{"id":"https://openalex.org/W2110667948","doi":"https://doi.org/10.1109/icra.2011.5980248","title":"Human arm motion modeling and long-term prediction for safe and efficient Human-Robot-Interaction","display_name":"Human arm motion modeling and long-term prediction for safe and efficient Human-Robot-Interaction","publication_year":2011,"publication_date":"2011-05-01","ids":{"openalex":"https://openalex.org/W2110667948","doi":"https://doi.org/10.1109/icra.2011.5980248","mag":"2110667948"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2011.5980248","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5980248","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation","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/A5101595753","display_name":"Hao Ding","orcid":"https://orcid.org/0009-0009-6159-4969"},"institutions":[{"id":"https://openalex.org/I106157433","display_name":"University of Kassel","ror":"https://ror.org/04zc7p361","country_code":"DE","type":"education","lineage":["https://openalex.org/I106157433"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Hao Ding","raw_affiliation_strings":["Institute of Control and System Theory, Department of Electrical Engineering and Computer Science, University of Kassel, Germany","Institute of Control and System Theory, Department of Electrical Engineering and Computer Science, University of Kassel, Germany#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Control and System Theory, Department of Electrical Engineering and Computer Science, University of Kassel, Germany","institution_ids":["https://openalex.org/I106157433"]},{"raw_affiliation_string":"Institute of Control and System Theory, Department of Electrical Engineering and Computer Science, University of Kassel, Germany#TAB#","institution_ids":["https://openalex.org/I106157433"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064617180","display_name":"Gunther Rei\u00dfig","orcid":"https://orcid.org/0000-0001-9044-8906"},"institutions":[{"id":"https://openalex.org/I106157433","display_name":"University of Kassel","ror":"https://ror.org/04zc7p361","country_code":"DE","type":"education","lineage":["https://openalex.org/I106157433"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Gunther Reissig","raw_affiliation_strings":["Institute of Control and System Theory, Department of Electrical Engineering and Computer Science, University of Kassel, Germany#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Control and System Theory, Department of Electrical Engineering and Computer Science, University of Kassel, Germany#TAB#","institution_ids":["https://openalex.org/I106157433"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025259819","display_name":"Wijaya Kurniawan","orcid":"https://orcid.org/0000-0003-4471-5457"},"institutions":[{"id":"https://openalex.org/I106157433","display_name":"University of Kassel","ror":"https://ror.org/04zc7p361","country_code":"DE","type":"education","lineage":["https://openalex.org/I106157433"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Kurniawan Wijaya","raw_affiliation_strings":["Institute of Control and System Theory, Department of Electrical Engineering and Computer Science, University of Kassel, Germany","Institute of Control and System Theory, Department of Electrical Engineering and Computer Science, University of Kassel, Germany#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Control and System Theory, Department of Electrical Engineering and Computer Science, University of Kassel, Germany","institution_ids":["https://openalex.org/I106157433"]},{"raw_affiliation_string":"Institute of Control and System Theory, Department of Electrical Engineering and Computer Science, University of Kassel, Germany#TAB#","institution_ids":["https://openalex.org/I106157433"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037949577","display_name":"Dino Bortot","orcid":null},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Dino Bortot","raw_affiliation_strings":["Institute of Ergonomics, Technische Universit\u00e4t M\u00fcnchen, Garching, Germany","Institute of Ergonomics, Technische Universit\u00e4t M\u00fcnchen, 85747 Garching bei M\u00fcnchen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Ergonomics, Technische Universit\u00e4t M\u00fcnchen, Garching, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Institute of Ergonomics, Technische Universit\u00e4t M\u00fcnchen, 85747 Garching bei M\u00fcnchen, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033286178","display_name":"Klaus Bengler","orcid":"https://orcid.org/0000-0003-3906-6093"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Klaus Bengler","raw_affiliation_strings":["Institute of Ergonomics, Technische Universit\u00e4t M\u00fcnchen, Garching, Germany","Institute of Ergonomics, Technische Universit\u00e4t M\u00fcnchen, 85747 Garching bei M\u00fcnchen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Ergonomics, Technische Universit\u00e4t M\u00fcnchen, Garching, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Institute of Ergonomics, Technische Universit\u00e4t M\u00fcnchen, 85747 Garching bei M\u00fcnchen, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5040756775","display_name":"Olaf Stursberg","orcid":"https://orcid.org/0000-0002-9600-457X"},"institutions":[{"id":"https://openalex.org/I106157433","display_name":"University of Kassel","ror":"https://ror.org/04zc7p361","country_code":"DE","type":"education","lineage":["https://openalex.org/I106157433"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Olaf Stursberg","raw_affiliation_strings":["Institute of Control and System Theory, Department of Electrical Engineering and Computer Science, University of Kassel, Germany","Institute of Control and System Theory, Department of Electrical Engineering and Computer Science, University of Kassel, Germany#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Control and System Theory, Department of Electrical Engineering and Computer Science, University of Kassel, Germany","institution_ids":["https://openalex.org/I106157433"]},{"raw_affiliation_string":"Institute of Control and System Theory, Department of Electrical Engineering and Computer Science, University of