{"id":"https://openalex.org/W2967102000","doi":"https://doi.org/10.1109/icra.2019.8793475","title":"Formalized Task Characterization for Human-Robot Autonomy Allocation","display_name":"Formalized Task Characterization for Human-Robot Autonomy Allocation","publication_year":2019,"publication_date":"2019-05-01","ids":{"openalex":"https://openalex.org/W2967102000","doi":"https://doi.org/10.1109/icra.2019.8793475","mag":"2967102000"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2019.8793475","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8793475","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 International Conference on Robotics and Automation (ICRA)","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/A5102865314","display_name":"Michael J. Young","orcid":"https://orcid.org/0000-0002-5277-2104"},"institutions":[{"id":"https://openalex.org/I1324242722","display_name":"Shirley Ryan AbilityLab","ror":"https://ror.org/02ja0m249","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I1324242722"]},{"id":"https://openalex.org/I111979921","display_name":"Northwestern University","ror":"https://ror.org/000e0be47","country_code":"US","type":"education","lineage":["https://openalex.org/I111979921"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Michael Young","raw_affiliation_strings":["Mechanical Engineering, Northwestern University, Shirley Ryan AbilityLab, Chicago, IL, USA"],"affiliations":[{"raw_affiliation_string":"Mechanical Engineering, Northwestern University, Shirley Ryan AbilityLab, Chicago, IL, USA","institution_ids":["https://openalex.org/I1324242722","https://openalex.org/I111979921"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009608882","display_name":"Christopher Miller","orcid":null},"institutions":[{"id":"https://openalex.org/I1324242722","display_name":"Shirley Ryan AbilityLab","ror":"https://ror.org/02ja0m249","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I1324242722"]},{"id":"https://openalex.org/I111979921","display_name":"Northwestern University","ror":"https://ror.org/000e0be47","country_code":"US","type":"education","lineage":["https://openalex.org/I111979921"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Christopher Miller","raw_affiliation_strings":["Mechanical Engineering, Northwestern University, Shirley Ryan AbilityLab, Chicago, IL, USA"],"affiliations":[{"raw_affiliation_string":"Mechanical Engineering, Northwestern University, Shirley Ryan AbilityLab, Chicago, IL, USA","institution_ids":["https://openalex.org/I1324242722","https://openalex.org/I111979921"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024709613","display_name":"Youyi Bi","orcid":"https://orcid.org/0009-0002-0815-8569"},"institutions":[{"id":"https://openalex.org/I111979921","display_name":"Northwestern University","ror":"https://ror.org/000e0be47","country_code":"US","type":"education","lineage":["https://openalex.org/I111979921"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Youyi Bi","raw_affiliation_strings":["Mechanical Engineering, Northwestern University, Evanston, IL, USA"],"affiliations":[{"raw_affiliation_string":"Mechanical Engineering, Northwestern University, Evanston, IL, USA","institution_ids":["https://openalex.org/I111979921"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100344439","display_name":"Wei Chen","orcid":"https://orcid.org/0000-0002-4653-7124"},"institutions":[{"id":"https://openalex.org/I111979921","display_name":"Northwestern University","ror":"https://ror.org/000e0be47","country_code":"US","type":"education","lineage":["https://openalex.org/I111979921"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Wei Chen","raw_affiliation_strings":["Mechanical Engineering, Northwestern University, Evanston, IL, USA"],"affiliations":[{"raw_affiliation_string":"Mechanical Engineering, Northwestern University, Evanston, IL, USA","institution_ids":["https://openalex.org/I111979921"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5051354595","display_name":"Brenna Argall","orcid":"https://orcid.org/0000-0002-4280-8492"},"institutions":[{"id":"https://openalex.org/I111979921","display_name":"Northwestern University","ror":"https://ror.org/000e0be47","country_code":"US","type":"education","lineage":["https://openalex.org/I111979921"]},{"id":"https://openalex.org/I1324242722","display_name":"Shirley Ryan AbilityLab","ror":"https://ror.org/02ja0m249","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I1324242722"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Brenna D. Argall","raw_affiliation_strings":["Computer Science, Mechanical Engineering, and Physical Medicine and Rehabilitation, Northwestern University, Shirley Ryan AbilityLab, Chicago, IL, USA"],"affiliations":[{"raw_affiliation_string":"Computer Science, Mechanical Engineering, and Physical Medicine and Rehabilitation, Northwestern University, Shirley Ryan AbilityLab, Chicago, IL, USA","institution_ids":["https://openalex.org/I1324242722","https://openalex.org/I111979921"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5102865314"],"corresponding_institution_ids":["https://openalex.org/I111979921","https://openalex.org/I1324242722"],"apc_list":null,"apc_paid":null,"fwci":0.7777,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.75704765,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"6044","last_page":"6050"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10525","display_name":"Human-Automation Interaction and Safety","score":0.9980999827384949,"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"}},"topics":[{"id":"https://openalex.org/T10525","display_name":"Human-Automation Interaction and Safety","score":0.9980999827384949,"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/T10809","display_name":"Occupational Health and Safety Research","score":0.9894999861717224,"subfield":{"id":"https://openalex.org/subfields/3614","display_name":"Radiological and Ultrasound Technology"},"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/T11729","display_name":"Product Development and