{"id":"https://openalex.org/W4313029466","doi":"https://doi.org/10.1109/iros47612.2022.9981426","title":"Collaborative Teleoperation with Haptic Feedback for Collision-Free Navigation of Ground Robots","display_name":"Collaborative Teleoperation with Haptic Feedback for Collision-Free Navigation of Ground Robots","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W4313029466","doi":"https://doi.org/10.1109/iros47612.2022.9981426"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9981426","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981426","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 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/A5003619876","display_name":"Mela Coffey","orcid":"https://orcid.org/0000-0003-2275-8341"},"institutions":[{"id":"https://openalex.org/I111088046","display_name":"Boston University","ror":"https://ror.org/05qwgg493","country_code":"US","type":"education","lineage":["https://openalex.org/I111088046"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mela Coffey","raw_affiliation_strings":["Boston University,Department of Mechanical Engineering,Boston,MA,USA,02215"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Boston University,Department of Mechanical Engineering,Boston,MA,USA,02215","institution_ids":["https://openalex.org/I111088046"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5035836760","display_name":"Alyssa Pierson","orcid":"https://orcid.org/0000-0002-4885-9119"},"institutions":[{"id":"https://openalex.org/I111088046","display_name":"Boston University","ror":"https://ror.org/05qwgg493","country_code":"US","type":"education","lineage":["https://openalex.org/I111088046"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alyssa Pierson","raw_affiliation_strings":["Boston University,Department of Mechanical Engineering,Boston,MA,USA,02215"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Boston University,Department of Mechanical Engineering,Boston,MA,USA,02215","institution_ids":["https://openalex.org/I111088046"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I111088046"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"8141","last_page":"8148"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9998999834060669,"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":0.9998999834060669,"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/T11398","display_name":"Hand Gesture Recognition Systems","score":0.9965999722480774,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"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/T10914","display_name":"Tactile and Sensory Interactions","score":0.9965000152587891,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.9467328190803528},{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.9322260618209839},{"id":"https://openalex.org/keywords/holonomic","display_name":"Holonomic","score":0.7200084924697876},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6963210105895996},{"id":"https://openalex.org/keywords/telerobotics","display_name":"Telerobotics","score":0.5339545011520386},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.5199897885322571},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5124866962432861},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4881969094276428},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4764592945575714},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.43759065866470337},{"id":"https://openalex.org/keywords/virtual-reality","display_name":"Virtual reality","score":0.422105610370636},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.40529587864875793},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.38538438081741333},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.316143274307251},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.25272464752197266},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.0768805742263794}],"concepts":[{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.9467328190803528},{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.9322260618209839},{"id":"https://openalex.org/C2777964439","wikidata":"https://www.wikidata.org/wiki/Q5884201","display_name":"Holonomic","level":2,"score":0.7200084924697876},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6963210105895996},{"id":"https://openalex.org/C196467688","wikidata":"https://www.wikidata.org/wiki/Q1851985","display_name":"Telerobotics","level":4,"score":0.5339545011520386},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.5199897885322571},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5124866962432861},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4881969094276428},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4764592945575714},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.43759065866470337},{"id":"https://openalex.org/C194969405","wikidata":"https://www.wikidata.org/wiki/Q170519","display_name":"Virtual reality","level":2,"score":0.422105610370636},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.40529587864875793},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.38538438081741333},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.316143274307251},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.25272464752197266},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0768805742263794},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros47612.2022.9981426","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981426","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 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":29,"referenced_works":["https://openalex.org/W1973221697","https://openalex.org/W1978403001","https://openalex.org/W2028492326","https://openalex.org/W2068480852","https://openalex.org/W2068925748","https://openalex.org/W2072596171","https://openalex.org/W2106632120","https://openalex.org/W2149505609","https://openalex.org/W2162438760","https://openalex.org/W2167878366","https://openalex.org/W2209564725","https://openalex.org/W2340316143","https://openalex.org/W2510072666","https://openalex.org/W2565780995","https://openalex.org/W2756164017","https://openalex.org/W2773226774","https://openalex.org/W2896715672","https://openalex.org/W2965289613","https://openalex.org/W2991403870","https://openalex.org/W3011655154","https://openalex.org/W3035091793","https://openalex.org/W3081573973","https://openalex.org/W3088632941","https://openalex.org/W3142938931","https://openalex.org/W3162920521","https://openalex.org/W3163994696","https://openalex.org/W3206408765","https://openalex.org/W3206768275","https://openalex.org/W4231108477"],"related_works":["https://openalex.org/W2094105667","https://openalex.org/W3083255641","https://openalex.org/W2097347938","https://openalex.org/W2970545857","https://openalex.org/W2164858976","https://openalex.org/W2046710269","https://openalex.org/W817518365","https://openalex.org/W2097059456","https://openalex.org/W2141648055","https://openalex.org/W2145103607"],"abstract_inverted_index":{"We":[0,63,80],"propose":[1],"a":[2,30,33,88,113,136],"collaborative":[3],"teleoperation":[4],"algorithm":[5,24,39,75,86],"which":[6],"utilizes":[7],"haptic":[8,46,78,116,132],"force":[9,119],"feedback":[10,120],"to":[11,40,48,99,121],"guide":[12],"users":[13],"around":[14],"oncoming":[15],"obstacles":[16,54,71],"while":[17,102],"accounting":[18],"for":[19,141],"non-holonomic":[20,144],"constraints.":[21],"The":[22],"proposed":[23,74,131],"predicts":[25],"the":[26,41,49,56,66,73,77,82,104,122,130],"user's":[27],"goal,":[28,43],"plans":[29],"path":[31,50],"using":[32],"modified":[34],"RRT":[35],"<sup":[36],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[37],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">*</sup>":[38],"predicted":[42],"and":[44,51,93,126,138],"provides":[45],"guidance":[47,133],"away":[52],"from":[53],"when":[55],"user":[57],"is":[58,135],"in":[59,91],"an":[60],"unsafe":[61],"pose.":[62],"show":[64,128],"that":[65,129],"vehicle":[67],"cannot":[68],"collide":[69],"with":[70,87,112],"under":[72],"following":[76],"commands.":[79],"assess":[81],"per-formance":[83],"of":[84,143],"our":[85],"virtual":[89],"pilot":[90],"simulations":[92,125],"hardware":[94],"experiments,":[95],"demonstrating":[96],"its":[97],"ability":[98],"prevent":[100],"collisions":[101],"reaching":[103],"goal":[105],"location.":[106],"Additionally,":[107],"we":[108],"demonstrate":[109],"human-in-the-loop":[110],"navigation":[111],"Geomagic":[114],"Touch":[115],"device":[117],"providing":[118],"user.":[123],"These":[124],"experiments":[127],"system":[134],"useful":[137],"effective":[139],"tool":[140],"co-navigation":[142],"vehicles":[145],"via":[146],"teleoperation.":[147]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":3}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
