{"id":"https://openalex.org/W4413925348","doi":"https://doi.org/10.1109/icra55743.2025.11127810","title":"Stiffness Regulation Co-Pilot in Bilateral Teleimpedance Control: A Preliminary User Study","display_name":"Stiffness Regulation Co-Pilot in Bilateral Teleimpedance Control: A Preliminary User Study","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413925348","doi":"https://doi.org/10.1109/icra55743.2025.11127810"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11127810","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11127810","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://portal.findresearcher.sdu.dk/da/publications/ef3466d5-9ffd-42e7-9bfc-f94a5d5b2f1d","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5053278779","display_name":"Pedro Gomez Hernandez","orcid":"https://orcid.org/0000-0001-8378-7280"},"institutions":[{"id":"https://openalex.org/I204337017","display_name":"Aarhus University","ror":"https://ror.org/01aj84f44","country_code":"DK","type":"education","lineage":["https://openalex.org/I204337017"]}],"countries":["DK"],"is_corresponding":false,"raw_author_name":"Pedro Gomez Hernandez","raw_affiliation_strings":["Aarhus University,Business Development and Technology,Denmark"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Aarhus University,Business Development and Technology,Denmark","institution_ids":["https://openalex.org/I204337017"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Jonas Mariager Jakobsen","orcid":null},"institutions":[{"id":"https://openalex.org/I184886455","display_name":"Maersk (Denmark)","ror":"https://ror.org/046gbzb64","country_code":"DK","type":"company","lineage":["https://openalex.org/I184886455"]}],"countries":["DK"],"is_corresponding":false,"raw_author_name":"Jonas Mariager Jakobsen","raw_affiliation_strings":["The Maersk Mc-Kinney Moller Institute, University of Southern Denmark,SDU Robotics,Denmark"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Maersk Mc-Kinney Moller Institute, University of Southern Denmark,SDU Robotics,Denmark","institution_ids":["https://openalex.org/I184886455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058355041","display_name":"Claudio Pacchierotti","orcid":"https://orcid.org/0000-0002-8006-9168"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I2802519937","display_name":"Institut de Recherche en Informatique et Syst\u00e8mes Al\u00e9atoires","ror":"https://ror.org/00myn0z94","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I205703379","https://openalex.org/I2802204017","https://openalex.org/I2802519937","https://openalex.org/I28221208","https://openalex.org/I4210127572","https://openalex.org/I4210159245","https://openalex.org/I56067802"]},{"id":"https://openalex.org/I56067802","display_name":"Universit\u00e9 de Rennes","ror":"https://ror.org/015m7wh34","country_code":"FR","type":"education","lineage":["https://openalex.org/I56067802"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Claudio Pacchierotti","raw_affiliation_strings":["The University of Rennes, INRIA, IRISA,CNRS,Rennes,France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Rennes, INRIA, IRISA,CNRS,Rennes,France","institution_ids":["https://openalex.org/I2802519937","https://openalex.org/I56067802","https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055649089","display_name":"Francesco Chinello","orcid":"https://orcid.org/0000-0001-8166-8835"},"institutions":[{"id":"https://openalex.org/I204337017","display_name":"Aarhus University","ror":"https://ror.org/01aj84f44","country_code":"DK","type":"education","lineage":["https://openalex.org/I204337017"]}],"countries":["DK"],"is_corresponding":false,"raw_author_name":"Francesco Chinello","raw_affiliation_strings":["Aarhus University,Business Development and Technology,Denmark"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Aarhus University,Business Development and Technology,Denmark","institution_ids":["https://openalex.org/I204337017"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5062135561","display_name":"Cheng Fang","orcid":"https://orcid.org/0000-0002-8535-3774"},"institutions":[{"id":"https://openalex.org/I184886455","display_name":"Maersk (Denmark)","ror":"https://ror.org/046gbzb64","country_code":"DK","type":"company","lineage":["https://openalex.org/I184886455"]}],"countries":["DK"],"is_corresponding":false,"raw_author_name":"Cheng Fang","raw_affiliation_strings":["The Maersk Mc-Kinney Moller Institute, University of Southern Denmark,SDU Robotics,Denmark"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Maersk Mc-Kinney Moller Institute, University of Southern Denmark,SDU Robotics,Denmark","institution_ids":["https://openalex.org/I184886455"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"5622","last_page":"5628"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.7318000197410583,"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"}},"topics":[{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.7318000197410583,"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/T10114","display_name":"Balance, Gait, and