Customization","score":0.9787999987602234,"subfield":{"id":"https://openalex.org/subfields/1405","display_name":"Management of Technology and Innovation"},"field":{"id":"https://openalex.org/fields/14","display_name":"Business, Management and Accounting"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.7136573791503906},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6952109336853027},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6817704439163208},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6380264759063721},{"id":"https://openalex.org/keywords/autonomy","display_name":"Autonomy","score":0.5673315525054932},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5588367581367493},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.5561366081237793},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.5093861222267151},{"id":"https://openalex.org/keywords/outlier","display_name":"Outlier","score":0.508934736251831},{"id":"https://openalex.org/keywords/task-analysis","display_name":"Task analysis","score":0.5048690438270569},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.46184271574020386},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.45561322569847107},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4106902778148651},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.3535914719104767},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1817074716091156},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1278497278690338}],"concepts":[{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.7136573791503906},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6952109336853027},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6817704439163208},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6380264759063721},{"id":"https://openalex.org/C65414064","wikidata":"https://www.wikidata.org/wiki/Q484105","display_name":"Autonomy","level":2,"score":0.5673315525054932},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5588367581367493},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.5561366081237793},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5093861222267151},{"id":"https://openalex.org/C79337645","wikidata":"https://www.wikidata.org/wiki/Q779824","display_name":"Outlier","level":2,"score":0.508934736251831},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.5048690438270569},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.46184271574020386},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.45561322569847107},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4106902778148651},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3535914719104767},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1817074716091156},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1278497278690338},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","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/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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2019.8793475","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8793475","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.800000011920929,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1673310716","https://openalex.org/W1964723358","https://openalex.org/W2049638304","https://openalex.org/W2069287462","https://openalex.org/W2101713682","https://openalex.org/W2103093506","https://openalex.org/W2109135966","https://openalex.org/W2135874135","https://openalex.org/W2144281619","https://openalex.org/W2151599587","https://openalex.org/W2151905266","https://openalex.org/W2157289187","https://openalex.org/W2483674195","https://openalex.org/W2600951623","https://openalex.org/W2612526027","https://openalex.org/W2993740710","https://openalex.org/W4245037007","https://openalex.org/W6637131181","https://openalex.org/W6681437929"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2048576502","https://openalex.org/W2559881192","https://openalex.org/W4388624165","https://openalex.org/W2586362452","https://openalex.org/W2621386530","https://openalex.org/W2148892780","https://openalex.org/W2159606325","https://openalex.org/W3097029141","https://openalex.org/W2157119315"],"abstract_inverted_index":{"Humans":[0],"and":[1,32,55,98,126,152],"robots":[2],"team":[3],"together":[4],"to":[5,15,44,76,95,136,155],"perform":[6,16,77,107],"tasks":[7,12],"in":[8,118],"various":[9],"domains.":[10],"Some":[11],"are":[13,158],"easier":[14],"than":[17,101],"others,":[18],"but":[19],"little":[20],"work":[21],"focuses":[22],"on":[23,124,140],"discovering":[24],"the":[25,108,119],"underlying":[26],"mechanisms":[27],"that":[28,86,149],"affect":[29],"perceived":[30],"difficulty":[31,100,127],"task":[33,45,91],"performance.":[34],"To":[35],"fill":[36],"this":[37],"gap,":[38],"we":[39,60,133],"propose":[40],"a":[41,62,69,90,116],"formalized":[42],"approach":[43],"characterization":[46],"for":[47,160],"human-robot":[48],"teams":[49],"using":[50],"Taguchi":[51],"design":[52],"of":[53,72,89,121],"experiments":[54],"conjoint":[56],"analysis.":[57],"With":[58],"this,":[59],"conduct":[61],"20":[63],"person":[64],"study":[65],"where":[66],"participants":[67,105],"operate":[68],"6":[70,81],"degree":[71],"freedom":[73],"robotic":[74],"arm":[75],"manipulations":[78],"defined":[79],"by":[80],"kinematic":[82,156],"features.":[83,103],"We":[84],"find":[85],"rotational":[87,150],"features":[88,123,151,153],"contribute":[92],"significantly":[93],"more":[94],"decreased":[96],"performance":[97,125],"increased":[99],"translational":[102],"The":[104,113,146],"also":[106],"activities":[109],"with":[110],"autonomy":[111],"assistance.":[112,162],"data":[114],"shows":[115],"reduction":[117],"effect":[120],"these":[122],"when":[128,135],"assistance":[129,138],"is":[130],"active.":[131],"Furthermore,":[132],"examine":[134],"trigger":[137],"based":[139],"thresholds":[141],"set":[142],"from":[143],"outlier":[144],"detection.":[145],"analysis":[147],"indicates":[148],"leading":[154],"singularities":[157],"useful":[159],"triggering":[161]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}