{"id":"https://openalex.org/W2564455057","doi":"https://doi.org/10.1109/iros.2016.7759130","title":"Development of a robotic teaching interface for human to human skill transfer","display_name":"Development of a robotic teaching interface for human to human skill transfer","publication_year":2016,"publication_date":"2016-10-01","ids":{"openalex":"https://openalex.org/W2564455057","doi":"https://doi.org/10.1109/iros.2016.7759130","mag":"2564455057"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2016.7759130","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759130","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5019906827","display_name":"Chenguang Yang","orcid":"https://orcid.org/0000-0001-5255-5559"},"institutions":[{"id":"https://openalex.org/I39586589","display_name":"Swansea University","ror":"https://ror.org/053fq8t95","country_code":"GB","type":"education","lineage":["https://openalex.org/I39586589"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Chenguang Yang","raw_affiliation_strings":["Zienkiewicz Centre for Computational Engineering, Swansea University, Swansea, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zienkiewicz Centre for Computational Engineering, Swansea University, Swansea, UK","institution_ids":["https://openalex.org/I39586589"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109423323","display_name":"Peidong Liang","orcid":"https://orcid.org/0009-0007-4401-8607"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Peidong Liang","raw_affiliation_strings":["State Key Lab of Robotics Systems, Harbin Institute of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Lab of Robotics Systems, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070028115","display_name":"Arash Ajoudani","orcid":"https://orcid.org/0000-0002-1261-737X"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Arash Ajoudani","raw_affiliation_strings":["Human-Robot Interfaces and Physical Interaction (HRI2), Laboratory of the Istituto Italiano di Tecnologia, Genova, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Human-Robot Interfaces and Physical Interaction (HRI2), Laboratory of the Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100450024","display_name":"Zhijun Li","orcid":"https://orcid.org/0000-0002-3909-488X"},"institutions":[{"id":"https://openalex.org/I90610280","display_name":"South China University of Technology","ror":"https://ror.org/0530pts50","country_code":"CN","type":"education","lineage":["https://openalex.org/I90610280"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhijun Li","raw_affiliation_strings":["College of Automation Science and Engineering, South China University of Technology, Guangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Automation Science and Engineering, South China University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I90610280"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5082180334","display_name":"Antonio Bicchi","orcid":"https://orcid.org/0000-0001-8635-5571"},"institutions":[{"id":"https://openalex.org/I108290504","display_name":"University of Pisa","ror":"https://ror.org/03ad39j10","country_code":"IT","type":"education","lineage":["https://openalex.org/I108290504"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Antonio Bicchi","raw_affiliation_strings":["Faculty of Engineering, University of Pisa, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Engineering, University of Pisa, Italy","institution_ids":["https://openalex.org/I108290504"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":28,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"710","last_page":"716"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9986000061035156,"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":0.9986000061035156,"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":0.9983999729156494,"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":0.9958000183105469,"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/tutor","display_name":"TUTOR","score":0.8595404028892517},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7346251606941223},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.6517215967178345},{"id":"https://openalex.org/keywords/interface","display_name":"Interface (matter)","score":0.5969809293746948},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.5301393270492554},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4742927849292755},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.46549949049949646},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4402838349342346},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4294455051422119},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1557721197605133}],"concepts":[{"id":"https://openalex.org/C2778371403","wikidata":"https://www.wikidata.org/wiki/Q7672049","display_name":"TUTOR","level":2,"score":0.8595404028892517},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7346251606941223},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.6517215967178345},{"id":"https://openalex.org/C113843644","wikidata":"https://www.wikidata.org/wiki/Q901882","display_name":"Interface (matter)","level":4,"score":0.5969809293746948},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.5301393270492554},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4742927849292755},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.46549949049949646},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4402838349342346},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4294455051422119},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1557721197605133},{"id":"https://openalex.org/C157915830","wikidata":"https://www.wikidata.org/wiki/Q2928001","display_name":"Bubble","level":2,"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/C129307140","wikidata":"https://www.wikidata.org/wiki/Q6795880","display_name":"Maximum