{"id":"https://openalex.org/W3090813890","doi":"https://doi.org/10.1109/icra40945.2020.9197329","title":"Evaluation of Human-Robot Object Co-manipulation Under Robot Impedance Control","display_name":"Evaluation of Human-Robot Object Co-manipulation Under Robot Impedance Control","publication_year":2020,"publication_date":"2020-05-01","ids":{"openalex":"https://openalex.org/W3090813890","doi":"https://doi.org/10.1109/icra40945.2020.9197329","mag":"3090813890"},"language":"en","primary_location":{"id":"doi:10.1109/icra40945.2020.9197329","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197329","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":null,"any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5051529604","display_name":"Mart\u00edn Mujica","orcid":"https://orcid.org/0000-0003-4499-4660"},"institutions":[{"id":"https://openalex.org/I4210130517","display_name":"Laboratoire G\u00e9nie de Production","ror":"https://ror.org/039aqbp11","country_code":"FR","type":"facility","lineage":["https://openalex.org/I119865316","https://openalex.org/I4210130517","https://openalex.org/I4405258862"]},{"id":"https://openalex.org/I205747304","display_name":"Institut National Polytechnique de Toulouse","ror":"https://ror.org/033p9g875","country_code":"FR","type":"education","lineage":["https://openalex.org/I205747304","https://openalex.org/I4405258862"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"Martin Mujica","raw_affiliation_strings":["LGP-ENIT, University of Toulouse, Tarbes, France","LGP - Laboratoire G\u00e9nie de Production (47, avenue d'Azereix BP 1629 65016 Tarbes CEDEX - France)"],"affiliations":[{"raw_affiliation_string":"LGP-ENIT, University of Toulouse, Tarbes, France","institution_ids":["https://openalex.org/I4210130517","https://openalex.org/I205747304"]},{"raw_affiliation_string":"LGP - Laboratoire G\u00e9nie de Production (47, avenue d'Azereix BP 1629 65016 Tarbes CEDEX - France)","institution_ids":["https://openalex.org/I4210130517"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043592714","display_name":"Mourad Benoussaad","orcid":"https://orcid.org/0000-0003-1145-7797"},"institutions":[{"id":"https://openalex.org/I205747304","display_name":"Institut National Polytechnique de Toulouse","ror":"https://ror.org/033p9g875","country_code":"FR","type":"education","lineage":["https://openalex.org/I205747304","https://openalex.org/I4405258862"]},{"id":"https://openalex.org/I4210130517","display_name":"Laboratoire G\u00e9nie de Production","ror":"https://ror.org/039aqbp11","country_code":"FR","type":"facility","lineage":["https://openalex.org/I119865316","https://openalex.org/I4210130517","https://openalex.org/I4405258862"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Mourad Benoussaad","raw_affiliation_strings":["LGP-ENIT, University of Toulouse, Tarbes, France","LGP - Laboratoire G\u00e9nie de Production (47, avenue d'Azereix BP 1629 65016 Tarbes CEDEX - France)"],"affiliations":[{"raw_affiliation_string":"LGP-ENIT, University of Toulouse, Tarbes, France","institution_ids":["https://openalex.org/I4210130517","https://openalex.org/I205747304"]},{"raw_affiliation_string":"LGP - Laboratoire G\u00e9nie de Production (47, avenue d'Azereix BP 1629 65016 Tarbes CEDEX - France)","institution_ids":["https://openalex.org/I4210130517"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5113531617","display_name":"Jean-Yves Fourquet","orcid":null},"institutions":[{"id":"https://openalex.org/I205747304","display_name":"Institut National Polytechnique de Toulouse","ror":"https://ror.org/033p9g875","country_code":"FR","type":"education","lineage":["https://openalex.org/I205747304","https://openalex.org/I4405258862"]},{"id":"https://openalex.org/I4210130517","display_name":"Laboratoire G\u00e9nie de Production","ror":"https://ror.org/039aqbp11","country_code":"FR","type":"facility","lineage":["https://openalex.org/I119865316","https://openalex.org/I4210130517","https://openalex.org/I4405258862"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Jean-Yves Fourquet","raw_affiliation_strings":["LGP-ENIT, University of Toulouse, Tarbes, France","LGP - Laboratoire G\u00e9nie de Production (47, avenue d'Azereix BP 1629 65016 Tarbes CEDEX - France)"],"affiliations":[{"raw_affiliation_string":"LGP-ENIT, University of Toulouse, Tarbes, France","institution_ids":["https://openalex.org/I4210130517","https://openalex.org/I205747304"]},{"raw_affiliation_string":"LGP - Laboratoire G\u00e9nie de Production (47, avenue d'Azereix BP 1629 65016 Tarbes CEDEX - France)","institution_ids":["https://openalex.org/I4210130517"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5051529604"],"corresponding_institution_ids":["https://openalex.org/I205747304","https://openalex.org/I4210130517"],"apc_list":null,"apc_paid":null,"fwci":0.2975,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.56548498,"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":"9143","last_page":"9149"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998000264167786,"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":0.9998000264167786,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9943000078201294,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9897000193595886,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7149869203567505},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.6864400506019592},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.634876549243927},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.6054063439369202},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5580779314041138},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5542002320289612},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.5349375605583191},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5273818969726562},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5121974349021912},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.47130951285362244},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.419519305229187},{"id":"https://openalex.org/keywords/social-robot","display_name":"Social