{"id":"https://openalex.org/W4383066290","doi":"https://doi.org/10.1109/icra48891.2023.10161348","title":"Using a Collaborative Robotic Arm as Human-Machine Interface: System Setup and Application to Pose Control Tasks","display_name":"Using a Collaborative Robotic Arm as Human-Machine Interface: System Setup and Application to Pose Control Tasks","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383066290","doi":"https://doi.org/10.1109/icra48891.2023.10161348"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10161348","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icra48891.2023.10161348","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","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.5445/ir/1000156797","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5029069611","display_name":"Christian Alexander Braun","orcid":"https://orcid.org/0000-0002-7827-439X"},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Christian A. Braun","raw_affiliation_strings":["Institute of Control Systems, Karlsruhe Institute of Technology,Karlsruhe,Germany,76131"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Control Systems, Karlsruhe Institute of Technology,Karlsruhe,Germany,76131","institution_ids":["https://openalex.org/I102335020"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5092393063","display_name":"Ludwig Haide","orcid":null},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Ludwig Haide","raw_affiliation_strings":["Institute of Control Systems, Karlsruhe Institute of Technology,Karlsruhe,Germany,76131"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Control Systems, Karlsruhe Institute of Technology,Karlsruhe,Germany,76131","institution_ids":["https://openalex.org/I102335020"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002595621","display_name":"Lars Fischer","orcid":"https://orcid.org/0000-0002-2755-0374"},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Lars Fischer","raw_affiliation_strings":["Institute of Control Systems, Karlsruhe Institute of Technology,Karlsruhe,Germany,76131"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Control Systems, Karlsruhe Institute of Technology,Karlsruhe,Germany,76131","institution_ids":["https://openalex.org/I102335020"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091660890","display_name":"Sean Kille","orcid":null},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Sean Kille","raw_affiliation_strings":["Institute of Control Systems, Karlsruhe Institute of Technology,Karlsruhe,Germany,76131"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Control Systems, Karlsruhe Institute of Technology,Karlsruhe,Germany,76131","institution_ids":["https://openalex.org/I102335020"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012021008","display_name":"B\u00e1lint Varga","orcid":"https://orcid.org/0000-0002-4189-0105"},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Balint Varga","raw_affiliation_strings":["Institute of Control Systems, Karlsruhe Institute of Technology,Karlsruhe,Germany,76131"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Control Systems, Karlsruhe Institute of Technology,Karlsruhe,Germany,76131","institution_ids":["https://openalex.org/I102335020"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000298817","display_name":"Simon Rothfu\u00df","orcid":"https://orcid.org/0000-0003-3395-2510"},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Simon Rothfuss","raw_affiliation_strings":["Institute of Control Systems, Karlsruhe Institute of Technology,Karlsruhe,Germany,76131"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Control Systems, Karlsruhe Institute of Technology,Karlsruhe,Germany,76131","institution_ids":["https://openalex.org/I102335020"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5040502908","display_name":"S\u00f6ren Hohmann","orcid":"https://orcid.org/0000-0002-4170-1431"},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"S\u00f6ren Hohmann","raw_affiliation_strings":["Institute of Control Systems, Karlsruhe Institute of Technology,Karlsruhe,Germany,76131"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Control Systems, Karlsruhe Institute of Technology,Karlsruhe,Germany,76131","institution_ids":["https://openalex.org/I102335020"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5029069611"],"corresponding_institution_ids":["https://openalex.org/I102335020"],"apc_list":null,"apc_paid":null,"fwci":0.2509,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.48583461,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":95},"biblio":{"volume":"8","issue":null,"first_page":"12464","last_page":"12470"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9995999932289124,"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"}},"topics":[{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9995999932289124,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9991999864578247,"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/T10868","display_name":"Soft Robotics and Applications","score":0.998199999332428,"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/teleoperation","display_name":"Teleoperation","score":0.9043970108032227},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.860816240310669},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.6700280904769897},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6377731561660767},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.613804817199707},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.5362958312034607},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5095982551574707},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.49460646510124207},{"id":"https://openalex.org/keywords/interface","display_name":"Interface (matter)","score":0.4858362376689911},{"id":"https://openalex.org/keywords/automation","display_name":"Automation","score":0.4846397042274475},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.46000510454177856},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.38703447580337524},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.36636701226234436},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2806389033794403},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2608869671821594},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.08215510845184326}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.9043970108032227},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.860816240310669},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.6700280904769897},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6377731561660767},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.613804817199707},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.5362958312034607},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5095982551574707},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.49460646510124207},{"id":"https://openalex.org/C113843644","wikidata":"https://www.wikidata.org/wiki/Q901882","display_name":"Interface (matter)","level":4,"score":0.4858362376689911},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.4846397042274475},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.46000510454177856},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.38703447580337524},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.36636701226234436},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2806389033794403},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2608869671821594},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.08215510845184326},{"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C157915830","wikidata":"https://www.wikidata.org/wiki/Q2928001","display_name":"Bubble","level":2,"score":0.0},{"id":"https://openalex.org/C173608175","wikidata":"https://www.wikidata.org/wiki/Q232661","display_name":"Parallel computing","level":1,"score":0.0},{"id":"https://openalex.org/C129307140","wikidata":"https://www.wikidata.org/wiki/Q6795880","display_name":"Maximum bubble pressure method","level":3,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra48891.2023.10161348","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icra48891.2023.10161348","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":"doi:10.5445/ir/1000156797","is_oa":true,"landing_page_url":"https://doi.org/10.5445/ir/1000156797","pdf_url":null,"source":{"id":"https://openalex.org/S7407052948","display_name":"KITopen","issn_l":null,"issn":[],"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article-journal"}],"best_oa_location":{"id":"doi:10.5445/ir/1000156797","is_oa":true,"landing_page_url":"https://doi.org/10.5445/ir/1000156797","pdf_url":null,"source":{"id":"https://openalex.org/S7407052948","display_name":"KITopen","issn_l":null,"issn":[],"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article-journal"},"sustainable_development_goals":[{"score":0.5199999809265137,"display_name":"Partnerships for the goals","id":"https://metadata.un.org/sdg/17"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1964324088","https://openalex.org/W1997467602","https://openalex.org/W2049410986","https://openalex.org/W2096536245","https://openalex.org/W2108314463","https://openalex.org/W2156361385","https://openalex.org/W2246023205","https://openalex.org/W2751636735","https://openalex.org/W2761021450","https://openalex.org/W2767694002","https://openalex.org/W2784233916","https://openalex.org/W2901136733","https://openalex.org/W2921660103","https://openalex.org/W2937351610","https://openalex.org/W2946498898","https://openalex.org/W2963476895","https://openalex.org/W2993247505","https://openalex.org/W3036357370","https://openalex.org/W3040904863","https://openalex.org/W3107075155","https://openalex.org/W3121222079","https://openalex.org/W3165748574","https://openalex.org/W4233317239","https://openalex.org/W6690640467","https://openalex.org/W6756486208","https://openalex.org/W6762537155","https://openalex.org/W6796307426"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W1923069992","https://openalex.org/W2160982102","https://openalex.org/W2559957734","https://openalex.org/W2094105667","https://openalex.org/W2097347938","https://openalex.org/W2164858976","https://openalex.org/W2970545857","https://openalex.org/W4200457072","https://openalex.org/W2292211093"],"abstract_inverted_index":{"While":[0],"robotic":[1,32,72,96],"arms":[2],"have":[3],"been":[4],"used":[5,34],"in":[6,35,194],"a":[7,44,107,111,142,163,166,184,190,195,199],"vast":[8],"range":[9],"of":[10,61,83,90,113,127,137,141,152,158,175,179,198,215],"application":[11],"areas,":[12],"so":[13],"far":[14],"no":[15],"extensive":[16],"reports":[17],"on":[18,86,106],"the":[19,31,59,66,71,79,87,95,114,125,135,138,149,153,156,159,173,176,180,187,204,207,210],"utilization":[20],"as":[21,74,102],"human-machine":[22],"interface":[23],"exist.":[24],"Compared":[25],"to":[26,51,69,100,162,182],"HMI":[27,75,117,154,181],"devices":[28],"from":[29,124],"literature,":[30],"arm":[33,73,97],"this":[36],"work":[37],"(KUKA":[38],"LBR":[39],"iiwa":[40],"14":[41],"R820)":[42],"features":[43],"relatively":[45],"large":[46,150],"workspace":[47,151],"and":[48,54,76,146,189,206,213],"is":[49,98],"able":[50,99],"generate":[52],"force":[53,177],"torque":[55],"feedback":[56,178],"that":[57,94],"surpasses":[58],"capabilities":[60],"literature":[62],"devices.":[63],"We":[64],"describe":[65],"setup":[67,164],"allowing":[68],"use":[70,174],"analytically":[77],"determine":[78],"optimal":[80],"initial":[81],"pose":[82],"it":[84],"based":[85],"manipulability":[88],"measure":[89],"Yoshikawa.":[91],"To":[92],"demonstrate":[93],"serve":[101],"HMI,":[103],"we":[104],"report":[105],"comparative":[108],"study":[109,205],"with":[110,165],"state":[112],"art":[115],"haptic":[116],"featuring":[118],"20":[119],"participants.":[120],"Additionally,":[121],"two":[122],"applications":[123,208],"context":[126],"planetary":[128],"exploration":[129],"are":[130],"presented:":[131],"The":[132,169],"first":[133],"considers":[134],"teleoperation":[136,160],"pan-tilt":[139],"unit":[140,145],"lightweight":[143],"rover":[144],"illustrates":[147],"how":[148],"benefits":[155],"precision":[157,212],"compared":[161],"smaller":[167],"workspace.":[168],"second":[170],"experiment":[171],"showcases":[172],"enable":[183],"cooperation":[185],"between":[186],"operator":[188],"supporting":[191],"path-following":[192],"automation":[193],"shared":[196],"control":[197],"simulated":[200],"ground":[201],"robot.":[202],"Both":[203],"highlight":[209],"performance,":[211],"reliability":[214],"our":[216],"proposed":[217],"system.":[218]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1}],"updated_date":"2026-05-05T08:41:31.759640","created_date":"2025-10-10T00:00:00"}