{"id":"https://openalex.org/W4383108950","doi":"https://doi.org/10.1109/icra48891.2023.10161175","title":"A Force-Sensitive Exoskeleton for Teleoperation: An Application in Elderly Care Robotics","display_name":"A Force-Sensitive Exoskeleton for Teleoperation: An Application in Elderly Care Robotics","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383108950","doi":"https://doi.org/10.1109/icra48891.2023.10161175"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10161175","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10161175","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/A5001083728","display_name":"Alexander Toedtheide","orcid":"https://orcid.org/0000-0002-0102-8633"},"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":true,"raw_author_name":"Alexander Toedtheide","raw_affiliation_strings":["Munich School of Robotics and Machine Intelligence, Technical University of Munich,Chair of Robotics and Systems Intelligence,Munich,Germany,80797"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Munich School of Robotics and Machine Intelligence, Technical University of Munich,Chair of Robotics and Systems Intelligence,Munich,Germany,80797","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Xiao Chen","orcid":null},"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":"Xiao Chen","raw_affiliation_strings":["Munich School of Robotics and Machine Intelligence, Technical University of Munich,Chair of Robotics and Systems Intelligence,Munich,Germany,80797"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Munich School of Robotics and Machine Intelligence, Technical University of Munich,Chair of Robotics and Systems Intelligence,Munich,Germany,80797","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059894624","display_name":"Hamid Sadeghian","orcid":"https://orcid.org/0000-0001-8390-3480"},"institutions":[{"id":"https://openalex.org/I39268498","display_name":"University of Isfahan","ror":"https://ror.org/05h9t7759","country_code":"IR","type":"education","lineage":["https://openalex.org/I39268498"]},{"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","IR"],"is_corresponding":false,"raw_author_name":"Hamid Sadeghian","raw_affiliation_strings":["Munich School of Robotics and Machine Intelligence, Technical University of Munich,Chair of Robotics and Systems Intelligence,Munich,Germany,80797","Faculty of Engineering, University of Isfahan, Isfahan, Iran"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Munich School of Robotics and Machine Intelligence, Technical University of Munich,Chair of Robotics and Systems Intelligence,Munich,Germany,80797","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Faculty of Engineering, University of Isfahan, Isfahan, Iran","institution_ids":["https://openalex.org/I39268498"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004124482","display_name":"Abdeldjallil Naceri","orcid":null},"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":"Abdeldjallil Naceri","raw_affiliation_strings":["Munich School of Robotics and Machine Intelligence, Technical University of Munich,Chair of Robotics and Systems Intelligence,Munich,Germany,80797"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Munich School of Robotics and Machine Intelligence, Technical University of Munich,Chair of Robotics and Systems Intelligence,Munich,Germany,80797","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024171209","display_name":"Sami Haddadin","orcid":"https://orcid.org/0000-0001-7696-4955"},"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":"Sami Haddadin","raw_affiliation_strings":["Munich School of Robotics and Machine Intelligence, Technical University of Munich,Chair of Robotics and Systems Intelligence,Munich,Germany,80797"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Munich School of Robotics and Machine Intelligence, Technical University of Munich,Chair of Robotics and Systems Intelligence,Munich,Germany,80797","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5001083728"],"corresponding_institution_ids":["https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":3.7456,"has_fulltext":false,"cited_by_count":28,"citation_normalized_percentile":{"value":0.93267872,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"12624","last_page":"12630"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.996999979019165,"subfield":{"id":"https://openalex.org/subfields/2742","display_name":"Rehabilitation"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},"topics":[{"id":"https://openalex.org/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.996999979019165,"subfield":{"id":"https://openalex.org/subfields/2742","display_name":"Rehabilitation"},"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9764999747276306,"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"}},{"id":"https://openalex.org/T10912","display_name":"Telemedicine and Telehealth Implementation","score":0.9621000289916992,"subfield":{"id":"https://openalex.org/subfields/2739","display_name":"Public Health, Environmental and Occupational Health"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/exoskeleton","display_name":"Exoskeleton","score":0.9476757049560547},{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.9286584854125977},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5841180086135864},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5449376106262207},{"id":"https://openalex.org/keywords/telerobotics","display_name":"Telerobotics","score":0.5377815365791321},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.5023999214172363},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.4902947247028351},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.46155545115470886},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.46106964349746704},{"id":"https://openalex.org/keywords/powered-exoskeleton","display_name":"Powered