Kassel, Germany#TAB#","institution_ids":["https://openalex.org/I106157433"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":53,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"5875","last_page":"5880"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9980000257492065,"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":0.9980000257492065,"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/T10525","display_name":"Human-Automation Interaction and Safety","score":0.9943000078201294,"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"}},{"id":"https://openalex.org/T10982","display_name":"Motor Control and Adaptation","score":0.9941999912261963,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7389894723892212},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6984262466430664},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.6923172473907471},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.6814607977867126},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6608908772468567},{"id":"https://openalex.org/keywords/long-term-prediction","display_name":"Long-term prediction","score":0.6168968081474304},{"id":"https://openalex.org/keywords/term","display_name":"Term (time)","score":0.596993088722229},{"id":"https://openalex.org/keywords/human-motion","display_name":"Human motion","score":0.5566813349723816},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5539985299110413},{"id":"https://openalex.org/keywords/hidden-markov-model","display_name":"Hidden Markov model","score":0.5280025005340576},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.4640952944755554},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.37852954864501953}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7389894723892212},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6984262466430664},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.6923172473907471},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.6814607977867126},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6608908772468567},{"id":"https://openalex.org/C2776537626","wikidata":"https://www.wikidata.org/wiki/Q4047883","display_name":"Long-term prediction","level":2,"score":0.6168968081474304},{"id":"https://openalex.org/C61797465","wikidata":"https://www.wikidata.org/wiki/Q1188986","display_name":"Term (time)","level":2,"score":0.596993088722229},{"id":"https://openalex.org/C2986578859","wikidata":"https://www.wikidata.org/wiki/Q657632","display_name":"Human motion","level":3,"score":0.5566813349723816},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5539985299110413},{"id":"https://openalex.org/C23224414","wikidata":"https://www.wikidata.org/wiki/Q176769","display_name":"Hidden Markov model","level":2,"score":0.5280025005340576},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.4640952944755554},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.37852954864501953},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2011.5980248","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5980248","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1424654272","https://openalex.org/W1509235676","https://openalex.org/W1516985956","https://openalex.org/W1566040313","https://openalex.org/W1780392298","https://openalex.org/W1885639605","https://openalex.org/W2050835671","https://openalex.org/W2065483628","https://openalex.org/W2071797744","https://openalex.org/W2088604406","https://openalex.org/W2088659777","https://openalex.org/W2092895305","https://openalex.org/W2099615186","https://openalex.org/W2100469802","https://openalex.org/W2100675387","https://openalex.org/W2116139612","https://openalex.org/W2118294504","https://openalex.org/W2122075562","https://openalex.org/W2128389428","https://openalex.org/W2145201569","https://openalex.org/W2152784531","https://openalex.org/W2567948266","https://openalex.org/W2611243847","https://openalex.org/W3103706207","https://openalex.org/W6667029899","https://openalex.org/W6673174516","https://openalex.org/W6681835926"],"related_works":["https://openalex.org/W2015376728","https://openalex.org/W2133068558","https://openalex.org/W1944462942","https://openalex.org/W3000959466","https://openalex.org/W4391855104","https://openalex.org/W4287555442","https://openalex.org/W3112961962","https://openalex.org/W2952275641","https://openalex.org/W2802025241","https://openalex.org/W4401415511"],"abstract_inverted_index":{"Modeling":[0],"and":[1,19,37,155],"predicting":[2,157],"human":[3,12,25,89,108,162],"behavior":[4],"is":[5,23,84,128,151],"indispensable":[6],"when":[7,124],"industrial":[8],"robots":[9],"interacting":[10],"with":[11,137],"operators":[13,26],"are":[14],"to":[15,28,76,96],"be":[16],"manipulated":[17],"safely":[18],"efficiently.":[20],"One":[21],"challenge":[22],"that":[24,83],"tend":[27],"follow":[29],"different":[30],"motion":[31,127,159,169],"patterns,":[32],"depending":[33],"on":[34,52,72],"their":[35],"intention":[36],"the":[38,41,45,59,78,81,88,99,115,125,158],"structure":[39],"of":[40,47,61,80,101,148,160],"environment.":[42],"This":[43,132],"precludes":[44],"use":[46],"classical":[48],"estimation":[49],"techniques":[50],"based":[51,71],"kinematic":[53],"or":[54,130],"dynamic":[55],"models,":[56],"especially":[57],"for":[58],"purpose":[60],"long-term":[62],"prediction.":[63],"In":[64,94],"this":[65],"paper,":[66],"we":[67],"propose":[68],"a":[69,91,138,143,161],"method":[70,150],"Hidden":[73],"Markov":[74],"Models":[75],"predict":[77],"region":[79],"workspace":[82],"possibly":[85],"occupied":[86],"by":[87,153],"within":[90],"prediction":[92],"horizon.":[93],"contrast":[95],"predictions":[97],"in":[98,164],"form":[100],"single":[102],"points":[103],"such":[104],"as":[105,110,121],"most":[106],"likely":[107],"positions":[109],"obtained":[111,117],"from":[112],"previous":[113],"approaches,":[114],"regions":[116],"here":[118],"may":[119],"serve":[120],"safety":[122],"constraints":[123],"robot":[126],"planned":[129],"optimized.":[131],"way":[133],"one":[134],"avoids":[135],"collisions":[136],"probability":[139],"not":[140],"less":[141],"than":[142],"predefined":[144],"threshold.":[145],"The":[146],"practicability":[147],"our":[149],"demonstrated":[152],"successfully":[154],"accurately":[156],"arm":[163],"two":[165],"scenarios":[166],"involving":[167],"multiple":[168],"patterns.":[170]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":5},{"year":2015,"cited_by_count":2},{"year":2012,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}