Falls Prevention","score":0.7193999886512756,"subfield":{"id":"https://openalex.org/subfields/3612","display_name":"Physical Therapy, Sports Therapy and Rehabilitation"},"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.6916999816894531,"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/control","display_name":"Control (management)","score":0.5144674777984619},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.5123506784439087},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.433966726064682},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.35613149404525757},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.255534291267395},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2397666573524475},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11533528566360474}],"concepts":[{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5144674777984619},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.5123506784439087},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.433966726064682},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.35613149404525757},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.255534291267395},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2397666573524475},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11533528566360474}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/icra55743.2025.11127810","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11127810","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:sdu.dk:openaire_cris_publications/ef3466d5-9ffd-42e7-9bfc-f94a5d5b2f1d","is_oa":true,"landing_page_url":"https://portal.findresearcher.sdu.dk/da/publications/ef3466d5-9ffd-42e7-9bfc-f94a5d5b2f1d","pdf_url":null,"source":{"id":"https://openalex.org/S4306400423","display_name":"University of Southern Denmark Research Portal (University of Southern Denmark)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I177969490","host_organization_name":"University of Southern Denmark","host_organization_lineage":["https://openalex.org/I177969490"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Hernandez, P G, Jakobsen, J M, Pacchierotti, C, Chinello, F & Fang, C 2025, Stiffness Regulation Co-Pilot in Bilateral Teleimpedance Control : A Preliminary User Study. in C Ott, H Admoni, S Behnke, S Bogdan, A Bolopion, Y Choi, F Ficuciello, N Gans, C Gosselin, K Harada, E Kayacan, H J Kim, S Leutenegger, Z Liu, P Maiolino, L Marques, T Matsubara, A Mavromatti, M Minor, J O'Kane, H W Park, H-W Park, I Rekleitis, F Renda, E Ricci, L D Riek, L Sabattini, S Shen, Y Sun, P-B Wieber, K Yamane & J Yu (eds), 2025 IEEE International Conference on Robotics and Automation (ICRA). IEEE, Proceedings - IEEE International Conference on Robotics and Automation, pp. 5622-5628, 2025 IEEE International Conference on Robotics and Automation, ICRA 2025, Atlanta, United States, 19/05/2025. https://doi.org/10.1109/ICRA55743.2025.11127810","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:oai:HAL:hal-04981046v1","is_oa":true,"landing_page_url":"https://hal.science/hal-04981046","pdf_url":"https://hal.science/hal-04981046/document","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"ICRA 2025 - IEEE International Conference on Robotics and Automation,, May 2025, Atlanta (Georgia), United States. pp.5622-5628, &#x27E8;10.1109/ICRA55743.2025.11127810&#x27E9;","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:oai:pure.atira.dk:publications/18fa97cd-6a19-4c30-9513-f8f4f5df9d3c","is_oa":false,"landing_page_url":"https://pure.au.dk/portal/en/publications/18fa97cd-6a19-4c30-9513-f8f4f5df9d3c","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Hernandez, P G, Jakobsen, J M, Pacchierotti, C, Chinello, F & Fang, C 2025, Stiffness Regulation Co-pilot in Bilateral Teleimpedance Control: A Preliminary User Study. in C Ott, H Admoni, S Behnke, S Bogdan, A Bolopion, Y Choi, F Ficuciello, N Gans, C Gosselin, K Harada, E Kayacan, H J Kim, S Leutenegger, Z Liu, P Maiolino, L Marques, T Matsubara, A Mavromatti, M Minor, J O'Kane, H W Park, H-W Park, I Rekleitis, F Renda, E Ricci, L D Riek, L Sabattini, S Shen, Y Sun, P-B Wieber, K Yamane & J Yu (eds), 2025 IEEE International Conference on Robotics and Automation, ICRA 2025. IEEE, pp. 5622-5628, IEEE International Conference on Robotics and Automation (ICRA), Atlanta, United States, 19/05/2025. https://doi.org/10.1109/ICRA55743.2025.11127810","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:sdu.dk:openaire_cris_publications/ef3466d5-9ffd-42e7-9bfc-f94a5d5b2f1d","is_oa":true,"landing_page_url":"https://portal.findresearcher.sdu.dk/da/publications/ef3466d5-9ffd-42e7-9bfc-f94a5d5b2f1d","pdf_url":null,"source":{"id":"https://openalex.org/S4306400423","display_name":"University of Southern Denmark Research Portal (University of Southern Denmark)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I177969490","host_organization_name":"University of Southern