bubble pressure method","level":3,"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/C173608175","wikidata":"https://www.wikidata.org/wiki/Q232661","display_name":"Parallel computing","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/iros.2016.7759130","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759130","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:cronfa.swan.ac.uk:cronfa29956","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4306401612","display_name":"Cronfa (Swansea University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I39586589","host_organization_name":"Swansea University","host_organization_lineage":["https://openalex.org/I39586589"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"","raw_type":"Conference contribution"},{"id":"pmh:oai:arpi.unipi.it:11568/842838","is_oa":false,"landing_page_url":"http://hdl.handle.net/11568/842838","pdf_url":null,"source":{"id":"https://openalex.org/S4377196265","display_name":"CINECA IRIS Institutial research information system (University of Pisa)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I108290504","host_organization_name":"University of Pisa","host_organization_lineage":["https://openalex.org/I108290504"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/8","display_name":"Decent work and economic growth","score":0.4300000071525574}],"awards":[{"id":"https://openalex.org/G1994934823","display_name":null,"funder_award_id":"EP/J004561/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G325947041","display_name":null,"funder_award_id":"EP/L026856/2","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G8264771511","display_name":null,"funder_award_id":"EP/L026856/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W161332841","https://openalex.org/W203724693","https://openalex.org/W1682895868","https://openalex.org/W1969976050","https://openalex.org/W1976440449","https://openalex.org/W1979117064","https://openalex.org/W1988257509","https://openalex.org/W2019088203","https://openalex.org/W2035713360","https://openalex.org/W2052591077","https://openalex.org/W2065483954","https://openalex.org/W2077256713","https://openalex.org/W2080400978","https://openalex.org/W2080487795","https://openalex.org/W2108259386","https://openalex.org/W2108817934","https://openalex.org/W2111528514","https://openalex.org/W2116781200","https://openalex.org/W2133932631","https://openalex.org/W2509418157"],"related_works":["https://openalex.org/W2478195092","https://openalex.org/W4312351362","https://openalex.org/W2362145073","https://openalex.org/W2358338760","https://openalex.org/W156716224","https://openalex.org/W183073912","https://openalex.org/W2119729863","https://openalex.org/W2111871955","https://openalex.org/W2887971028","https://openalex.org/W2501172308"],"abstract_inverted_index":{"The":[0,156,186],"tutor-tutee":[1],"hand-in-hand":[2,76],"teaching":[3,110,213],"may":[4],"be":[5,40,86,96],"the":[6,45,53,64,69,79,82,125,137,140,144,149,160,171,190,201],"most":[7],"effective":[8],"approach":[9],"for":[10,49,75,159],"a":[11,24,30,91,109,113,131,153,182],"tutee":[12,202],"to":[13,62,124,139,142,147,195,200],"acquire":[14],"new":[15],"motor":[16,66],"skills.":[17,55],"Repetitive":[18],"nature":[19],"of":[20,47,78],"such":[21],"procedures":[22],"in":[23,29,152,166],"group":[25],"setting":[26],"usually":[27],"results":[28,187],"high":[31],"labour":[32],"cost":[33],"and":[34,51,136,146,168,203],"time":[35],"inefficiency.":[36],"Potential":[37],"solution":[38],"can":[39,85,95],"utilizing":[41],"robotic":[42,115,173],"platforms":[43],"playing":[44],"role":[46],"tutors":[48,161],"demonstrating":[50],"transferring":[52],"required":[54],"This":[56],"requires":[57],"an":[58],"appropriate":[59],"guidance":[60,129],"scheme":[61],"integrate":[63],"tutor's":[65,83],"functionalities":[67],"into":[68],"robot's":[70],"control":[71,134],"architecture.":[72],"For":[73],"instance,":[74],"supervision":[77],"writing":[80,198],"task,":[81],"corrections":[84],"applied":[87],"when":[88],"necessary,":[89],"while":[90],"very":[92],"compliant":[93],"motion":[94,145],"achieved":[97],"if":[98],"no":[99],"errors":[100],"are":[101],"detected.":[102],"Inspired":[103],"by":[104,170,214],"this":[105],"behavior,":[106],"we":[107],"develop":[108],"interface":[111],"using":[112],"dual-arm":[114,183],"platform.":[116],"In":[117],"our":[118],"setup,":[119],"one":[120],"arm":[121,127,162],"is":[122,164,193],"connected":[123],"tutees":[126,150,172],"providing":[128],"through":[130],"variable":[132],"stiffness":[133,158,163],"approach,":[135],"other":[138],"tutor":[141,192],"capture":[143],"feedback":[148],"performance":[151,208],"haptic":[154],"manner.":[155],"reference":[157],"estimated":[165],"real-time":[167],"replicated":[169],"arm.":[174],"Comparative":[175],"experiments":[176],"have":[177],"been":[178],"carried":[179],"out":[180],"on":[181],"Baxter":[184],"robot.":[185],"imply":[188],"that":[189],"human":[191],"able":[194],"intuitively":[196],"transfer":[197],"skills":[199],"also":[204],"show":[205],"superior":[206],"learning":[207],"over":[209,210],"some":[211],"conventional":[212],"demonstration":[215],"techniques.":[216]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":7},{"year":2017,"cited_by_count":3}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}