{"id":"https://openalex.org/W1519780041","doi":"https://doi.org/10.1109/icra.2015.7139943","title":"A cooperative control framework for haptic guidance of bimanual surgical tasks based on Learning From Demonstration","display_name":"A cooperative control framework for haptic guidance of bimanual surgical tasks based on Learning From Demonstration","publication_year":2015,"publication_date":"2015-05-01","ids":{"openalex":"https://openalex.org/W1519780041","doi":"https://doi.org/10.1109/icra.2015.7139943","mag":"1519780041"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2015.7139943","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139943","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://discovery.ucl.ac.uk/1474284/1/power2015cooperative.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5065450145","display_name":"Maura Power","orcid":"https://orcid.org/0000-0002-5189-7650"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Maura Power","raw_affiliation_strings":["Hamlyn Centre for Robotic Surgery, Imperial College London, London, UK","Hamlyn Centre for Robotic Surgery, Imperial College London, SW7 2AZ, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hamlyn Centre for Robotic Surgery, Imperial College London, London, UK","institution_ids":["https://openalex.org/I47508984"]},{"raw_affiliation_string":"Hamlyn Centre for Robotic Surgery, Imperial College London, SW7 2AZ, UK","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039222070","display_name":"Hedyeh Rafii-Tari","orcid":"https://orcid.org/0000-0002-5104-0649"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Hedyeh Rafii-Tari","raw_affiliation_strings":["Hamlyn Centre for Robotic Surgery, Imperial College London, London, UK","Hamlyn Centre for Robotic Surgery, Imperial College London, SW7 2AZ, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hamlyn Centre for Robotic Surgery, Imperial College London, London, UK","institution_ids":["https://openalex.org/I47508984"]},{"raw_affiliation_string":"Hamlyn Centre for Robotic Surgery, Imperial College London, SW7 2AZ, UK","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008795008","display_name":"Christos Bergeles","orcid":"https://orcid.org/0000-0002-9152-3194"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Christos Bergeles","raw_affiliation_strings":["Hamlyn Centre for Robotic Surgery, Imperial College London, London, UK","Hamlyn Centre for Robotic Surgery, Imperial College London, SW7 2AZ, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hamlyn Centre for Robotic Surgery, Imperial College London, London, UK","institution_ids":["https://openalex.org/I47508984"]},{"raw_affiliation_string":"Hamlyn Centre for Robotic Surgery, Imperial College London, SW7 2AZ, UK","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037213567","display_name":"Valentina Vitiello","orcid":"https://orcid.org/0000-0002-1724-6264"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Valentina Vitiello","raw_affiliation_strings":["Hamlyn Centre for Robotic Surgery, Imperial College London, London, UK","Hamlyn Centre for Robotic Surgery, Imperial College London, SW7 2AZ, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hamlyn Centre for Robotic Surgery, Imperial College London, London, UK","institution_ids":["https://openalex.org/I47508984"]},{"raw_affiliation_string":"Hamlyn Centre for Robotic Surgery, Imperial College London, SW7 2AZ, UK","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5085036036","display_name":"Guang\u2010Zhong Yang","orcid":"https://orcid.org/0000-0003-4060-4020"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Guang-Zhong Yang","raw_affiliation_strings":["Hamlyn Centre for Robotic Surgery, Imperial College London, London, UK","Hamlyn Centre for Robotic Surgery, Imperial College London, SW7 2AZ, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hamlyn Centre for Robotic Surgery, Imperial College London, London, UK","institution_ids":["https://openalex.org/I47508984"]},{"raw_affiliation_string":"Hamlyn Centre for Robotic Surgery, Imperial College London, SW7 2AZ, UK","institution_ids":["https://openalex.org/I47508984"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I47508984"],"apc_list":null,"apc_paid":null,"fwci":1.4188,"has_fulltext":true,"cited_by_count":36,"citation_normalized_percentile":{"value":0.8000938,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"5330","last_page":"5337"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9980000257492065,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9980000257492065,"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":0.9972000122070312,"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":0.9955999851226807,"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/teleoperation","display_name":"Teleoperation","score":0.884807288646698},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.8379258513450623},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.699981153011322},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6462738513946533},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6393517255783081},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.5896861553192139},{"id":"https://openalex.org/keywords/guidance-system","display_name":"Guidance