{"id":"https://openalex.org/W4389667482","doi":"https://doi.org/10.1109/iros55552.2023.10341495","title":"Exploiting the Kinematic Redundancy of a Backdrivable Parallel Manipulator for Sensing During Physical Human-Robot Interaction","display_name":"Exploiting the Kinematic Redundancy of a Backdrivable Parallel Manipulator for Sensing During Physical Human-Robot Interaction","publication_year":2023,"publication_date":"2023-10-01","ids":{"openalex":"https://openalex.org/W4389667482","doi":"https://doi.org/10.1109/iros55552.2023.10341495"},"language":"en","primary_location":{"id":"doi:10.1109/iros55552.2023.10341495","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10341495","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hal.science/hal-04442930/document","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5040721994","display_name":"Arda Yi\u011fit","orcid":"https://orcid.org/0000-0002-1254-3219"},"institutions":[{"id":"https://openalex.org/I43406934","display_name":"Universit\u00e9 Laval","ror":"https://ror.org/04sjchr03","country_code":"CA","type":"education","lineage":["https://openalex.org/I43406934"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Arda Yi\u011fit","raw_affiliation_strings":["Université Laval,Department of Mechanical Engineering,Québec,QC,Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Université Laval,Department of Mechanical Engineering,Québec,QC,Canada","institution_ids":["https://openalex.org/I43406934"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059951686","display_name":"Tan-Sy Nguyen","orcid":"https://orcid.org/0000-0001-6756-1644"},"institutions":[{"id":"https://openalex.org/I43406934","display_name":"Universit\u00e9 Laval","ror":"https://ror.org/04sjchr03","country_code":"CA","type":"education","lineage":["https://openalex.org/I43406934"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Tan-Sy Nguyen","raw_affiliation_strings":["Université Laval,Department of Mechanical Engineering,Québec,QC,Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Université Laval,Department of Mechanical Engineering,Québec,QC,Canada","institution_ids":["https://openalex.org/I43406934"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5055839781","display_name":"Cl\u00e9ment Gosselin","orcid":"https://orcid.org/0000-0001-7422-4515"},"institutions":[{"id":"https://openalex.org/I43406934","display_name":"Universit\u00e9 Laval","ror":"https://ror.org/04sjchr03","country_code":"CA","type":"education","lineage":["https://openalex.org/I43406934"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Cl\u00e9ment Gosselin","raw_affiliation_strings":["Université Laval,Department of Mechanical Engineering,Québec,QC,Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Université Laval,Department of Mechanical Engineering,Québec,QC,Canada","institution_ids":["https://openalex.org/I43406934"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I43406934"],"apc_list":null,"apc_paid":null,"fwci":1.1676,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":{"value":0.77586692,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"9788","last_page":"9793"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9987999796867371,"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"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9987999796867371,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9975000023841858,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9944999814033508,"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/redundancy","display_name":"Redundancy (engineering)","score":0.8169066905975342},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6773664951324463},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6562842130661011},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6431640386581421},{"id":"https://openalex.org/keywords/encoder","display_name":"Encoder","score":0.5998482704162598},{"id":"https://openalex.org/keywords/operator","display_name":"Operator (biology)","score":0.5440092086791992},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.5435530543327332},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.5415154099464417},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5051472783088684},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4702402949333191},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.43831509351730347},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3360294699668884},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2537355124950409},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.18950173258781433},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.14338460564613342}],"concepts":[{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.8169066905975342},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6773664951324463},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6562842130661011},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6431640386581421},{"id":"https://openalex.org/C118505674","wikidata":"https://www.wikidata.org/wiki/Q42586063","display_name":"Encoder","level":2,"score":0.5998482704162598},{"id":"https://openalex.org/C17020691","wikidata":"https://www.wikidata.org/wiki/Q139677","display_name":"Operator (biology)","level":5,"score":0.5440092086791992},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.5435530543327332},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.5415154099464417},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5051472783088684},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4702402949333191},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.43831509351730347},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3360294699668884},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2537355124950409},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.18950173258781433},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.14338460564613342},{"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/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros55552.2023.10341495","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10341495","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-04442930v1","is_oa":true,"landing_page_url":"https://hal.science/hal-04442930","pdf_url":"https://hal.science/hal-04442930/document","source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct 2023, Detroit, United States. pp.9788-9793, ⟨10.1109/IROS55552.2023.10341495⟩","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-04442930v1","is_oa":true,"landing_page_url":"https://hal.science/hal-04442930","pdf_url":"https://hal.science/hal-04442930/document","source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct 2023, Detroit, United States. pp.9788-9793, ⟨10.1109/IROS55552.2023.10341495⟩","raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[{"display_name":"Reduced inequalities","id":"https://metadata.un.org/sdg/10","score":0.4300000071525574}],"awards":[],"funders":[{"id":"https://openalex.org/F4320334593","display_name":"Natural Sciences and Engineering Research Council of Canada","ror":"https://ror.org/01h531d29"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4389667482.pdf","grobid_xml":"https://content.openalex.org/works/W4389667482.grobid-xml"},"referenced_works_count":17,"referenced_works":["https://openalex.org/W1971173149","https://openalex.org/W1974357213","https://openalex.org/W2001381166","https://openalex.org/W2030729721","https://openalex.org/W2057538835","https://openalex.org/W2115282423","https://openalex.org/W2517641405","https://openalex.org/W2575763268","https://openalex.org/W2911215390","https://openalex.org/W3044540718","https://openalex.org/W3116598312","https://openalex.org/W3131110707","https://openalex.org/W3205906715","https://openalex.org/W3215848761","https://openalex.org/W4210828307","https://openalex.org/W4254005064","https://openalex.org/W4383108956"],"related_works":["https://openalex.org/W2331850854","https://openalex.org/W3044940660","https://openalex.org/W2059363081","https://openalex.org/W4312096302","https://openalex.org/W2972304526","https://openalex.org/W2900509454","https://openalex.org/W2109003837","https://openalex.org/W2101598871","https://openalex.org/W2005471069","https://openalex.org/W2119963650"],"abstract_inverted_index":{"Robots":[0],"need":[1],"to":[2,12,37,46,68,75,137,150,156,163],"adapt":[3],"their":[4],"behaviour":[5],"while":[6],"physically":[7],"interacting":[8,82],"with":[9,83,167],"an":[10,80,168],"operator":[11,23,81,109,149],"guarantee":[13],"safety":[14],"and":[15,55,117,143,171],"provide":[16],"intuitiveness.":[17],"Inferring":[18],"the":[19,22,56,70,77,101,108,112,127,130,148,152],"intentions":[20,78],"of":[21,73,79,115,129],"is":[24,98,135],"a":[25,84,140,144],"challenging":[26],"problem":[27],"that":[28,146,173],"can":[29,43,59,110,119],"be":[30,44,60,120],"addressed":[31],"by":[32,179],"introducing":[33,91],"sensors,":[34],"in":[35,104],"addition":[36],"motor":[38,124],"encoders.":[39],"Also,":[40],"kinematic":[41],"redundancy":[42],"used":[45],"avoid":[47],"issues":[48],"such":[49],"as":[50],"singularities":[51],"or":[52],"mechanical":[53],"interference,":[54],"redundant":[57,71,87,113],"coordinates":[58],"controlled":[61],"freely.":[62],"In":[63],"this":[64,118,165],"work,":[65],"we":[66],"propose":[67],"use":[69],"degrees":[72,114],"freedom":[74],"infer":[76],"backdrivable":[85,106],"kinematically":[86],"parallel":[88],"robot,":[89],"without":[90],"any":[92],"additional":[93],"sensors.":[94],"The":[95],"proposed":[96],"approach":[97,134,166],"based":[99],"on":[100],"fact":[102],"that,":[103],"mechanically":[105],"robots,":[107],"control":[111],"freedom,":[116],"sensed":[121],"using":[122],"solely":[123],"encoders":[125],"through":[126],"solution":[128],"forward":[131],"kinematics.":[132],"This":[133],"implemented":[136],"switch":[138],"between":[139],"position":[141],"controller":[142,145],"allows":[147],"guide":[151],"robot":[153],"freely":[154],"thanks":[155],"gravity":[157],"compensation.":[158],"Experiments":[159],"are":[160],"carried":[161],"out":[162],"compare":[164],"existing":[169],"one":[170],"show":[172],"it":[174],"improves":[175],"intuitiveness":[176],"during":[177],"interaction":[178],"reducing":[180],"false":[181],"mode":[182],"change":[183],"detections.":[184]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1}],"updated_date":"2026-08-01T09:00:35.917206","created_date":"2025-10-10T00:00:00"}