{"id":"https://openalex.org/W2105936477","doi":"https://doi.org/10.1109/iros.2009.5354731","title":"Development of a direct teaching system for a cooperative cell-production robot considering safety and operability","display_name":"Development of a direct teaching system for a cooperative cell-production robot considering safety and operability","publication_year":2009,"publication_date":"2009-10-01","ids":{"openalex":"https://openalex.org/W2105936477","doi":"https://doi.org/10.1109/iros.2009.5354731","mag":"2105936477"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2009.5354731","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354731","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},"type":"conference-paper","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/A5014615338","display_name":"Seonghee Jeong","orcid":"https://orcid.org/0000-0002-9084-5183"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Seonghee Jeong","raw_affiliation_strings":["Safety Intelligence Research Group, Intelligent Systems Institute, National Institute for Advanced Industrial Science and Technology, Tsukuba, Japan","Safety Intelligence Research Group, Intelligent Systems Institute, National Institute of Advanced Industrial Science and Technology, 1-1-1, Umezono, Tukuba, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Safety Intelligence Research Group, Intelligent Systems Institute, National Institute for Advanced Industrial Science and Technology, Tsukuba, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"Safety Intelligence Research Group, Intelligent Systems Institute, National Institute of Advanced Industrial Science and Technology, 1-1-1, Umezono, Tukuba, Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039110079","display_name":"Yoshihiro Nakabo","orcid":"https://orcid.org/0000-0002-6450-2099"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yoshihiro Nakabo","raw_affiliation_strings":["Safety Intelligence Research Group, Intelligent Systems Institute, National Institute for Advanced Industrial Science and Technology, Tsukuba, Japan","Safety Intelligence Research Group, Intelligent Systems Institute, National Institute of Advanced Industrial Science and Technology, 1-1-1, Umezono, Tukuba, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Safety Intelligence Research Group, Intelligent Systems Institute, National Institute for Advanced Industrial Science and Technology, Tsukuba, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"Safety Intelligence Research Group, Intelligent Systems Institute, National Institute of Advanced Industrial Science and Technology, 1-1-1, Umezono, Tukuba, Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058535346","display_name":"Takuya Ogure","orcid":"https://orcid.org/0000-0002-0722-0263"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Takuya Ogure","raw_affiliation_strings":["Safety Intelligence Research Group, Intelligent Systems Institute, National Institute for Advanced Industrial Science and Technology, Tsukuba, Japan","Safety Intelligence Research Group, Intelligent Systems Institute, National Institute of Advanced Industrial Science and Technology, 1-1-1, Umezono, Tukuba, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Safety Intelligence Research Group, Intelligent Systems Institute, National Institute for Advanced Industrial Science and Technology, Tsukuba, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"Safety Intelligence Research Group, Intelligent Systems Institute, National Institute of Advanced Industrial Science and Technology, 1-1-1, Umezono, Tukuba, Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5003234718","display_name":"Yoji Yamada","orcid":"https://orcid.org/0000-0002-1774-2030"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yoji Yamada","raw_affiliation_strings":["Safety Intelligence Research Group, Intelligent Systems Institute, National Institute for Advanced Industrial Science and Technology, Tsukuba, Japan","Safety Intelligence Research Group, Intelligent Systems Institute, National Institute of Advanced Industrial Science and Technology, 1-1-1, Umezono, Tukuba, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Safety Intelligence Research Group, Intelligent Systems Institute, National Institute for Advanced Industrial Science and Technology, Tsukuba, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"Safety Intelligence Research Group, Intelligent Systems Institute, National Institute of Advanced Industrial Science and Technology, 1-1-1, Umezono, Tukuba, Japan","institution_ids":["https://openalex.org/I73613424"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I73613424"],"apc_list":null,"apc_paid":null,"fwci":1.3513,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.79017507,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"106","issue":null,"first_page":"5339","last_page":"5344"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9954000115394592,"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":0.9954000115394592,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9921000003814697,"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/T13690","display_name":"Quality and Safety in Healthcare","score":0.9663000106811523,"subfield":{"id":"https://openalex.org/subfields/3607","display_name":"Medical Laboratory Technology"},"field":{"id":"https://openalex.org/fields/36","display_name":"Health Professions"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/operability","display_name":"Operability","score":0.9283796548843384},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.6889165639877319},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.6268110871315002},{"id":"https://openalex.org/keywords/simple","display_name":"Simple (philosophy)","score":0.5479075312614441},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4856316149234772},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.45644643902778625},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.43525466322898865},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.42991945147514343},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.38414159417152405},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.33866024017333984},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1532229483127594},{"id":"https://openalex.org/keywords/software-engineering","display_name":"Software engineering","score":0.09971898794174194}],"concepts":[{"id":"https://openalex.org/C126231374","wikidata":"https://www.wikidata.org/wiki/Q1061298","display_name":"Operability","level":2,"score":0.9283796548843384},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.6889165639877319},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.6268110871315002},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.5479075312614441},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4856316149234772},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.45644643902778625},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.43525466322898865},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.42991945147514343},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.38414159417152405},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.33866024017333984},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1532229483127594},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.09971898794174194},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"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/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2009.5354731","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354731","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":7,"referenced_works":["https://openalex.org/W1500588313","https://openalex.org/W1967377907","https://openalex.org/W2098506458","https://openalex.org/W2098993416","https://openalex.org/W2142965780","https://openalex.org/W2166817398","https://openalex.org/W2224859784"],"related_works":["https://openalex.org/W1486626671","https://openalex.org/W2153012318","https://openalex.org/W1543696273","https://openalex.org/W2125626150","https://openalex.org/W4379404267","https://openalex.org/W2045316876","https://openalex.org/W2736987351","https://openalex.org/W2255799226","https://openalex.org/W3041788432","https://openalex.org/W2579292459"],"abstract_inverted_index":{"A":[0],"direct":[1,29,89,95,110],"teaching":[2,30,74,90,96,106,111],"system":[3,26,112],"emphasizing":[4],"safety":[5,59,63,69,99],"and":[6,104],"operability":[7],"for":[8],"SP02,":[9],"an":[10,34,51],"upper-body":[11],"humanoid":[12],"that":[13],"cooperates":[14],"with":[15],"a":[16,19,28,38,58,81,93],"human":[17],"in":[18,47,66,80],"cell-production":[20],"workspace":[21],"has":[22,27],"been":[23],"described.":[24],"The":[25,53],"device,":[31],"which":[32],"enables":[33],"operator":[35],"to":[36,76],"teach":[37],"multi-D.O.F":[39],"manipulator":[40],"at":[41],"comfortable":[42],"posture":[43],"despite":[44],"large":[45],"changes":[46],"the":[48,62,67,73,98,102,105,109],"pose":[49],"of":[50,101,108],"end-effector.":[52],"double-checked":[54],"safety-related":[55],"part(SRP/CS)":[56],"introducing":[57],"module":[60],"satisfies":[61],"performance":[64,100,107],"defined":[65],"international":[68],"standard.":[70],"To":[71],"make":[72],"easier":[75],"perform,":[77],"impedance":[78,83],"parameters":[79],"variable":[82],"control":[84],"are":[85],"set":[86],"through":[87],"several":[88],"experiments.":[91],"Through":[92],"simple":[94],"experiment,":[97],"SRP/CS":[103],"was":[113],"successfully":[114],"confirmed.":[115]},"counts_by_year":[{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":2}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}