{"id":"https://openalex.org/W2909139512","doi":"https://doi.org/10.1109/iros.2018.8593444","title":"A Sliding Mode Control Architecture for Human-Manipulator Cooperative Surface Treatment Tasks","display_name":"A Sliding Mode Control Architecture for Human-Manipulator Cooperative Surface Treatment Tasks","publication_year":2018,"publication_date":"2018-10-01","ids":{"openalex":"https://openalex.org/W2909139512","doi":"https://doi.org/10.1109/iros.2018.8593444","mag":"2909139512"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2018.8593444","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8593444","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/10453/130915","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5088336216","display_name":"Luis Gracia","orcid":"https://orcid.org/0000-0001-9258-9286"},"institutions":[{"id":"https://openalex.org/I60053951","display_name":"Universitat Polit\u00e8cnica de Val\u00e8ncia","ror":"https://ror.org/01460j859","country_code":"ES","type":"education","lineage":["https://openalex.org/I60053951"]}],"countries":["ES"],"is_corresponding":true,"raw_author_name":"Luis Gracia","raw_affiliation_strings":["Instituto de Dise\u00f1o y Fabricaci\u00f3n, Universitat Polit\u00e9cnica de Val\u00e8ncia, Valencia, Spain"],"affiliations":[{"raw_affiliation_string":"Instituto de Dise\u00f1o y Fabricaci\u00f3n, Universitat Polit\u00e9cnica de Val\u00e8ncia, Valencia, Spain","institution_ids":["https://openalex.org/I60053951"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067575860","display_name":"J. Ernesto Solanes","orcid":"https://orcid.org/0000-0001-5011-4872"},"institutions":[{"id":"https://openalex.org/I60053951","display_name":"Universitat Polit\u00e8cnica de Val\u00e8ncia","ror":"https://ror.org/01460j859","country_code":"ES","type":"education","lineage":["https://openalex.org/I60053951"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"J. Ernesto Solanes","raw_affiliation_strings":["Instituto de Dise\u00f1o y Fabricaci\u00f3n, Universitat Polit\u00e9cnica de Val\u00e8ncia, Valencia, Spain"],"affiliations":[{"raw_affiliation_string":"Instituto de Dise\u00f1o y Fabricaci\u00f3n, Universitat Polit\u00e9cnica de Val\u00e8ncia, Valencia, Spain","institution_ids":["https://openalex.org/I60053951"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003783612","display_name":"Pau Mu\u00f1oz\u2010Benavent","orcid":"https://orcid.org/0000-0003-4681-183X"},"institutions":[{"id":"https://openalex.org/I60053951","display_name":"Universitat Polit\u00e8cnica de Val\u00e8ncia","ror":"https://ror.org/01460j859","country_code":"ES","type":"education","lineage":["https://openalex.org/I60053951"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Pau Munoz-Benavent","raw_affiliation_strings":["Instituto de Dise\u00f1o y Fabricaci\u00f3n, Universitat Polit\u00e9cnica de Val\u00e8ncia, Valencia, Spain"],"affiliations":[{"raw_affiliation_string":"Instituto de Dise\u00f1o y Fabricaci\u00f3n, Universitat Polit\u00e9cnica de Val\u00e8ncia, Valencia, Spain","institution_ids":["https://openalex.org/I60053951"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090396472","display_name":"Jaime Valls Mir\u00f3","orcid":"https://orcid.org/0000-0002-0083-7797"},"institutions":[{"id":"https://openalex.org/I114017466","display_name":"University of Technology Sydney","ror":"https://ror.org/03f0f6041","country_code":"AU","type":"education","lineage":["https://openalex.org/I114017466"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Jaime Valls Miro","raw_affiliation_strings":["Centre for Autonomous Systems, University of Technology Sydney, Sydney, NSW, Australia"],"affiliations":[{"raw_affiliation_string":"Centre for Autonomous Systems, University of Technology Sydney, Sydney, NSW, Australia","institution_ids":["https://openalex.org/I114017466"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5106763842","display_name":"Carlos P\u00e9rez-Vidal","orcid":null},"institutions":[{"id":"https://openalex.org/I111262870","display_name":"Universitat de Miguel Hern\u00e1ndez d'Elx","ror":"https://ror.org/01azzms13","country_code":"ES","type":"education","lineage":["https://openalex.org/I111262870"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Carlos Perez-Vidal","raw_affiliation_strings":["Departamento de Ingeiner\u00eda de Sistemas y Autom\u00e1tica, Universidad Miguel Hern\u00e1ndez, Elche, Spain"],"affiliations":[{"raw_affiliation_string":"Departamento de Ingeiner\u00eda de Sistemas y Autom\u00e1tica, Universidad Miguel Hern\u00e1ndez, Elche, Spain","institution_ids":["https://openalex.org/I111262870"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048869825","display_name":"Josep Tornero","orcid":"https://orcid.org/0000-0003-1571-0251"},"institutions":[{"id":"https://openalex.org/I60053951","display_name":"Universitat