{"id":"https://openalex.org/W4206081458","doi":"https://doi.org/10.1109/icar53236.2021.9659454","title":"Human intention estimation and goal-driven variable admittance control in manual guidance applications","display_name":"Human intention estimation and goal-driven variable admittance control in manual guidance applications","publication_year":2021,"publication_date":"2021-12-06","ids":{"openalex":"https://openalex.org/W4206081458","doi":"https://doi.org/10.1109/icar53236.2021.9659454"},"language":"en","primary_location":{"id":"doi:10.1109/icar53236.2021.9659454","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icar53236.2021.9659454","pdf_url":null,"source":{"id":"https://openalex.org/S4363608199","display_name":"2021 20th International Conference on Advanced Robotics (ICAR)","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":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 20th International Conference on Advanced Robotics (ICAR)","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/A5029445383","display_name":"Davide Bazzi","orcid":"https://orcid.org/0000-0001-9531-1554"},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Davide Bazzi","raw_affiliation_strings":["Dipartimento di Elettronica, Informazione e Bioingegneria, Politecnico di Milano, Milano, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dipartimento di Elettronica, Informazione e Bioingegneria, Politecnico di Milano, Milano, Italy","institution_ids":["https://openalex.org/I93860229"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110460999","display_name":"Andrea Tomasi","orcid":null},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Andrea Tomasi","raw_affiliation_strings":["Dipartimento di Elettronica, Informazione e Bioingegneria, Politecnico di Milano, Milano, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dipartimento di Elettronica, Informazione e Bioingegneria, Politecnico di Milano, Milano, Italy","institution_ids":["https://openalex.org/I93860229"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050366331","display_name":"Andrea Maria Zanchettin","orcid":"https://orcid.org/0000-0002-1866-7482"},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Andrea Maria Zanchettin","raw_affiliation_strings":["Dipartimento di Elettronica, Informazione e Bioingegneria, Politecnico di Milano, Milano, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dipartimento di Elettronica, Informazione e Bioingegneria, Politecnico di Milano, Milano, Italy","institution_ids":["https://openalex.org/I93860229"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5065821384","display_name":"Paolo Rocco","orcid":"https://orcid.org/0000-0001-6716-434X"},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Paolo Rocco","raw_affiliation_strings":["Dipartimento di Elettronica, Informazione e Bioingegneria, Politecnico di Milano, Milano, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dipartimento di Elettronica, Informazione e Bioingegneria, Politecnico di Milano, Milano, Italy","institution_ids":["https://openalex.org/I93860229"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I93860229"],"apc_list":null,"apc_paid":null,"fwci":0.8704,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.68090413,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"195","last_page":"200"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9986000061035156,"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":0.9986000061035156,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9957000017166138,"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"}},{"id":"https://openalex.org/T10525","display_name":"Human-Automation Interaction and Safety","score":0.9907000064849854,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6841146349906921},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6027570962905884},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.5726975798606873},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5626412034034729},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5582500696182251},{"id":"https://openalex.org/keywords/variable","display_name":"Variable (mathematics)","score":0.5452861785888672},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5438750982284546},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.538824200630188},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.5318272709846497},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5308718681335449},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.47354263067245483},{"id":"https://openalex.org/keywords/inference","display_name":"Inference","score":0.4642444849014282},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4283522665500641},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.42195838689804077},{"id":"https://openalex.org/keywords/admittance","display_name":"Admittance","score":0.4156896770000458},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.397674560546875},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.16159498691558838},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10815498232841492}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6841146349906921},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6027570962905884},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.5726975798606873},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5626412034034729},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5582500696182251},{"id":"https://openalex.org/C182365436","wikidata":"https://www.wikidata.org/wiki/Q50701","display_name":"Variable (mathematics)","level":2,"score":0.5452861785888672},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5438750982284546},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.538824200630188},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.5318272709846497},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5308718681335449},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.47354263067245483},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.4642444849014282},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4283522665500641},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.42195838689804077},{"id":"https://openalex.org/C108811297","wikidata":"https://www.wikidata.org/wiki/Q214518","display_name":"Admittance","level":3,"score":0.4156896770000458},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.397674560546875},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.16159498691558838},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10815498232841492},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"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/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icar53236.2021.9659454","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icar53236.2021.9659454","pdf_url":null,"source":{"id":"https://openalex.org/S4363608199","display_name":"2021 20th International Conference on Advanced Robotics (ICAR)","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":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 20th International Conference on Advanced Robotics (ICAR)","raw_type":"proceedings-article"},{"id":"pmh:oai:re.public.polimi.it:11311/1202555","is_oa":false,"landing_page_url":"http://hdl.handle.net/11311/1202555","pdf_url":null,"source":{"id":"https://openalex.org/S4306400312","display_name":"Virtual Community of Pathological Anatomy (University of Castilla La Mancha)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79189158","host_organization_name":"University of Castilla-La Mancha","host_organization_lineage":["https://openalex.org/I79189158"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1500588313","https://openalex.org/W2001534748","https://openalex.org/W2009192474","https://openalex.org/W2087527234","https://openalex.org/W2101392974","https://openalex.org/W2119004998","https://openalex.org/W2156718941","https://openalex.org/W2165702032","https://openalex.org/W2206835661","https://openalex.org/W2212573275","https://openalex.org/W2774716914","https://openalex.org/W2886186576","https://openalex.org/W2910020948","https://openalex.org/W2910058625","https://openalex.org/W2968319387","https://openalex.org/W3101745966","https://openalex.org/W3186610744","https://openalex.org/W6991725679"],"related_works":["https://openalex.org/W156716224","https://openalex.org/W2111871955","https://openalex.org/W2200472972","https://openalex.org/W3175380930","https://openalex.org/W1989694608","https://openalex.org/W2031643172","https://openalex.org/W2139876914","https://openalex.org/W1986738380","https://openalex.org/W2642061445","https://openalex.org/W4205284030"],"abstract_inverted_index":{"In":[0],"collaborative":[1,155],"robotics,":[2],"and":[3,77,160],"especially":[4],"in":[5,51],"physical":[6],"human-robot":[7],"interaction,":[8],"the":[9,12,19,22,27,31,38,42,45,53,68,83,86,89,117,121,129,134,143],"prediction":[10],"of":[11,21,29,44],"human":[13,87,118,130],"motion":[14],"intention":[15],"can":[16],"strongly":[17],"improve":[18],"effectiveness":[20],"synergy.":[23],"This":[24],"work":[25],"tackles":[26],"issue":[28],"estimating":[30],"most":[32,69],"likely":[33,70],"final":[34],"target":[35,72],"towards":[36,91],"which":[37],"operator":[39],"is":[40,140],"guiding":[41],"end-effector":[43],"manipulator":[46],"to":[47,109,131,153],"actively":[48],"assist":[49],"him/her":[50],"accomplishing":[52],"task.":[54],"A":[55],"novel":[56],"inference":[57],"algorithm,":[58],"based":[59],"on":[60],"Bayesian":[61],"statistics,":[62],"has":[63,100],"been":[64,102,149],"developed.":[65],"It":[66,104],"predicts":[67],"3D":[71],"among":[73],"a":[74,96,111],"predefined":[75],"set":[76],"it":[78],"also":[79,101],"takes":[80],"into":[81],"account":[82],"possibility":[84],"that":[85,115],"drives":[88],"robot":[90],"an":[92,161],"unknown":[93],"target.":[94],"Then,":[95],"variable":[97],"admittance":[98],"control":[99],"conceived.":[103],"suitably":[105],"adapts":[106],"its":[107],"parameters":[108],"establish":[110],"directional":[112],"haptic":[113],"feedback":[114],"helps":[116],"accurately":[119],"reach":[120,133],"desired":[122],"goal":[123,135],"position.":[124],"The":[125],"proposed":[126],"strategies":[127],"allow":[128],"precisely":[132],"even":[136],"when":[137],"his/her":[138],"view":[139],"obstructed":[141],"by":[142],"transported":[144],"object.":[145],"These":[146],"algorithms":[147],"have":[148],"validated":[150],"through":[151],"point":[152,154],"motions":[156],"with":[157],"several":[158],"volunteers":[159],"ABB":[162],"IRB140":[163],"robot.":[164]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2}],"updated_date":"2026-07-02T09:51:11.867554","created_date":"2022-01-26T00:00:00"}