exoskeleton","score":0.43120265007019043},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.42512014508247375},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4195857048034668},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.41889238357543945},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.38579174876213074},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2035723626613617},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.14811131358146667}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.9476757049560547},{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.9286584854125977},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5841180086135864},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5449376106262207},{"id":"https://openalex.org/C196467688","wikidata":"https://www.wikidata.org/wiki/Q1851985","display_name":"Telerobotics","level":4,"score":0.5377815365791321},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.5023999214172363},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.4902947247028351},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.46155545115470886},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.46106964349746704},{"id":"https://openalex.org/C45391945","wikidata":"https://www.wikidata.org/wiki/Q938523","display_name":"Powered exoskeleton","level":3,"score":0.43120265007019043},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.42512014508247375},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4195857048034668},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.41889238357543945},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.38579174876213074},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2035723626613617},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.14811131358146667},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra48891.2023.10161175","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10161175","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"},{"id":"pmh:oai:mediatum.ub.tum.de:node/1717395","is_oa":false,"landing_page_url":"https://mediatum.ub.tum.de/1717395","pdf_url":null,"source":{"id":"https://openalex.org/S4377196330","display_name":"mediaTUM  (Technical University of 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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"ConferencePaper"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W1544208400","https://openalex.org/W1635265082","https://openalex.org/W1708184443","https://openalex.org/W1969434593","https://openalex.org/W1977872363","https://openalex.org/W1986152369","https://openalex.org/W2020157793","https://openalex.org/W2040026674","https://openalex.org/W2077439003","https://openalex.org/W2116796345","https://openalex.org/W2129615936","https://openalex.org/W2159746877","https://openalex.org/W2159939017","https://openalex.org/W2400082923","https://openalex.org/W2596806485","https://openalex.org/W2898617052","https://openalex.org/W2902808022","https://openalex.org/W2919988232","https://openalex.org/W2962824567","https://openalex.org/W2964279366","https://openalex.org/W2969320466","https://openalex.org/W3012290708","https://openalex.org/W3012542762","https://openalex.org/W3013399679","https://openalex.org/W3016718674","https://openalex.org/W3018911239","https://openalex.org/W3047351634","https://openalex.org/W3090415619","https://openalex.org/W3128658323","https://openalex.org/W3169984014","https://openalex.org/W4214570817","https://openalex.org/W4285817767","https://openalex.org/W4365800529","https://openalex.org/W6632518567","https://openalex.org/W6637545665","https://openalex.org/W6683538782","https://openalex.org/W6713103097"],"related_works":["https://openalex.org/W2094105667","https://openalex.org/W3083255641","https://openalex.org/W2097347938","https://openalex.org/W2164858976","https://openalex.org/W2970545857","https://openalex.org/W2046710269","https://openalex.org/W817518365","https://openalex.org/W2097059456","https://openalex.org/W2141648055","https://openalex.org/W2145103607"],"abstract_inverted_index":{"With":[0,146],"the":[1,15,19,66,101,105,151],"increasing":[2],"demand":[3],"for":[4,24,30,45,83,112,123,160],"new":[5],"healthcare":[6],"solutions":[7],"and":[8,18,59,72,91,103,136],"technologies,":[9],"such":[10],"as":[11,142],"those":[12],"resulting":[13],"from":[14],"COVID-19":[16],"crisis,":[17],"growing":[20],"elderly":[21,161],"population,":[22],"exoskeletons":[23,44],"teleoperation":[25,93,158],"are":[26,48],"a":[27,61,79,110,113,124,129,137,156],"promising":[28],"solution":[29],"many":[31],"future":[32,114],"medical":[33],"applications.":[34],"In":[35],"this":[36,147],"context,":[37],"we":[38,77,85,149],"propose":[39,150],"two":[40,119],"force-":[41,95],"sensitive":[42],"upper-limb":[43,81,116],"teleoperation,":[46],"that":[47],"characterized":[49],"by:":[50],"i)":[51],"torque-controlled":[52],"robotic":[53],"actuators,":[54],"ii)":[55],"rigid-body":[56],"model":[57],"compensations,":[58],"iii)":[60],"lightweight":[62],"design":[63,111,135],"achieved":[64],"through":[65,144],"use":[67],"of":[68],"Bowden":[69],"cable":[70],"transmissions":[71],"remotely":[73],"placed":[74],"actuators.":[75],"Specifically,":[76],"present":[78],"semi-active":[80],"exoskeleton":[82,117,133],"which":[84,127],"demonstrate":[86],"human-":[87],"device":[88],"interaction":[89],"control":[90],"bilateral":[92],"with":[94,118],"feedback,":[96],"evaluated":[97],"via":[98],"simulation,":[99],"in":[100],"lab":[102],"over":[104],"Internet.":[106],"We":[107],"also":[108],"introduce":[109],"fully-active":[115],"contact":[120,138],"force/torque":[121],"sensors,":[122],"dual-arm":[125],"device,":[126],"features":[128],"novel":[130,157],"3-degrees-of-":[131],"freedom":[132],"shoulder":[134],"wrench":[139],"mitigation":[140],"controller,":[141],"demonstrated":[143],"simulation.":[145],"work,":[148],"essential":[152],"technical":[153],"steps":[154],"towards":[155],"system":[159],"care.":[162]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":11},{"year":2024,"cited_by_count":10},{"year":2023,"cited_by_count":5}],"updated_date":"2026-04-28T14:05:53.105641","created_date":"2025-10-10T00:00:00"}