robot","score":0.41377946734428406},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.35552161931991577},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3374583125114441},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.32369571924209595}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7149869203567505},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.6864400506019592},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.634876549243927},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.6054063439369202},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5580779314041138},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5542002320289612},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.5349375605583191},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5273818969726562},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5121974349021912},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.47130951285362244},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.419519305229187},{"id":"https://openalex.org/C162947575","wikidata":"https://www.wikidata.org/wiki/Q2005645","display_name":"Social robot","level":5,"score":0.41377946734428406},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.35552161931991577},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3374583125114441},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.32369571924209595},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/icra40945.2020.9197329","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197329","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:oatao.univ-toulouse.fr:27371","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4306401987","display_name":"Open Archive Toulouse Archive Ouverte (University of Toulouse)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I17866349","host_organization_name":"Universit\u00e9 F\u00e9d\u00e9rale de Toulouse Midi-Pyr\u00e9n\u00e9es","host_organization_lineage":["https://openalex.org/I17866349"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"","raw_type":"Conference or Workshop Item"},{"id":"pmh:oai:HAL:hal-03141139v1","is_oa":true,"landing_page_url":"https://hal.science/hal-03141139","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"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":"IEEE ICRA 2020- International Conference on Robotics and Automation, May 2020, Paris, France. pp.9143-9149, &#x27E8;10.1109/ICRA40945.2020.9197329&#x27E9;","raw_type":"Conference papers"}],"best_oa_location":{"id":"pmh:oai:oatao.univ-toulouse.fr:27371","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4306401987","display_name":"Open Archive Toulouse Archive Ouverte (University of Toulouse)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I17866349","host_organization_name":"Universit\u00e9 F\u00e9d\u00e9rale de Toulouse Midi-Pyr\u00e9n\u00e9es","host_organization_lineage":["https://openalex.org/I17866349"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"","raw_type":"Conference or Workshop Item"},"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.7699999809265137}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W146346647","https://openalex.org/W1487858791","https://openalex.org/W1548528537","https://openalex.org/W1978023077","https://openalex.org/W1985406432","https://openalex.org/W2017239762","https://openalex.org/W2066202893","https://openalex.org/W2079775715","https://openalex.org/W2099915711","https://openalex.org/W2104181254","https://openalex.org/W2106284607","https://openalex.org/W2115906629","https://openalex.org/W2134576624","https://openalex.org/W2147653242","https://openalex.org/W2166042980","https://openalex.org/W2170043047","https://openalex.org/W2497095191","https://openalex.org/W2765218414","https://openalex.org/W2888380943","https://openalex.org/W2939037429","https://openalex.org/W4245991817","https://openalex.org/W4254005064","https://openalex.org/W6675251542"],"related_works":["https://openalex.org/W1500588313","https://openalex.org/W4229452671","https://openalex.org/W4312511060","https://openalex.org/W2134294860","https://openalex.org/W3181705171","https://openalex.org/W2160434794","https://openalex.org/W3044674998","https://openalex.org/W2166267632","https://openalex.org/W2049851324","https://openalex.org/W4250841346"],"abstract_inverted_index":{"The":[0],"human-robot":[1],"collaboration":[2,16],"is":[3,18,98,126,180],"a":[4,29,60,127,151,158,183,196],"promising":[5],"and":[6,25,33,54,109,112,131,143,185],"challenging":[7],"field":[8],"of":[9,13,62,75,86,102,129,139,171],"robotics":[10,45],"research.":[11],"One":[12],"the":[14,19,23,70,73,83,94,119,124,132,134,140,147,169,176],"main":[15],"tasks":[17],"object":[20,77,172],"co-manipulation":[21,78,101],"where":[22,51],"human":[24,52,91,125,141,190],"robot":[26,120,133,148,177],"are":[27,57,192],"in":[28,44,118,175],"continuous":[30],"physical":[31,47],"interaction":[32,55,63,87],"forces":[34,92],"exerted":[35],"must":[36],"be":[37,67],"handled.":[38],"This":[39,96],"involves":[40],"some":[41],"issues":[42],"known":[43],"as":[46],"Human-Robot":[48,76],"Interaction":[49],"(pHRI),":[50],"safety":[53],"comfort":[56],"required.":[58],"Moreover,":[59],"definition":[61],"quality":[64],"metrics":[65,85],"would":[66],"relevant.":[68],"In":[69],"current":[71],"work,":[72],"assessment":[74],"task":[79,130],"was":[80,155],"explored":[81],"through":[82],"proposed":[84],"quality,":[88],"based":[89,99],"on":[90,100,157],"throughout":[93],"movement.":[95],"analysis":[97],"objects":[103],"with":[104,111,195],"different":[105],"dynamical":[106,173],"properties":[107,116,174],"(weight":[108],"inertia),":[110],"without":[113,136],"including":[114],"these":[115,205],"knowledge":[117],"control":[121,149,154,178],"law.":[122],"Here,":[123],"leader":[128],"follower":[135],"any":[137],"information":[138],"trajectory":[142],"movement":[144],"profile.":[145],"For":[146],"law,":[150],"well-known":[152],"impedance":[153],"applied":[156],"7-dof":[159],"Kuka":[160],"LBR":[161],"iiwa":[162],"14":[163],"R820":[164],"robot.":[165],"Results":[166],"show":[167],"that":[168],"consideration":[170],"law":[179],"crucial":[181],"for":[182],"good":[184],"more":[186,193],"comfortable":[187],"interaction.":[188],"Besides,":[189],"efforts":[191],"significant":[194],"higher":[197],"no-considered":[198],"weight,":[199],"whereas":[200],"it":[201],"remains":[202],"stable":[203],"when":[204],"weights":[206],"were":[207],"considered.":[208]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}
