{"id":"https://openalex.org/W3004365530","doi":"https://doi.org/10.1109/iros40897.2019.8967872","title":"Toward a Human-Machine Interface Based on Electrical Impedance Tomography for Robotic Manipulator Control","display_name":"Toward a Human-Machine Interface Based on Electrical Impedance Tomography for Robotic Manipulator Control","publication_year":2019,"publication_date":"2019-11-01","ids":{"openalex":"https://openalex.org/W3004365530","doi":"https://doi.org/10.1109/iros40897.2019.8967872","mag":"3004365530"},"language":"en","primary_location":{"id":"doi:10.1109/iros40897.2019.8967872","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8967872","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 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/A5107863355","display_name":"Enhao Zheng","orcid":null},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Enhao Zheng","raw_affiliation_strings":["Institute of Automation, Chinese Academy of Sciences No. 95 of Zhongguancun East Road,The State Key Laboratory of Management and Control for Complex Systems,Beijing,China","The State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences No. 95 of Zhongguancun East Road, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Institute of Automation, Chinese Academy of Sciences No. 95 of Zhongguancun East Road,The State Key Laboratory of Management and Control for Complex Systems,Beijing,China","institution_ids":["https://openalex.org/I4210094879"]},{"raw_affiliation_string":"The State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences No. 95 of Zhongguancun East Road, Beijing, China","institution_ids":["https://openalex.org/I4210094879","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100432140","display_name":"Yuhua Li","orcid":"https://orcid.org/0000-0002-3743-9303"},"institutions":[{"id":"https://openalex.org/I3125743391","display_name":"China University of Geosciences (Beijing)","ror":"https://ror.org/04q6c7p66","country_code":"CN","type":"education","lineage":["https://openalex.org/I3125743391"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuhua Li","raw_affiliation_strings":["China university of geosciences (Beijing),School of information engineering,Beijing,China,100083","School of information engineering, China university of geosciences (Beijing), Beijing, China"],"affiliations":[{"raw_affiliation_string":"China university of geosciences (Beijing),School of information engineering,Beijing,China,100083","institution_ids":["https://openalex.org/I3125743391"]},{"raw_affiliation_string":"School of information engineering, China university of geosciences (Beijing), Beijing, China","institution_ids":["https://openalex.org/I3125743391"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025723618","display_name":"Qining Wang","orcid":"https://orcid.org/0000-0003-3484-4810"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qining Wang","raw_affiliation_strings":["Peking University,The Robotics Research Group, College of Engineering,Beijing,China,100871","The Robotics Research Group, College of Engineering, Peking University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Peking University,The Robotics Research Group, College of Engineering,Beijing,China,100871","institution_ids":["https://openalex.org/I20231570"]},{"raw_affiliation_string":"The Robotics Research Group, College of Engineering, Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5026688050","display_name":"Hong Qiao","orcid":"https://orcid.org/0000-0001-6384-3687"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hong Qiao","raw_affiliation_strings":["Institute of Automation, Chinese Academy of Sciences No. 95 of Zhongguancun East Road,The State Key Laboratory of Management and Control for Complex Systems,Beijing,China","The State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences No. 95 of Zhongguancun East Road, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Institute of Automation, Chinese Academy of Sciences No. 95 of Zhongguancun East Road,The State Key Laboratory of Management and Control for Complex Systems,Beijing,China","institution_ids":["https://openalex.org/I4210094879"]},{"raw_affiliation_string":"The State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences No. 95 of Zhongguancun East Road, Beijing, China","institution_ids":["https://openalex.org/I4210094879","https://openalex.org/I19820366"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5107863355"],"corresponding_institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210094879"],"apc_list":null,"apc_paid":null,"fwci":1.3115,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":{"value":0.81577842,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"2768","last_page":"2774"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11778","display_name":"Electrical and Bioimpedance Tomography","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/T11778","display_name":"Electrical and Bioimpedance Tomography","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9991999864578247,"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/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9926999807357788,"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/grasp","display_name":"GRASP","score":0.7475848197937012},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.5365439057350159},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.521317183971405},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5207300186157227},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.5133227705955505},{"id":"https://openalex.org/keywords/interface","display_name":"Interface (matter)","score":0.5100660920143127},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5037893652915955},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4981253147125244},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4916561245918274},{"id":"https://openalex.org/keywords/mean-squared-error","display_name":"Mean squared error","score":0.4688231647014618},{"id":"https://openalex.org/keywords/electrical-impedance-tomography","display_name":"Electrical impedance tomography","score":0.4554857313632965},{"id":"https://openalex.org/keywords/sigmoid-function","display_name":"Sigmoid function","score":0.44781801104545593},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.44140422344207764},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.36890822649002075},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3642752170562744},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.28067952394485474},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.19982105493545532},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1435087025165558},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.1001594066619873},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.09956416487693787},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.088062584400177}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.7475848197937012},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.5365439057350159},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.521317183971405},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5207300186157227},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.5133227705955505},{"id":"https://openalex.org/C113843644","wikidata":"https://www.wikidata.org/wiki/Q901882","display_name":"Interface (matter)","level":4,"score":0.5100660920143127},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5037893652915955},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4981253147125244},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4916561245918274},{"id":"https://openalex.org/C139945424","wikidata":"https://www.wikidata.org/wiki/Q1940696","display_name":"Mean squared error","level":2,"score":0.4688231647014618},{"id":"https://openalex.org/C155175808","wikidata":"https://www.wikidata.org/wiki/Q1326472","display_name":"Electrical impedance tomography","level":3,"score":0.4554857313632965},{"id":"https://openalex.org/C81388566","wikidata":"https://www.wikidata.org/wiki/Q526668","display_name":"Sigmoid function","level":3,"score":0.44781801104545593},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.44140422344207764},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.36890822649002075},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3642752170562744},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.28067952394485474},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.19982105493545532},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1435087025165558},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.1001594066619873},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.09956416487693787},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.088062584400177},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C157915830","wikidata":"https://www.wikidata.org/wiki/Q2928001","display_name":"Bubble","level":2,"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"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/C129307140","wikidata":"https://www.wikidata.org/wiki/Q6795880","display_name":"Maximum bubble pressure method","level":3,"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":1,"locations":[{"id":"doi:10.1109/iros40897.2019.8967872","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8967872","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 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":25,"referenced_works":["https://openalex.org/W1968781294","https://openalex.org/W1979117064","https://openalex.org/W2003512661","https://openalex.org/W2030268430","https://openalex.org/W2041556066","https://openalex.org/W2080487795","https://openalex.org/W2093495347","https://openalex.org/W2103017125","https://openalex.org/W2138967075","https://openalex.org/W2156394514","https://openalex.org/W2239607246","https://openalex.org/W2330701174","https://openalex.org/W2403014006","https://openalex.org/W2417246642","https://openalex.org/W2533819212","https://openalex.org/W2564917287","https://openalex.org/W2606499982","https://openalex.org/W2735337215","https://openalex.org/W2750736961","https://openalex.org/W2752400335","https://openalex.org/W2789411466","https://openalex.org/W2791542133","https://openalex.org/W2800880359","https://openalex.org/W2883617685","https://openalex.org/W2898925202"],"related_works":["https://openalex.org/W2163296013","https://openalex.org/W2743859443","https://openalex.org/W2326995835","https://openalex.org/W4385957115","https://openalex.org/W165915117","https://openalex.org/W2059402478","https://openalex.org/W2123347777","https://openalex.org/W4387804363","https://openalex.org/W2019547100","https://openalex.org/W2066756988"],"abstract_inverted_index":{"In":[0],"this":[1],"study,":[2],"we":[3],"proposed":[4],"a":[5,40,73,106,111],"novel":[6],"human-machine":[7],"interface":[8,51],"(HMI)":[9],"for":[10],"robotic":[11],"manipulator":[12],"control.":[13,200],"The":[14,69,153,193,242],"specific":[15,87],"target":[16],"was":[17,72,79,131,156,196,229],"to":[18,81,133,138,231,233,260],"adjust":[19],"the":[20,24,32,45,50,61,64,86,92,114,123,135,139,145,157,163,179,197,234,245,248],"impedance":[21,66,115],"coefficients":[22,116],"of":[23,144,173,178,186,247],"robot":[25,199],"controller":[26,109],"in":[27,52,119,214],"real":[28,120],"time":[29,121,228],"by":[30,63,122],"measuring":[31],"human":[33],"forearm":[34,98],"muscle":[35,57,99,218],"contractions.":[36],"We":[37,103],"firstly":[38],"designed":[39,88,105],"HMI":[41],"system.":[42],"Different":[43],"from":[44],"frequently":[46],"used":[47,132],"sEMG":[48],"technologies,":[49],"our":[53],"study":[54],"could":[55],"detect":[56],"morphological":[58],"changes":[59],"within":[60],"skin":[62],"electrical":[65],"tomography":[67],"(EIT).":[68],"sensing":[70,89],"front-end":[71],"soft":[74],"elastic":[75],"fabric":[76],"band":[77],"which":[78],"compatible":[80],"different":[82],"arm":[83],"shapes.":[84],"With":[85,162,216],"hardware":[90],"and":[91,175,209,226],"re-construction":[93],"algorithms,":[94],"EIT":[95,136],"images":[96,137],"indicating":[97],"shapes":[100],"were":[101,150,191,207,212,224,239],"obtained.":[102],"then":[104],"hybrid":[107],"positon/impedance":[108],"on":[110,251],"UR5":[112],"with":[113,204],"being":[117],"tuned":[118],"grasp":[124,140,159,210],"force":[125,160],"estimation.":[126,161],"A":[127],"sigmoid":[128],"regression":[129],"algorithm":[130],"map":[134],"forces.":[141],"After":[142],"implementation":[143],"whole":[146],"system,":[147],"two":[148],"experiments":[149],"carried":[151],"out.":[152],"first":[154],"experiment":[155,195],"off-line":[158],"1:1":[164],"cross":[165],"validation,":[166],"an":[167,176],"average":[168,177],"R":[169],"<sup":[170],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[171],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">2</sup>":[172],"0.83\u00b10.04":[174],"relative":[180],"root":[181],"mean":[182],"square":[183],"error":[184],"(RRMSE)":[185],"0.31\u00b10.10":[187],"across":[188],"5":[189],"subjects":[190],"yielded.":[192],"second":[194],"real-time":[198],"Trajectory":[201],"tracking":[202],"task":[203],"dynamic":[205],"uncertainties":[206],"investigated":[208],"forces":[211],"estimated":[213],"real-time.":[215],"higher":[217],"contraction":[219],"levels,":[220],"smaller":[221],"position":[222],"errors":[223],"observed":[225],"shorter":[227],"needed":[230],"return":[232],"expected":[235],"trajectory":[236],"when":[237],"there":[238],"external":[240],"disturbances.":[241],"results":[243],"proved":[244],"feasibility":[246],"new":[249],"approach":[250],"human-robot":[252],"interaction":[253],"tasks.":[254],"Future":[255],"endeavours":[256],"will":[257],"be":[258],"made":[259],"get":[261],"more":[262],"promising":[263],"results.":[264]},"counts_by_year":[{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":4},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}