{"id":"https://openalex.org/W2773548424","doi":"https://doi.org/10.1109/iros.2017.8206437","title":"A multimodal execution monitor with anomaly classification for robot-assisted feeding","display_name":"A multimodal execution monitor with anomaly classification for robot-assisted feeding","publication_year":2017,"publication_date":"2017-09-01","ids":{"openalex":"https://openalex.org/W2773548424","doi":"https://doi.org/10.1109/iros.2017.8206437","mag":"2773548424"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2017.8206437","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206437","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/A5074295573","display_name":"Daehyung Park","orcid":"https://orcid.org/0000-0002-1287-9433"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Daehyung Park","raw_affiliation_strings":["Healthcare Robotics Lab, Georgia Institute of Technology, Atlanta, GA"],"affiliations":[{"raw_affiliation_string":"Healthcare Robotics Lab, Georgia Institute of Technology, Atlanta, GA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069501250","display_name":"Hokeun Kim","orcid":"https://orcid.org/0000-0003-1450-5248"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hokeun Kim","raw_affiliation_strings":["Healthcare Robotics Lab, Georgia Institute of Technology, Atlanta, GA"],"affiliations":[{"raw_affiliation_string":"Healthcare Robotics Lab, Georgia Institute of Technology, Atlanta, GA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044513038","display_name":"Yuuna Hoshi","orcid":"https://orcid.org/0000-0002-2448-2310"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yuuna Hoshi","raw_affiliation_strings":["Healthcare Robotics Lab, Georgia Institute of Technology, Atlanta, GA"],"affiliations":[{"raw_affiliation_string":"Healthcare Robotics Lab, Georgia Institute of Technology, Atlanta, GA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075365855","display_name":"Zackory Erickson","orcid":"https://orcid.org/0000-0002-6760-6213"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zackory Erickson","raw_affiliation_strings":["Healthcare Robotics Lab, Georgia Institute of Technology, Atlanta, GA"],"affiliations":[{"raw_affiliation_string":"Healthcare Robotics Lab, Georgia Institute of Technology, Atlanta, GA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046859338","display_name":"Ariel Kapusta","orcid":"https://orcid.org/0000-0002-9169-1235"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ariel Kapusta","raw_affiliation_strings":["Healthcare Robotics Lab, Georgia Institute of Technology, Atlanta, GA"],"affiliations":[{"raw_affiliation_string":"Healthcare Robotics Lab, Georgia Institute of Technology, Atlanta, GA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5089014521","display_name":"Charles C. Kemp","orcid":"https://orcid.org/0000-0003-4720-1136"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Charles C. Kemp","raw_affiliation_strings":["Healthcare Robotics Lab, Georgia Institute of Technology, Atlanta, GA"],"affiliations":[{"raw_affiliation_string":"Healthcare Robotics Lab, Georgia Institute of Technology, Atlanta, GA","institution_ids":["https://openalex.org/I130701444"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5074295573"],"corresponding_institution_ids":["https://openalex.org/I130701444"],"apc_list":null,"apc_paid":null,"fwci":5.1928,"has_fulltext":false,"cited_by_count":60,"citation_normalized_percentile":{"value":0.96386946,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"5406","last_page":"5413"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11512","display_name":"Anomaly Detection Techniques and Applications","score":0.9968000054359436,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11512","display_name":"Anomaly Detection Techniques and Applications","score":0.9968000054359436,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10444","display_name":"Context-Aware Activity Recognition Systems","score":0.9851999878883362,"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"}},{"id":"https://openalex.org/T10809","display_name":"Occupational Health and Safety Research","score":0.9010000228881836,"subfield":{"id":"https://openalex.org/subfields/3614","display_name":"Radiological and Ultrasound 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/anomaly-detection","display_name":"Anomaly detection","score":0.7805798053741455},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7178635001182556},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.6566591262817383},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6402444839477539},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5963192582130432},{"id":"https://openalex.org/keywords/safer","display_name":"SAFER","score":0.5476861596107483},{"id":"https://openalex.org/keywords/anomaly","display_name":"Anomaly (physics)","score":0.5255982875823975},{"id":"https://openalex.org/keywords/activities-of-daily-living","display_name":"Activities of daily living","score":0.4774492383003235},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3534589409828186},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.3434367775917053},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.20359092950820923},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.09378370642662048}],"concepts":[{"id":"https://openalex.org/C739882","wikidata":"https://www.wikidata.org/wiki/Q3560506","display_name":"Anomaly detection","level":2,"score":0.7805798053741455},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7178635001182556},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.6566591262817383},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6402444839477539},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5963192582130432},{"id":"https://openalex.org/C2776654903","wikidata":"https://www.wikidata.org/wiki/Q2601463","display_name":"SAFER","level":2,"score":0.5476861596107483},{"id":"https://openalex.org/C12997251","wikidata":"https://www.wikidata.org/wiki/Q567560","display_name":"Anomaly (physics)","level":2,"score":0.5255982875823975},{"id":"https://openalex.org/C79544238","wikidata":"https://www.wikidata.org/wiki/Q423243","display_name":"Activities of daily living","level":2,"score":0.4774492383003235},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3534589409828186},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3434367775917053},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.20359092950820923},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.09378370642662048},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C26873012","wikidata":"https://www.wikidata.org/wiki/Q214781","display_name":"Condensed matter physics","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},{"id":"https://openalex.org/C118552586","wikidata":"https://www.wikidata.org/wiki/Q7867","display_name":"Psychiatry","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":1,"locations":[{"id":"doi:10.1109/iros.2017.8206437","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206437","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":43,"referenced_works":["https://openalex.org/W8749723","https://openalex.org/W1505176053","https://openalex.org/W1572969685","https://openalex.org/W1608150662","https://openalex.org/W1622922699","https://openalex.org/W1686810756","https://openalex.org/W1718442951","https://openalex.org/W1933349210","https://openalex.org/W1965482737","https://openalex.org/W1965875070","https://openalex.org/W1974305624","https://openalex.org/W2015879579","https://openalex.org/W2042599225","https://openalex.org/W2043303163","https://openalex.org/W2052472210","https://openalex.org/W2065227239","https://openalex.org/W2068872940","https://openalex.org/W2089245023","https://openalex.org/W2095705004","https://openalex.org/W2099184899","https://openalex.org/W2111628927","https://openalex.org/W2122646361","https://openalex.org/W2124470735","https://openalex.org/W2134107576","https://openalex.org/W2166042538","https://openalex.org/W2168743440","https://openalex.org/W2184188583","https://openalex.org/W2236144517","https://openalex.org/W2261483311","https://openalex.org/W2333655813","https://openalex.org/W2382338163","https://openalex.org/W2401279239","https://openalex.org/W2409205391","https://openalex.org/W2537120235","https://openalex.org/W2553530331","https://openalex.org/W2797862627","https://openalex.org/W2962835968","https://openalex.org/W4249625715","https://openalex.org/W4250321211","https://openalex.org/W6600348643","https://openalex.org/W6674330103","https://openalex.org/W6686207219","https://openalex.org/W6712791957"],"related_works":["https://openalex.org/W2961085424","https://openalex.org/W2806741695","https://openalex.org/W4306674287","https://openalex.org/W2381194467","https://openalex.org/W3210364259","https://openalex.org/W4224009465","https://openalex.org/W4290647774","https://openalex.org/W3207797160","https://openalex.org/W4286629047","https://openalex.org/W2493427309"],"abstract_inverted_index":{"Activities":[0],"of":[1,9,98,116,155,197],"daily":[2],"living":[3],"(ADLs)":[4],"are":[5,37],"important":[6],"for":[7,16],"quality":[8],"life.":[10],"Robotic":[11],"assistance":[12],"offers":[13],"the":[14,53,94,114,133,151,156,187,191,195],"opportunity":[15],"people":[17],"with":[18,119,146,159,171,176,199],"disabilities":[19],"to":[20,39,49,55,68],"perform":[21],"ADLs":[22],"on":[23,82,86],"their":[24],"own.":[25],"However,":[26],"when":[27,74],"a":[28,64,120,174],"complex":[29],"semi-autonomous":[30],"system":[31,80],"provides":[32],"real-world":[33],"assistance,":[34],"occasional":[35],"anomalies":[36,51,100,141,158,198],"likely":[38],"occur.":[40],"Robots":[41],"that":[42],"can":[43],"detect,":[44],"classify":[45,71],"and":[46,59,70,96,108,149,153,161,193,202],"respond":[47],"appropriately":[48],"common":[50,99,140],"have":[52],"potential":[54],"provide":[56],"more":[57],"effective":[58],"safer":[60],"assistance.":[61],"We":[62,106,165],"introduce":[63],"multimodal":[65,87],"execution":[66,111],"monitor":[67,92,112,128,188],"detect":[69],"anomalous":[72],"executions":[73],"robots":[75],"operate":[76],"near":[77],"humans.":[78],"Our":[79,90],"builds":[81],"our":[83,110,125,127,180],"past":[84],"work":[85],"anomaly":[88],"detection.":[89],"new":[91],"classifies":[93],"type":[95],"cause":[97],"using":[101],"an":[102,168],"artificial":[103],"neural":[104],"network.":[105],"implemented":[107],"evaluated":[109],"in":[113,137],"context":[115],"robot-assisted":[117],"feeding":[118],"general-purpose":[121],"mobile":[122],"manipulator.":[123],"In":[124],"evaluations,":[126],"outperformed":[129],"baseline":[130],"methods":[131],"from":[132,142],"literature.":[134],"It":[135],"succeeded":[136],"detecting":[138],"12":[139],"8":[143],"able-bodied":[144],"participants":[145],"83%":[147],"accuracy":[148],"classifying":[150],"types":[152],"causes":[154,196],"detected":[157],"90%":[160],"81%":[162],"accuracies,":[163],"respectively.":[164,205],"then":[166],"performed":[167],"in-home":[169],"evaluation":[170],"Henry":[172,182],"Evans,":[173],"person":[175],"severe":[177],"quadriplegia.":[178],"With":[179],"system,":[181],"successfully":[183],"fed":[184],"himself":[185],"while":[186],"detected,":[189],"classified":[190,194],"types,":[192],"86%,":[200],"90%,":[201],"54%":[203],"accuracy,":[204]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":13},{"year":2020,"cited_by_count":9},{"year":2019,"cited_by_count":11},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":1}],"updated_date":"2026-03-31T07:56:22.981413","created_date":"2025-10-10T00:00:00"}