{"id":"https://openalex.org/W2410736991","doi":"https://doi.org/10.1109/icra.2016.7487470","title":"Impedance-based Gaussian Processes for predicting human behavior during physical interaction","display_name":"Impedance-based Gaussian Processes for predicting human behavior during physical interaction","publication_year":2016,"publication_date":"2016-05-01","ids":{"openalex":"https://openalex.org/W2410736991","doi":"https://doi.org/10.1109/icra.2016.7487470","mag":"2410736991"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2016.7487470","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2016.7487470","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://mediatum.ub.tum.de/node?id=1303795","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5102022834","display_name":"Jos\u00e9 Ram\u00f3n Medina","orcid":"https://orcid.org/0000-0003-0069-747X"},"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":"Jose Ramon Medina","raw_affiliation_strings":["Department of Electrical Engineering and Information Technology, Technische Universit\u00e4t M\u00fcnchen, Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Information Technology, Technische Universit\u00e4t M\u00fcnchen, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030888958","display_name":"Satoshi Endo","orcid":"https://orcid.org/0000-0002-0692-4234"},"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":"Satoshi Endo","raw_affiliation_strings":["Department of Electrical Engineering and Information Technology, Technische Universit\u00e4t M\u00fcnchen, Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Information Technology, Technische Universit\u00e4t M\u00fcnchen, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024376647","display_name":"Sandra Hirche","orcid":"https://orcid.org/0000-0001-7819-5926"},"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":"Sandra Hirche","raw_affiliation_strings":["Department of Electrical Engineering and Information Technology, Technische Universit\u00e4t M\u00fcnchen, Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Information Technology, Technische Universit\u00e4t M\u00fcnchen, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":3.2143,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":{"value":0.92332066,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"3055","last_page":"3061"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10982","display_name":"Motor Control and Adaptation","score":0.9865999817848206,"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"}},"topics":[{"id":"https://openalex.org/T10982","display_name":"Motor Control and Adaptation","score":0.9865999817848206,"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"}},{"id":"https://openalex.org/T10157","display_name":"Sports Performance and Training","score":0.974399983882904,"subfield":{"id":"https://openalex.org/subfields/2732","display_name":"Orthopedics and Sports Medicine"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T10525","display_name":"Human-Automation Interaction and Safety","score":0.9729999899864197,"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/trajectory","display_name":"Trajectory","score":0.676180899143219},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.633302628993988},{"id":"https://openalex.org/keywords/gaussian-process","display_name":"Gaussian process","score":0.5461410880088806},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.5323408246040344},{"id":"https://openalex.org/keywords/prior-probability","display_name":"Prior probability","score":0.5133630633354187},{"id":"https://openalex.org/keywords/a-priori-and-a-posteriori","display_name":"A priori and a posteriori","score":0.5001590251922607},{"id":"https://openalex.org/keywords/perspective","display_name":"Perspective (graphical)","score":0.4787392020225525},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.4742238521575928},{"id":"https://openalex.org/keywords/identification","display_name":"Identification (biology)","score":0.44050946831703186},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4136228561401367},{"id":"https://openalex.org/keywords/bayesian-probability","display_name":"Bayesian probability","score":0.4122428894042969},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.38384610414505005},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.33885249495506287},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.31802496314048767},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.13669511675834656}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.676180899143219},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.633302628993988},{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.5461410880088806},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.5323408246040344},{"id":"https://openalex.org/C177769412","wikidata":"https://www.wikidata.org/wiki/Q278090","display_name":"Prior probability","level":3,"score":0.5133630633354187},{"id":"https://openalex.org/C75553542","wikidata":"https://www.wikidata.org/wiki/Q178161","display_name":"A priori and a posteriori","level":2,"score":0.5001590251922607},{"id":"https://openalex.org/C12713177","wikidata":"https://www.wikidata.org/wiki/Q1900281","display_name":"Perspective (graphical)","level":2,"score":0.4787392020225525},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.4742238521575928},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.44050946831703186},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4136228561401367},{"id":"https://openalex.org/C107673813","wikidata":"https://www.wikidata.org/wiki/Q812534","display_name":"Bayesian probability","level":2,"score":0.4122428894042969},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.38384610414505005},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.33885249495506287},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.31802496314048767},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.13669511675834656},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C59822182","wikidata":"https://www.wikidata.org/wiki/Q441","display_name":"Botany","level":1,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","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/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2016.7487470","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2016.7487470","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:mediatum.ub.tum.de:node/1303795","is_oa":true,"landing_page_url":"http://mediatum.ub.tum.de/node?id=1303795","pdf_url":null,"source":{"id":"https://openalex.org/S4306400453","display_name":"mediaTUM \u2013 the media and publications repository of the Technical University Munich (Technical University Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"ConferencePaper"}],"best_oa_location":{"id":"pmh:oai:mediatum.ub.tum.de:node/1303795","is_oa":true,"landing_page_url":"http://mediatum.ub.tum.de/node?id=1303795","pdf_url":null,"source":{"id":"https://openalex.org/S4306400453","display_name":"mediaTUM \u2013 the media and publications repository of the Technical University Munich (Technical University Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"ConferencePaper"},"sustainable_development_goals":[{"score":0.4099999964237213,"display_name":"Life below water","id":"https://metadata.un.org/sdg/14"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W998690604","https://openalex.org/W1543474109","https://openalex.org/W1580216809","https://openalex.org/W1684361744","https://openalex.org/W1746819321","https://openalex.org/W1795991347","https://openalex.org/W1812075590","https://openalex.org/W1972510122","https://openalex.org/W2002078422","https://openalex.org/W2019130306","https://openalex.org/W2030268430","https://openalex.org/W2069017697","https://openalex.org/W2098626000","https://openalex.org/W2099768828","https://openalex.org/W2114414717","https://openalex.org/W2116005591","https://openalex.org/W2118291463","https://openalex.org/W2126877537","https://openalex.org/W2134477639","https://openalex.org/W2169187067","https://openalex.org/W3147742130","https://openalex.org/W4211008118","https://openalex.org/W4211049957","https://openalex.org/W6629804754","https://openalex.org/W6634689341","https://openalex.org/W6638315535","https://openalex.org/W6674582482","https://openalex.org/W6674989108","https://openalex.org/W6677522094","https://openalex.org/W6680220816"],"related_works":["https://openalex.org/W2580650124","https://openalex.org/W4386190339","https://openalex.org/W2968424575","https://openalex.org/W3142333283","https://openalex.org/W3122088529","https://openalex.org/W2085259108","https://openalex.org/W3041320102","https://openalex.org/W2111669074","https://openalex.org/W3123087812","https://openalex.org/W2063076820"],"abstract_inverted_index":{"For":[0],"seamless":[1],"physical":[2,60],"human-robot":[3],"interaction":[4,61,116],"(pHRI),":[5],"estimating":[6],"human":[7,19,42,56,67,76,110,132],"intention":[8],"is":[9,123],"essential.":[10],"Most":[11],"system":[12],"identification":[13],"approaches":[14],"to":[15,134],"pHRI":[16],"model":[17,122],"the":[18,28,41,75,103],"as":[20,79],"a":[21,34,52,80,85,91],"black":[22],"box":[23],"without":[24],"prior":[25],"assumptions":[26],"about":[27,37,109],"underlying":[29],"behavioral":[30,38],"structure.":[31],"However,":[32],"integrating":[33],"priori":[35],"knowledge":[36],"characteristics":[39],"of":[40,74],"provides":[43],"superior":[44],"prediction":[45,58,137],"performance.":[46],"In":[47],"this":[48],"work":[49],"we":[50],"present":[51],"novel":[53],"method":[54],"for":[55],"behavior":[57,111],"during":[59],"that":[62,83],"incorporates":[63],"an":[64,129],"empirically":[65],"supported":[66],"motor":[68],"control":[69],"model.":[70],"The":[71,118],"arm":[72],"dynamics":[73],"are":[77],"modeled":[78],"mechanical":[81],"impedance":[82,100],"follows":[84],"latent":[86],"desired":[87,104],"trajectory.":[88],"We":[89],"adopt":[90],"Bayesian":[92],"perspective":[93],"setting":[94],"Gaussian":[95],"Process":[96],"(GP)":[97],"priors":[98],"on":[99],"parameters":[101],"and":[102,115,127,139],"trajectory,":[105],"which":[106],"allows":[107],"regression":[108],"from":[112],"observed":[113],"trajectories":[114],"forces.":[117],"proposed":[119],"impedance-based":[120],"GP":[121],"validated":[124],"in":[125,128],"simulation":[126],"experiment":[130],"with":[131],"participants":[133],"demonstrate":[135],"its":[136],"performance":[138],"generalization":[140],"capability.":[141]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