Polit\u00e8cnica de Val\u00e8ncia","ror":"https://ror.org/01460j859","country_code":"ES","type":"education","lineage":["https://openalex.org/I60053951"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Josep Tornero","raw_affiliation_strings":["Instituto de Dise\u00f1o y Fabricaci\u00f3n, Universitat Polit\u00e9cnica de Val\u00e8ncia, Valencia, Spain"],"affiliations":[{"raw_affiliation_string":"Instituto de Dise\u00f1o y Fabricaci\u00f3n, Universitat Polit\u00e9cnica de Val\u00e8ncia, Valencia, Spain","institution_ids":["https://openalex.org/I60053951"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5088336216"],"corresponding_institution_ids":["https://openalex.org/I60053951"],"apc_list":null,"apc_paid":null,"fwci":0.2228,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.54999009,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":"87","issue":null,"first_page":"1318","last_page":"1325"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9988999962806702,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9988999962806702,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9987000226974487,"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":0.9986000061035156,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5835790634155273},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.5764204263687134},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5341535806655884},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5336431264877319},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5335258841514587},{"id":"https://openalex.org/keywords/polishing","display_name":"Polishing","score":0.48257461190223694},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4751175045967102},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.4501223862171173},{"id":"https://openalex.org/keywords/operator","display_name":"Operator (biology)","score":0.43198782205581665},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.42556095123291016},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.37082064151763916},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.34576964378356934},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.337123841047287},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3267749845981598},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.299083411693573},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.08197849988937378},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.07732608914375305}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5835790634155273},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.5764204263687134},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5341535806655884},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5336431264877319},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5335258841514587},{"id":"https://openalex.org/C138113353","wikidata":"https://www.wikidata.org/wiki/Q611639","display_name":"Polishing","level":2,"score":0.48257461190223694},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4751175045967102},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.4501223862171173},{"id":"https://openalex.org/C17020691","wikidata":"https://www.wikidata.org/wiki/Q139677","display_name":"Operator (biology)","level":5,"score":0.43198782205581665},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.42556095123291016},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.37082064151763916},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.34576964378356934},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.337123841047287},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3267749845981598},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.299083411693573},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.08197849988937378},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.07732608914375305},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C158448853","wikidata":"https://www.wikidata.org/wiki/Q425218","display_name":"Repressor","level":4,"score":0.0},{"id":"https://openalex.org/C86339819","wikidata":"https://www.wikidata.org/wiki/Q407384","display_name":"Transcription factor","level":3,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2018.8593444","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8593444","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:opus.lib.uts.edu.au:10453/130915","is_oa":true,"landing_page_url":"http://hdl.handle.net/10453/130915","pdf_url":null,"source":{"id":"https://openalex.org/S4306401357","display_name":"UTS ePRESS (University of Technology Sydney)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I114017466","host_organization_name":"University