","https://openalex.org/W2167340365","https://openalex.org/W2169712060","https://openalex.org/W2170737804","https://openalex.org/W6655083732"],"related_works":["https://openalex.org/W2745063183","https://openalex.org/W2129850190","https://openalex.org/W4256317079","https://openalex.org/W2295425790","https://openalex.org/W4389009354","https://openalex.org/W1974803039","https://openalex.org/W1991876829","https://openalex.org/W2088677124","https://openalex.org/W2122871747","https://openalex.org/W3114279067"],"abstract_inverted_index":{"Falls":[0],"among":[1],"elderly":[2],"persons":[3],"are":[4],"both":[5],"common":[6],"and":[7,15,37,59,87,101,111,133,191],"have":[8],"significant":[9],"negative":[10],"impacts":[11],"on":[12,40],"their":[13],"immediate":[14],"long-term":[16],"health.":[17],"In":[18],"this":[19,45],"paper,":[20],"we":[21,38,75,89],"consider":[22],"whether":[23],"current":[24],"mobile":[25,61],"manipulators":[26],"could":[27],"reduce":[28,157,184],"the":[29,66,77,99,102,118,144,152,158,162,167,172],"severity":[30,78],"of":[31,51,79,131,136,149],"injuries":[32,176],"caused":[33],"by":[34,166],"human":[35,83,121,140,163],"falls,":[36],"focus":[39],"developing":[41],"simple":[42],"strategies":[43],"toward":[44],"purpose.":[46],"We":[47,104,116],"present":[48],"a":[49,52,57,60,82,85,108,112],"simulation":[50],"fall":[53,141,185,196],"scenario":[54],"that":[55,63,181],"includes":[56],"humanoid":[58,67,119],"manipulator":[62],"can":[64],"manipulate":[65],"at":[68],"one":[69],"or":[70],"more":[71],"points.":[72],"Using":[73],"metrics,":[74],"estimate":[76],"injury":[80,160],"to":[81,138,156,161,183,193],"from":[84],"fall,":[86],"then":[88],"evaluate":[90],"these":[91],"metrics":[92],"across":[93],"four":[94],"scenarios":[95,170],"for":[96],"interactions":[97],"between":[98],"robot":[100,110,153],"humanoid.":[103,115],"conduct":[105],"experiments":[106],"with":[107,120],"PR2":[109],"20":[113],"degree-of-freedom":[114],"parameterize":[117],"biometric":[122],"data":[123],"including":[124],"mass":[125,137],"distributions,":[126],"link":[127,134],"lengths,":[128],"joint":[129],"ranges":[130],"motion,":[132],"centers":[135],"approximate":[139],"behavior.":[142],"Utilizing":[143],"full,":[145],"but":[146],"limited,":[147],"force":[148],"its":[150],"arms,":[151],"was":[154],"able":[155],"median":[159],"as":[164],"assessed":[165],"metrics.":[168],"However,":[169],"where":[171],"robot's":[173],"intervention":[174],"exacerbated":[175],"did":[177],"occur,":[178],"which":[179],"indicates":[180],"algorithms":[182],"damage":[186],"must":[187],"be":[188],"carefully":[189],"designed":[190],"applied":[192],"avoid":[194],"worsening":[195],"injuries.":[197]},"counts_by_year":[],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}