system","score":0.48102670907974243},{"id":"https://openalex.org/keywords/setpoint","display_name":"Setpoint","score":0.4438610076904297},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.43985119462013245},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3720613121986389},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1762019693851471}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.884807288646698},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.8379258513450623},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.699981153011322},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6462738513946533},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6393517255783081},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5896861553192139},{"id":"https://openalex.org/C201004817","wikidata":"https://www.wikidata.org/wiki/Q1707071","display_name":"Guidance system","level":2,"score":0.48102670907974243},{"id":"https://openalex.org/C12302492","wikidata":"https://www.wikidata.org/wiki/Q1752097","display_name":"Setpoint","level":2,"score":0.4438610076904297},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.43985119462013245},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3720613121986389},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1762019693851471},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2015.7139943","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139943","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:eprints.ucl.ac.uk.OAI2:1474284","is_oa":true,"landing_page_url":"https://discovery.ucl.ac.uk/id/eprint/1474284/","pdf_url":"https://discovery.ucl.ac.uk/1474284/1/power2015cooperative.pdf","source":{"id":"https://openalex.org/S4306400024","display_name":"UCL Discovery (University College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I45129253","host_organization_name":"University College London","host_organization_lineage":["https://openalex.org/I45129253"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"     In:  Proceedings of IEEE International Conference on Robotics and Automation (ICRA), 2015.  (pp. pp. 5330-5337).  IEEE: Washington, USA. (2015)     ","raw_type":"Proceedings paper"}],"best_oa_location":{"id":"pmh:oai:eprints.ucl.ac.uk.OAI2:1474284","is_oa":true,"landing_page_url":"https://discovery.ucl.ac.uk/id/eprint/1474284/","pdf_url":"https://discovery.ucl.ac.uk/1474284/1/power2015cooperative.pdf","source":{"id":"https://openalex.org/S4306400024","display_name":"UCL Discovery (University College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I45129253","host_organization_name":"University College London","host_organization_lineage":["https://openalex.org/I45129253"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"     In:  Proceedings of IEEE International Conference on Robotics and Automation (ICRA), 2015.  (pp. pp. 5330-5337).  IEEE: Washington, USA. (2015)     ","raw_type":"Proceedings paper"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W1519780041.pdf","grobid_xml":"https://content.openalex.org/works/W1519780041.grobid-xml"},"referenced_works_count":9,"referenced_works":["https://openalex.org/W1986014385","https://openalex.org/W2013293242","https://openalex.org/W2018346149","https://openalex.org/W2055916127","https://openalex.org/W2134066118","https://openalex.org/W2154530631","https://openalex.org/W2156154123","https://openalex.org/W2166851428","https://openalex.org/W6683127974"],"related_works":["https://openalex.org/W1495927848","https://openalex.org/W4205962020","https://openalex.org/W2620138946","https://openalex.org/W90946887","https://openalex.org/W191702426","https://openalex.org/W2094105667","https://openalex.org/W2097347938","https://openalex.org/W2164858976","https://openalex.org/W2970545857","https://openalex.org/W2774691751"],"abstract_inverted_index":{"Whilst":[0],"current":[1],"minimally":[2],"invasive":[3],"surgical":[4,61,75,122,141],"robots":[5],"offer":[6],"many":[7],"advantages":[8],"to":[9,48,66,160],"the":[10,19,26,31,35,70,74,82,87,90,94,130,133,138,155],"surgeon,":[11],"most":[12],"of":[13,29,81,93],"them":[14],"are":[15,64,104],"still":[16],"controlled":[17],"using":[18,137],"traditional":[20],"master-slave":[21],"approach,":[22],"without":[23],"fully":[24],"exploiting":[25],"complementary":[27],"strengths":[28],"both":[30],"human":[32],"user":[33,151],"and":[34,67,113,127,132],"robot.":[36,71],"This":[37],"paper":[38],"proposes":[39],"a":[40,44],"framework":[41,134],"that":[42],"provides":[43],"cooperative":[45],"control":[46],"approach":[47],"human-robot":[49],"interaction.":[50],"Typical":[51],"teleoperation":[52],"is":[53,77],"enhanced":[54],"by":[55,69,85,129],"incorporating":[56],"haptic":[57,118,156],"guidance-based":[58],"feedback":[59],"for":[60,106,117],"tasks,":[62],"which":[63],"demonstrated":[65,126],"learned":[68,83,95,110],"Safety":[72],"in":[73,89,150,158],"scene":[76],"maintained":[78],"during":[79],"reproduction":[80],"tasks":[84,124],"including":[86],"surgeon":[88],"guided":[91],"execution":[92],"task":[96,107,111,152],"at":[97],"all":[98],"times.":[99],"Continuous":[100],"Hidden":[101],"Markov":[102],"Models":[103],"used":[105],"learning,":[108],"real-time":[109],"recognition":[112],"generating":[114],"setpoint":[115],"trajectories":[116],"guidance.":[119],"Two":[120],"different":[121],"training":[123],"were":[125],"encoded":[128],"system,":[131],"was":[135],"evaluated":[136],"Raven":[139],"II":[140],"robot":[142],"research":[143],"platform.":[144],"The":[145],"results":[146],"indicate":[147],"an":[148],"improvement":[149],"performance":[153],"with":[154],"guidance":[157],"comparison":[159],"unguided":[161],"teleoperation.":[162]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":8},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":1}],"updated_date":"2026-07-02T09:51:11.867554","created_date":"2025-10-10T00:00:00"}
