{"id":"https://openalex.org/W4383108707","doi":"https://doi.org/10.1109/icra48891.2023.10160613","title":"Generalization of Impact Response Factors for Proprioceptive Collaborative Robots","display_name":"Generalization of Impact Response Factors for Proprioceptive Collaborative Robots","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383108707","doi":"https://doi.org/10.1109/icra48891.2023.10160613"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10160613","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icra48891.2023.10160613","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE 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/A5016053000","display_name":"Carlos Rela\u00f1o","orcid":"https://orcid.org/0000-0002-3276-4668"},"institutions":[{"id":"https://openalex.org/I50357001","display_name":"Universidad Carlos III de Madrid","ror":"https://ror.org/03ths8210","country_code":"ES","type":"education","lineage":["https://openalex.org/I50357001"]}],"countries":["ES"],"is_corresponding":true,"raw_author_name":"Carlos Rela\u00f1o","raw_affiliation_strings":["University Carlos III of Madrid,Systems Engineering and Automation Department,Madrid,Spain","Systems Engineering and Automation Department, University Carlos III of Madrid, Madrid, Spain"],"affiliations":[{"raw_affiliation_string":"University Carlos III of Madrid,Systems Engineering and Automation Department,Madrid,Spain","institution_ids":["https://openalex.org/I50357001"]},{"raw_affiliation_string":"Systems Engineering and Automation Department, University Carlos III of Madrid, Madrid, Spain","institution_ids":["https://openalex.org/I50357001"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023651892","display_name":"Daniel Sanz\u2010Merodio","orcid":"https://orcid.org/0000-0002-7978-683X"},"institutions":[{"id":"https://openalex.org/I4210122358","display_name":"Observatorio de la Inmigraci\u00f3n de Tenerife","ror":"https://ror.org/020beq690","country_code":"ES","type":"facility","lineage":["https://openalex.org/I4210122358"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Daniel Sanz-Merodio","raw_affiliation_strings":["ARC Robotics, Arquimea Research Center,Santa Cruz de Tenerife,Spain","ARC Robotics, Arquimea Research Center, Santa Cruz de Tenerife, Spain"],"affiliations":[{"raw_affiliation_string":"ARC Robotics, Arquimea Research Center,Santa Cruz de Tenerife,Spain","institution_ids":["https://openalex.org/I4210122358"]},{"raw_affiliation_string":"ARC Robotics, Arquimea Research Center, Santa Cruz de Tenerife, Spain","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056002686","display_name":"Miguel L\u00f3pez","orcid":"https://orcid.org/0000-0002-5514-4613"},"institutions":[{"id":"https://openalex.org/I4210122358","display_name":"Observatorio de la Inmigraci\u00f3n de Tenerife","ror":"https://ror.org/020beq690","country_code":"ES","type":"facility","lineage":["https://openalex.org/I4210122358"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Miguel L\u00f3pez","raw_affiliation_strings":["ARC Robotics, Arquimea Research Center,Santa Cruz de Tenerife,Spain","ARC Robotics, Arquimea Research Center, Santa Cruz de Tenerife, Spain"],"affiliations":[{"raw_affiliation_string":"ARC Robotics, Arquimea Research Center,Santa Cruz de Tenerife,Spain","institution_ids":["https://openalex.org/I4210122358"]},{"raw_affiliation_string":"ARC Robotics, Arquimea Research Center, Santa Cruz de Tenerife, Spain","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5060224561","display_name":"Concepci\u00f3n A. Monje","orcid":"https://orcid.org/0000-0001-8295-127X"},"institutions":[{"id":"https://openalex.org/I50357001","display_name":"Universidad Carlos III de Madrid","ror":"https://ror.org/03ths8210","country_code":"ES","type":"education","lineage":["https://openalex.org/I50357001"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Concepci\u00f3n A. Monje","raw_affiliation_strings":["University Carlos III of Madrid,Systems Engineering and Automation Department,Madrid,Spain","Systems Engineering and Automation Department, University Carlos III of Madrid, Madrid, Spain"],"affiliations":[{"raw_affiliation_string":"University Carlos III of Madrid,Systems Engineering and Automation Department,Madrid,Spain","institution_ids":["https://openalex.org/I50357001"]},{"raw_affiliation_string":"Systems Engineering and Automation Department, University Carlos III of Madrid, Madrid, Spain","institution_ids":["https://openalex.org/I50357001"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5016053000"],"corresponding_institution_ids":["https://openalex.org/I50357001"],"apc_list":null,"apc_paid":null,"fwci":0.5628,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.65317759,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":96},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9976999759674072,"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":0.9976999759674072,"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":0.9950000047683716,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9596999883651733,"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":0.8003815412521362},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5807196497917175},{"id":"https://openalex.org/keywords/inertia","display_name":"Inertia","score":0.5356962084770203},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5131543278694153},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.48808181285858154},{"id":"https://openalex.org/keywords/safer","display_name":"SAFER","score":0.4572645127773285},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4460243284702301},{"id":"https://openalex.org/keywords/factor","display_name":"Factor (programming language)","score":0.4164074659347534},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3410465121269226},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3382415175437927},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2123495638370514},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.10799181461334229}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.8003815412521362},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5807196497917175},{"id":"https://openalex.org/C110407247","wikidata":"https://www.wikidata.org/wiki/Q122508","display_name":"Inertia","level":2,"score":0.5356962084770203},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5131543278694153},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.48808181285858154},{"id":"https://openalex.org/C2776654903","wikidata":"https://www.wikidata.org/wiki/Q2601463","display_name":"SAFER","level":2,"score":0.4572645127773285},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4460243284702301},{"id":"https://openalex.org/C2781039887","wikidata":"https://www.wikidata.org/wiki/Q1391724","display_name":"Factor (programming language)","level":2,"score":0.4164074659347534},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3410465121269226},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3382415175437927},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2123495638370514},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.10799181461334229},{"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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48891.2023.10160613","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icra48891.2023.10160613","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","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":14,"referenced_works":["https://openalex.org/W59441132","https://openalex.org/W1912366910","https://openalex.org/W1954262631","https://openalex.org/W1973805002","https://openalex.org/W2017239762","https://openalex.org/W2131666656","https://openalex.org/W2159220301","https://openalex.org/W2167798707","https://openalex.org/W2169028406","https://openalex.org/W2559812062","https://openalex.org/W2573227850","https://openalex.org/W3015217191","https://openalex.org/W6643596254","https://openalex.org/W7057045785"],"related_works":["https://openalex.org/W2953205341","https://openalex.org/W2092643327","https://openalex.org/W235065745","https://openalex.org/W2029935773","https://openalex.org/W2787754950","https://openalex.org/W1572215850","https://openalex.org/W1985775355","https://openalex.org/W2352115286","https://openalex.org/W4256172809","https://openalex.org/W2084793300"],"abstract_inverted_index":{"Physical":[0],"Human-Robot":[1],"Interaction(pHRI)":[2],"re-quires":[3],"taking":[4,139],"safety":[5],"into":[6,144],"account":[7,145],"from":[8],"the":[9,13,33,56,64,67,74,85,88,92,96,109,120,140,147,150,167,191,198,212],"design":[10,57,89,184],"board":[11],"to":[12,118,126,135,159],"collaborative":[14,20],"operation":[15],"of":[16,37,46,53,58,66,84,91,98,122,142,149,193,200,215,221,224],"any":[17],"robot.":[18],"For":[19],"robotic":[21,207],"environments,":[22],"where":[23],"human":[24],"and":[25,30,35,42,177,205,219],"machine":[26],"are":[27,49,226],"sharing":[28],"space":[29],"interacting":[31],"physically,":[32],"analysis":[34],"quantification":[36],"impacts":[38,128],"becomes":[39],"very":[40],"relevant":[41],"necessary.":[43],"Furthermore,":[44],"analyses":[45],"this":[47,210],"kind":[48],"a":[50,123,157,182],"valuable":[51,183],"source":[52],"information":[54,189],"for":[55,70,81,129,146,174],"safer,":[59],"more":[60],"efficient":[61],"pHRI.":[62],"In":[63,209],"definition":[65,214],"first":[68],"parameter":[69],"dynamic":[71,75],"impact":[72,76,201],"analysis,":[73],"mitigation":[77,111],"capacity":[78],"was":[79,133,154],"considered":[80],"certain":[82,124],"configurations":[83],"robot,":[86,93],"but":[87],"characteristics":[90],"such":[94],"as":[95,156,186],"inertia":[97,141],"actuators,":[99],"were":[100],"not":[101],"included.":[102],"This":[103,164],"paradigm":[104],"changed":[105],"when":[106],"MIT":[107],"presented":[108],"\u201cimpact":[110],"factor\u201d":[112],"(IMF)":[113],"with":[114],"which,":[115],"in":[116],"addition":[117],"considering":[119],"ability":[121],"robot":[125],"mitigate":[127],"every":[130],"configuration,":[131],"it":[132,187],"possible":[134,222],"quantify":[136],"backdriveability":[137,192],"by":[138],"actuators":[143],"calculation":[148],"factor.":[151],"However,":[152],"IMF":[153],"proposed":[155],"method":[158],"analyse":[160],"floating":[161,176,204],"robots":[162],"like.":[163],"paper":[165],"presents":[166],"Generalised":[168],"Impact":[169],"Absorption":[170],"Factor":[171],"(GIAF),":[172],"suitable":[173],"both":[175],"fixed-base":[178,206],"robots.":[179],"GIAF":[180,216,225],"is":[181,217],"parameter,":[185],"provides":[188],"about":[190],"each":[194],"joint,":[195],"while":[196],"allowing":[197],"comparison":[199],"response":[202],"between":[203],"platforms.":[208],"work,":[211],"mathematical":[213],"developed":[218],"examples":[220],"uses":[223],"presented.":[227]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2}],"updated_date":"2025-12-24T23:09:58.560324","created_date":"2025-10-10T00:00:00"}