{"id":"https://openalex.org/W2083116429","doi":"https://doi.org/10.1109/iros.2012.6385924","title":"Disagreement-aware physical assistance through risk-sensitive optimal feedback control","display_name":"Disagreement-aware physical assistance through risk-sensitive optimal feedback control","publication_year":2012,"publication_date":"2012-10-01","ids":{"openalex":"https://openalex.org/W2083116429","doi":"https://doi.org/10.1109/iros.2012.6385924","mag":"2083116429"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2012.6385924","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6385924","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://mediatum.ub.tum.de/node?id=1155338","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5102022834","display_name":"Jos\u00e9 Ram\u00f3n Medina","orcid":"https://orcid.org/0000-0003-0069-747X"},"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":"Jose Ramon Medina","raw_affiliation_strings":["Department of Electrical Engineering and Information Technology, Technical University of Munich, Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Information Technology, Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076056954","display_name":"Tamara Lorenz","orcid":"https://orcid.org/0000-0002-8567-3559"},"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"]},{"id":"https://openalex.org/I8204097","display_name":"Ludwig-Maximilians-Universit\u00e4t M\u00fcnchen","ror":"https://ror.org/05591te55","country_code":"DE","type":"education","lineage":["https://openalex.org/I8204097"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Tamara Lorenz","raw_affiliation_strings":["Department of Electrical Engineering and Information Technology, Technical University of Munich, Munich, Germany","Experimental Psychology Institute, Ludwig-Maximilians University, Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Information Technology, Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Experimental Psychology Institute, Ludwig-Maximilians University, Munich, Germany","institution_ids":["https://openalex.org/I8204097"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088081800","display_name":"Dongheui Lee","orcid":"https://orcid.org/0000-0003-1897-7664"},"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":"Dongheui Lee","raw_affiliation_strings":["Department of Electrical Engineering and Information Technology, Technical University of Munich, Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Information Technology, Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024376647","display_name":"Sandra Hirche","orcid":"https://orcid.org/0000-0001-7819-5926"},"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":"Sandra Hirche","raw_affiliation_strings":["Department of Electrical Engineering and Information Technology, Technical University of Munich, Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Information Technology, Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.2823,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.92260724,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"3639","last_page":"3645"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9955000281333923,"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":0.9955000281333923,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9943000078201294,"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/T10982","display_name":"Motor Control and Adaptation","score":0.9941999912261963,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.767000138759613},{"id":"https://openalex.org/keywords/helpfulness","display_name":"Helpfulness","score":0.734437108039856},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6432873010635376},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6323329210281372},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.5725349187850952},{"id":"https://openalex.org/keywords/adaptability","display_name":"Adaptability","score":0.5358316898345947},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.5220149159431458},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.48183977603912354},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4617372453212738},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.43647003173828125},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.429744154214859},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.37674516439437866},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3333319425582886},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.11016559600830078}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.767000138759613},{"id":"https://openalex.org/C2781265381","wikidata":"https://www.wikidata.org/wiki/Q5710255","display_name":"Helpfulness","level":2,"score":0.734437108039856},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6432873010635376},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6323329210281372},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.5725349187850952},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.5358316898345947},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.5220149159431458},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.48183977603912354},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4617372453212738},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.43647003173828125},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.429744154214859},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.37674516439437866},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3333319425582886},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.11016559600830078},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C77805123","wikidata":"https://www.wikidata.org/wiki/Q161272","display_name":"Social psychology","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2012.6385924","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6385924","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:mediatum.ub.tum.de:node/1155338","is_oa":true,"landing_page_url":"http://mediatum.ub.tum.de/node?id=1155338","pdf_url":null,"source":{"id":"https://openalex.org/S4306400453","display_name":"mediaTUM \u2013 the media and publications repository of the Technical University Munich (Technical University 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":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:mediatum.ub.tum.de:node/1155338","is_oa":true,"landing_page_url":"http://mediatum.ub.tum.de/node?id=1155338","pdf_url":null,"source":{"id":"https://openalex.org/S4306400453","display_name":"mediaTUM \u2013 the media and publications repository of the Technical University Munich (Technical University 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":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.6800000071525574,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320320879","display_name":"Deutsche Forschungsgemeinschaft","ror":"https://ror.org/018mejw64"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1987710890","https://openalex.org/W1990020728","https://openalex.org/W2063182199","https://openalex.org/W2073787051","https://openalex.org/W2096035449","https://openalex.org/W2096787288","https://openalex.org/W2112570665","https://openalex.org/W2114199428","https://openalex.org/W2117288215","https://openalex.org/W2118291463","https://openalex.org/W2122447324","https://openalex.org/W2147653242","https://openalex.org/W2169187067","https://openalex.org/W2170043047","https://openalex.org/W3210839039","https://openalex.org/W6677522094"],"related_works":["https://openalex.org/W2613921548","https://openalex.org/W4285360723","https://openalex.org/W4281847990","https://openalex.org/W2488228222","https://openalex.org/W3037056935","https://openalex.org/W2002563848","https://openalex.org/W2934621214","https://openalex.org/W1498449133","https://openalex.org/W2611407113","https://openalex.org/W2092282862"],"abstract_inverted_index":{"Proactive":[0],"physical":[1,28],"robotic":[2],"assistance":[3,29],"in":[4,61,107,132],"the":[5,33,46,53,62,64,71,74,79,87,92,121,127,130],"presence":[6],"of":[7,58,82,124,129,134],"human":[8,54,75,137],"prediction":[9,85],"uncertainty":[10],"is":[11],"a":[12,22,41,56,108,112],"very":[13],"challenging":[14],"control":[15,105],"problem.":[16],"In":[17],"this":[18],"paper":[19],"we":[20],"propose":[21],"risk-sensitive":[23],"optimal":[24,93],"feedback":[25],"controller":[26,67,89,131],"for":[27],"that":[30,119],"autonomously":[31],"adapts":[32],"robot's":[34],"behavior":[35,50],"even":[36],"during":[37],"unknown":[38],"situations.":[39],"Using":[40],"probabilistic":[42],"model":[43],"to":[44,70],"represent":[45],"cooperative":[47],"task":[48,72,94],"execution":[49],"and":[51,84,136],"modeling":[52],"as":[55],"source":[57],"process":[59],"noise":[60],"system,":[63],"proposed":[65],"assistive":[66,88,104],"proactively":[68],"contributes":[69],"anticipating":[73],"motion.":[76],"Estimating":[77],"online":[78],"current":[80,122],"level":[81,123],"disagreement":[83,125],"uncertainty,":[86],"consequently":[90],"calculates":[91],"contribution":[95],"providing":[96],"higher":[97],"adaptability.":[98],"A":[99],"psychological":[100],"evaluation":[101],"compares":[102],"different":[103],"strategies":[106],"virtual":[109],"scenario":[110],"using":[111],"two-Degree-of-Freedom":[113],"haptic":[114],"experimental":[115],"setup.":[116],"Results":[117],"show":[118],"considering":[120],"enhances":[126],"performance":[128],"terms":[133],"helpfulness":[135],"effort":[138],"minimization.":[139]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":2},{"year":2019,"cited_by_count":2},{"year":2015,"cited_by_count":2},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":2}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
