{"id":"https://openalex.org/W2774378377","doi":"https://doi.org/10.1109/iros.2017.8206387","title":"Real-time end-effector motion behavior planning approach using on-line point-cloud data towards a user adaptive assistive bath robot","display_name":"Real-time end-effector motion behavior planning approach using on-line point-cloud data towards a user adaptive assistive bath robot","publication_year":2017,"publication_date":"2017-09-01","ids":{"openalex":"https://openalex.org/W2774378377","doi":"https://doi.org/10.1109/iros.2017.8206387","mag":"2774378377"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2017.8206387","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206387","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","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/A5067931269","display_name":"\u0391\u03b8\u03b1\u03bd\u03ac\u03c3\u03b9\u03bf\u03c2 \u0394\u03bf\u03bc\u03ad\u03c4\u03b9\u03bf\u03c2","orcid":"https://orcid.org/0000-0002-6897-830X"},"institutions":[{"id":"https://openalex.org/I174458059","display_name":"National Technical University of Athens","ror":"https://ror.org/03cx6bg69","country_code":"GR","type":"education","lineage":["https://openalex.org/I174458059"]}],"countries":["GR"],"is_corresponding":true,"raw_author_name":"Athanasios C. Dometios","raw_affiliation_strings":["School of Electrical and Computer Engineering, National Technical University of Athens, Greece"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Computer Engineering, National Technical University of Athens, Greece","institution_ids":["https://openalex.org/I174458059"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002110022","display_name":"Xanthi S. Papageorgiou","orcid":"https://orcid.org/0000-0003-2579-8648"},"institutions":[{"id":"https://openalex.org/I174458059","display_name":"National Technical University of Athens","ror":"https://ror.org/03cx6bg69","country_code":"GR","type":"education","lineage":["https://openalex.org/I174458059"]}],"countries":["GR"],"is_corresponding":false,"raw_author_name":"Xanthi S. Papageorgiou","raw_affiliation_strings":["School of Electrical and Computer Engineering, National Technical University of Athens, Greece"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Computer Engineering, National Technical University of Athens, Greece","institution_ids":["https://openalex.org/I174458059"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113785799","display_name":"Antonis Arvanitakis","orcid":null},"institutions":[{"id":"https://openalex.org/I174458059","display_name":"National Technical University of Athens","ror":"https://ror.org/03cx6bg69","country_code":"GR","type":"education","lineage":["https://openalex.org/I174458059"]}],"countries":["GR"],"is_corresponding":false,"raw_author_name":"Antonis Arvanitakis","raw_affiliation_strings":["School of Electrical and Computer Engineering, National Technical University of Athens, Greece"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Computer Engineering, National Technical University of Athens, Greece","institution_ids":["https://openalex.org/I174458059"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075518884","display_name":"Costas S. Tzafestas","orcid":"https://orcid.org/0000-0003-1545-9191"},"institutions":[{"id":"https://openalex.org/I174458059","display_name":"National Technical University of Athens","ror":"https://ror.org/03cx6bg69","country_code":"GR","type":"education","lineage":["https://openalex.org/I174458059"]}],"countries":["GR"],"is_corresponding":false,"raw_author_name":"Costas S. Tzafestas","raw_affiliation_strings":["School of Electrical and Computer Engineering, National Technical University of Athens, Greece"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Computer Engineering, National Technical University of Athens, Greece","institution_ids":["https://openalex.org/I174458059"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5079243420","display_name":"Petros Maragos","orcid":"https://orcid.org/0000-0003-0534-2707"},"institutions":[{"id":"https://openalex.org/I174458059","display_name":"National Technical University of Athens","ror":"https://ror.org/03cx6bg69","country_code":"GR","type":"education","lineage":["https://openalex.org/I174458059"]}],"countries":["GR"],"is_corresponding":false,"raw_author_name":"Petros Maragos","raw_affiliation_strings":["School of Electrical and Computer Engineering, National Technical University of Athens, Greece"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Computer Engineering, National Technical University of Athens, Greece","institution_ids":["https://openalex.org/I174458059"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5067931269"],"corresponding_institution_ids":["https://openalex.org/I174458059"],"apc_list":null,"apc_paid":null,"fwci":2.1775,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.89661635,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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":0.998199999332428,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9980000257492065,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6125973463058472},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.611530601978302},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.5759355425834656},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5471469759941101},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.5436212420463562},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5365360379219055},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.5251566767692566},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.4906071722507477},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4514176845550537},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4492203891277313},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.4434937834739685},{"id":"https://openalex.org/keywords/adaptation","display_name":"Adaptation (eye)","score":0.4363628625869751},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.40514808893203735}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6125973463058472},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.611530601978302},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.5759355425834656},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5471469759941101},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.5436212420463562},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5365360379219055},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5251566767692566},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.4906071722507477},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4514176845550537},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4492203891277313},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.4434937834739685},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.4363628625869751},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.40514808893203735},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2017.8206387","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206387","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W1486256885","https://openalex.org/W1487977235","https://openalex.org/W1585582674","https://openalex.org/W1947186445","https://openalex.org/W1949049686","https://openalex.org/W1967254051","https://openalex.org/W1967736013","https://openalex.org/W1967974729","https://openalex.org/W1977785674","https://openalex.org/W1989552041","https://openalex.org/W2002307032","https://openalex.org/W2021905484","https://openalex.org/W2027454283","https://openalex.org/W2043484674","https://openalex.org/W2046355005","https://openalex.org/W2048233781","https://openalex.org/W2049511808","https://openalex.org/W2064939301","https://openalex.org/W2075793199","https://openalex.org/W2095462685","https://openalex.org/W2097854201","https://openalex.org/W2110144538","https://openalex.org/W2118412051","https://openalex.org/W2122710442","https://openalex.org/W2127212794","https://openalex.org/W2129387344","https://openalex.org/W2134552062","https://openalex.org/W2148163433","https://openalex.org/W2154905206","https://openalex.org/W2251094554","https://openalex.org/W2317053768","https://openalex.org/W2334110889","https://openalex.org/W2398232863","https://openalex.org/W2412166587","https://openalex.org/W2495535193","https://openalex.org/W2498697144","https://openalex.org/W2508900105","https://openalex.org/W2546442471","https://openalex.org/W2570161222","https://openalex.org/W2964304707","https://openalex.org/W6644866733"],"related_works":["https://openalex.org/W4389574804","https://openalex.org/W2997567050","https://openalex.org/W2936725271","https://openalex.org/W3016928466","https://openalex.org/W3150655618","https://openalex.org/W2295788148","https://openalex.org/W1578717197","https://openalex.org/W3108295644","https://openalex.org/W2626737336","https://openalex.org/W2005998065"],"abstract_inverted_index":{"Elderly":[0],"people":[1],"have":[2],"particular":[3],"needs":[4],"in":[5,25,54,151],"performing":[6],"bathing":[7,45],"activities,":[8],"since":[9],"these":[10],"tasks":[11],"require":[12],"body":[13,102],"flexibility.":[14],"Our":[15],"aim":[16],"is":[17,82,92],"to":[18,27,51,56,94,99,148,153],"build":[19],"an":[20,74],"assistive":[21,75],"robotic":[22],"bath":[23,76],"system,":[24],"order":[26,55,152],"increase":[28],"the":[29,39,100,126,129,149,157,161],"independence":[30],"and":[31,47,105,122,155],"safety":[32],"of":[33,41,111,128,160],"this":[34,37,65],"procedure.":[35],"Towards":[36],"end,":[38],"expertise":[40],"professional":[42],"carers":[43],"for":[44,73,125,139],"sequences":[46],"appropriate":[48],"motions":[49],"has":[50],"be":[52],"adopted,":[53],"achieve":[57],"natural,":[58],"physical":[59],"human":[60],"-":[61],"robot":[62],"interaction.":[63],"In":[64],"paper,":[66],"a":[67,112,135,143],"real-time":[68],"end-effector":[69],"motion":[70,104],"planning":[71],"method":[72],"robot,":[77],"using":[78],"on-line":[79],"Point-Cloud":[80],"information,":[81],"proposed.":[83],"The":[84],"visual":[85],"feedback":[86],"obtained":[87],"from":[88],"Kinect":[89],"depth":[90],"sensor":[91],"employed":[93],"adapt":[95],"suitable":[96],"washing":[97],"paths":[98],"user's":[101],"part":[103,147],"deformable":[106],"surface.":[107],"We":[108],"make":[109],"use":[110],"navigation":[113],"function-based":[114],"controller,":[115],"with":[116,134],"guarantied":[117],"globally":[118],"uniformly":[119],"asymptotic":[120],"stability,":[121],"bijective":[123],"transformations":[124],"adaptation":[127],"paths.":[130],"Experiments":[131],"were":[132],"conducted":[133],"rigid":[136],"rectangular":[137],"object":[138],"validation":[140],"purposes,":[141],"while":[142],"female":[144],"subject":[145],"took":[146],"experiment":[150],"evaluate":[154],"demonstrate":[156],"basic":[158],"concepts":[159],"proposed":[162],"methodology.":[163]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":3},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":3},{"year":2018,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