Denmark","host_organization_lineage":["https://openalex.org/I177969490"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Hernandez, P G, Jakobsen, J M, Pacchierotti, C, Chinello, F & Fang, C 2025, Stiffness Regulation Co-Pilot in Bilateral Teleimpedance Control : A Preliminary User Study. in C Ott, H Admoni, S Behnke, S Bogdan, A Bolopion, Y Choi, F Ficuciello, N Gans, C Gosselin, K Harada, E Kayacan, H J Kim, S Leutenegger, Z Liu, P Maiolino, L Marques, T Matsubara, A Mavromatti, M Minor, J O'Kane, H W Park, H-W Park, I Rekleitis, F Renda, E Ricci, L D Riek, L Sabattini, S Shen, Y Sun, P-B Wieber, K Yamane & J Yu (eds), 2025 IEEE International Conference on Robotics and Automation (ICRA). IEEE, Proceedings - IEEE International Conference on Robotics and Automation, pp. 5622-5628, 2025 IEEE International Conference on Robotics and Automation, ICRA 2025, Atlanta, United States, 19/05/2025. https://doi.org/10.1109/ICRA55743.2025.11127810","raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320313796","display_name":"Innovationsfonden","ror":"https://ror.org/00daj4111"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":40,"referenced_works":["https://openalex.org/W1969976050","https://openalex.org/W1971336142","https://openalex.org/W1978023077","https://openalex.org/W1979117064","https://openalex.org/W2025252351","https://openalex.org/W2038689900","https://openalex.org/W2046970704","https://openalex.org/W2056240245","https://openalex.org/W2057559934","https://openalex.org/W2062105527","https://openalex.org/W2122581186","https://openalex.org/W2131666656","https://openalex.org/W2147597036","https://openalex.org/W2162207896","https://openalex.org/W2171649388","https://openalex.org/W2296039882","https://openalex.org/W2517641405","https://openalex.org/W2553179063","https://openalex.org/W2736573057","https://openalex.org/W2770423878","https://openalex.org/W2784154033","https://openalex.org/W2791542133","https://openalex.org/W2898967699","https://openalex.org/W2900605005","https://openalex.org/W2909376268","https://openalex.org/W2911157306","https://openalex.org/W2997671979","https://openalex.org/W3094087916","https://openalex.org/W3095030303","https://openalex.org/W3115157241","https://openalex.org/W3120305639","https://openalex.org/W3209248511","https://openalex.org/W4205543241","https://openalex.org/W4211151345","https://openalex.org/W4252655862","https://openalex.org/W4313039471","https://openalex.org/W4313316164","https://openalex.org/W4384519024","https://openalex.org/W4389879612","https://openalex.org/W4405161929"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052"],"abstract_inverted_index":{"Variable":[0],"stiffness":[1,18,32,53,61,82,103,141,156],"of":[2,34,37,43,58,70,76,111,121,132,172,178,181,202,210],"a":[3,9,24,108,127,133,139,149,215],"remote":[4,30],"robot":[5,31],"is":[6,91,126],"crucial":[7],"for":[8,93],"teleoperation":[10,78,216],"system":[11,204,217],"to":[12,27,117,159,168,214],"deal":[13],"with":[14,193],"challenging":[15],"tasks.":[16],"External":[17],"command":[19,62],"interfaces":[20],"have":[21],"emerged":[22],"as":[23],"promising":[25],"solution":[26],"regulating":[28],"the":[29,35,44,56,77,81,87,119,145,154,160,170,173,176,182,188,199,203,207,211,220],"because":[33],"benefits":[36],"their":[38],"accuracy,":[39],"ergonomics,":[40],"and":[41,80,101,148,175,205],"avoidance":[42],"\u201ccoupling":[45],"effect\u201d":[46],"that":[47,130,187],"usually":[48],"exists":[49],"in":[50,96],"muscle":[51],"activity-based":[52],"interfaces.":[54,123],"However,":[55],"use":[57,120],"an":[59,71],"external":[60],"interface":[63],"requires":[64],"good":[65],"coordination":[66],"between":[67],"two":[68],"limbs":[69],"operator,":[72],"which":[73,90,137,152],"take":[74],"care":[75],"task":[79,146,200],"regulation":[83,142,157],"task,":[84],"respectively,":[85],"at":[86],"same":[88],"time,":[89],"demanding":[92],"novice":[94],"operators":[95],"dynamic":[97],"situations":[98],"necessitating":[99],"agile":[100],"timely":[102],"adjustments.":[104],"In":[105],"this":[106],"paper,":[107],"new":[109],"concept":[110],"Stiffness":[112,134],"Regulation":[113,135],"Co-pilot":[114],"was":[115,166],"proposed":[116],"facilitate":[118],"these":[122],"A":[124,162],"co-pilot":[125,174],"virtual":[128],"agent":[129],"consists":[131],"Policy,":[136],"infers":[138],"reasonable":[140],"action":[143,158],"from":[144],"performance,":[147],"feedback":[150,190],"modality,":[151],"conveys":[153],"suggested":[155],"operator.":[161],"preliminary":[163],"user":[164],"study":[165],"conducted":[167],"evaluate":[169],"efficacy":[171],"effect":[177],"different":[179],"modalities":[180],"co-pilot.":[183,221],"The":[184],"results":[185],"showed":[186],"cutaneous":[189],"or":[191],"combined":[192],"another":[194],"modality":[195],"can":[196],"potentially":[197],"improve":[198],"performance":[201],"reduce":[206],"cognitive":[208],"load":[209],"operator":[212],"compared":[213],"without":[218],"using":[219]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-09-03T00:00:00"}