of Technology Sydney","host_organization_lineage":["https://openalex.org/I114017466"],"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":"Conference Proceeding"}],"best_oa_location":{"id":"pmh:oai:opus.lib.uts.edu.au:10453/130915","is_oa":true,"landing_page_url":"http://hdl.handle.net/10453/130915","pdf_url":null,"source":{"id":"https://openalex.org/S4306401357","display_name":"UTS ePRESS (University of Technology Sydney)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I114017466","host_organization_name":"University of Technology Sydney","host_organization_lineage":["https://openalex.org/I114017466"],"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":"Conference Proceeding"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G5088624505","display_name":null,"funder_award_id":"DPI2017-87656-C2-1-R","funder_id":"https://openalex.org/F4320321864","funder_display_name":"Generalitat Valenciana"},{"id":"https://openalex.org/G5153716402","display_name":null,"funder_award_id":"VALi+d APOSTD/2016/044","funder_id":"https://openalex.org/F4320321864","funder_display_name":"Generalitat Valenciana"}],"funders":[{"id":"https://openalex.org/F4320321864","display_name":"Generalitat Valenciana","ror":"https://ror.org/0097mvx21"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1516447630","https://openalex.org/W1537842733","https://openalex.org/W1981745143","https://openalex.org/W2019496519","https://openalex.org/W2042803738","https://openalex.org/W2070567559","https://openalex.org/W2072763216","https://openalex.org/W2107506064","https://openalex.org/W2113265921","https://openalex.org/W2229463931","https://openalex.org/W2288836328","https://openalex.org/W2438255111","https://openalex.org/W2492766244","https://openalex.org/W2742568927","https://openalex.org/W2798909945","https://openalex.org/W3002318169","https://openalex.org/W4256152864","https://openalex.org/W4256153703","https://openalex.org/W4300885720","https://openalex.org/W6669001726","https://openalex.org/W6689483542"],"related_works":["https://openalex.org/W2355958986","https://openalex.org/W2359200184","https://openalex.org/W2366623665","https://openalex.org/W3035613609","https://openalex.org/W2037225514","https://openalex.org/W2061253909","https://openalex.org/W2977384378","https://openalex.org/W2381926258","https://openalex.org/W2386760886","https://openalex.org/W2374920256"],"abstract_inverted_index":{"This":[0],"paper":[1,170],"presents":[2,171],"a":[3,23,39,75,192,197],"control":[4,67],"architecture":[5],"readily":[6],"suitable":[7],"for":[8,174,182],"surface":[9,111,184],"treatment":[10,112,185],"tasks":[11],"such":[12],"as":[13,19,36],"polishing,":[14],"grinding,":[15],"finishing":[16],"or":[17],"deburring":[18],"carried":[20],"out":[21],"by":[22,38,140,188],"human":[24,49],"operator,":[25],"with":[26,59],"the":[27,48,60,103,107,110,115,122,125,132,136,141,146,150,156,158,172,175],"added":[28],"benefit":[29,84],"of":[30,106,121],"accuracy,":[31],"recurrence":[32],"and":[33,53,74,89,109,114,196],"physical":[34,62],"strength":[35],"administered":[37],"robotic":[40,147,183],"manipulator":[41,195],"partner.":[42],"The":[43,64,93,169],"shared":[44],"strategy":[45],"effectively":[46],"couples":[47],"operator":[50,142,151],"propioceptive":[51],"abilities":[52],"fine":[54],"skills":[55],"through":[56],"his":[57],"interactions":[58],"autonomous":[61],"agent.":[63],"novel":[65,176],"proposed":[66],"scheme":[68],"is":[69,81,127,138,186],"based":[70],"on":[71,96],"task":[72],"prioritization":[73],"non-conventional":[76],"sliding":[77],"mode":[78],"control,":[79],"which":[80],"considered":[82],"to":[83,129,143,153,164],"from":[85],"its":[86,180],"inherent":[87],"robustness":[88],"low":[90],"computational":[91],"cost.":[92],"system":[94],"relies":[95],"two":[97],"force":[98],"sensors,":[99],"one":[100],"located":[101,117],"between":[102],"last":[104],"link":[105],"robot":[108,123,159],"tool,":[113,157],"other":[116],"in":[118],"some":[119],"place":[120],"end-effector:":[124],"former":[126],"used":[128,139],"suitably":[130],"accomplish":[131],"conditioning":[133,199],"task,":[134],"while":[135],"latter":[137],"manually":[144],"guide":[145],"tool.":[148,200],"When":[149],"chooses":[152],"cease":[154],"guiding":[155],"motion":[160],"safely":[161],"switches":[162],"back":[163],"an":[165],"automatic":[166],"reference":[167],"tracking.":[168],"theories":[173],"collaborative":[177],"controller,":[178],"whilst":[179],"effectiveness":[181],"substantiated":[187],"experimental":[189],"results":[190],"using":[191],"redundant":[193],"7R":[194],"mock-up":[198]},"counts_by_year":[{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2019,"cited_by_count":2}],"updated_date":"2026-04-10T15:06:20.359241","created_date":"2025-10-10T00:00:00"}
