{"id":"https://openalex.org/W4389666152","doi":"https://doi.org/10.1109/iros55552.2023.10341661","title":"Scalable. Intuitive Human to Robot Skill Transfer with Wearable Human Machine Interfaces: On Complex, Dexterous Tasks","display_name":"Scalable. Intuitive Human to Robot Skill Transfer with Wearable Human Machine Interfaces: On Complex, Dexterous Tasks","publication_year":2023,"publication_date":"2023-10-01","ids":{"openalex":"https://openalex.org/W4389666152","doi":"https://doi.org/10.1109/iros55552.2023.10341661"},"language":"en","primary_location":{"id":"doi:10.1109/iros55552.2023.10341661","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10341661","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":"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/A5087540060","display_name":"Felipe Sanches","orcid":null},"institutions":[{"id":"https://openalex.org/I154130895","display_name":"University of Auckland","ror":"https://ror.org/03b94tp07","country_code":"NZ","type":"education","lineage":["https://openalex.org/I154130895"]}],"countries":["NZ"],"is_corresponding":false,"raw_author_name":"Felipe Sanches","raw_affiliation_strings":["The University of Auckland,New Dexterity research group,Department of Mechanical and Mechatronics Engineering,New Zealand","Department of Mechanical and Mechatronics Engineering, New Dexterity research group, The University of Auckland, New Zealand"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Auckland,New Dexterity research group,Department of Mechanical and Mechatronics Engineering,New Zealand","institution_ids":["https://openalex.org/I154130895"]},{"raw_affiliation_string":"Department of Mechanical and Mechatronics Engineering, New Dexterity research group, The University of Auckland, New Zealand","institution_ids":["https://openalex.org/I154130895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065794603","display_name":"Geng Gao","orcid":"https://orcid.org/0000-0002-8814-2665"},"institutions":[{"id":"https://openalex.org/I178645029","display_name":"Illumina (United States)","ror":"https://ror.org/05k34t975","country_code":"US","type":"company","lineage":["https://openalex.org/I178645029"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Geng Gao","raw_affiliation_strings":["Acumino"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Acumino","institution_ids":["https://openalex.org/I178645029"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Nathan Elangovan","orcid":null},"institutions":[{"id":"https://openalex.org/I154130895","display_name":"University of Auckland","ror":"https://ror.org/03b94tp07","country_code":"NZ","type":"education","lineage":["https://openalex.org/I154130895"]}],"countries":["NZ"],"is_corresponding":false,"raw_author_name":"Nathan Elangovan","raw_affiliation_strings":["The University of Auckland,New Dexterity research group,Department of Mechanical and Mechatronics Engineering,New Zealand","Department of Mechanical and Mechatronics Engineering, New Dexterity research group, The University of Auckland, New Zealand"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Auckland,New Dexterity research group,Department of Mechanical and Mechatronics Engineering,New Zealand","institution_ids":["https://openalex.org/I154130895"]},{"raw_affiliation_string":"Department of Mechanical and Mechatronics Engineering, New Dexterity research group, The University of Auckland, New Zealand","institution_ids":["https://openalex.org/I154130895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069925920","display_name":"Ricardo V. Godoy","orcid":"https://orcid.org/0000-0002-5323-9299"},"institutions":[{"id":"https://openalex.org/I154130895","display_name":"University of Auckland","ror":"https://ror.org/03b94tp07","country_code":"NZ","type":"education","lineage":["https://openalex.org/I154130895"]}],"countries":["NZ"],"is_corresponding":false,"raw_author_name":"Ricardo V. Godoy","raw_affiliation_strings":["The University of Auckland,New Dexterity research group,Department of Mechanical and Mechatronics Engineering,New Zealand","Department of Mechanical and Mechatronics Engineering, New Dexterity research group, The University of Auckland, New Zealand"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Auckland,New Dexterity research group,Department of Mechanical and Mechatronics Engineering,New Zealand","institution_ids":["https://openalex.org/I154130895"]},{"raw_affiliation_string":"Department of Mechanical and Mechatronics Engineering, New Dexterity research group, The University of Auckland, New Zealand","institution_ids":["https://openalex.org/I154130895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062574442","display_name":"Jayden Chapman","orcid":null},"institutions":[{"id":"https://openalex.org/I154130895","display_name":"University of Auckland","ror":"https://ror.org/03b94tp07","country_code":"NZ","type":"education","lineage":["https://openalex.org/I154130895"]}],"countries":["NZ"],"is_corresponding":false,"raw_author_name":"Jayden Chapman","raw_affiliation_strings":["The University of Auckland,New Dexterity research group,Department of Mechanical and Mechatronics Engineering,New Zealand","Department of Mechanical and Mechatronics Engineering, New Dexterity research group, The University of Auckland, New Zealand"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Auckland,New Dexterity research group,Department of Mechanical and Mechatronics Engineering,New Zealand","institution_ids":["https://openalex.org/I154130895"]},{"raw_affiliation_string":"Department of Mechanical and Mechatronics Engineering, New Dexterity research group, The University of Auckland, New Zealand","institution_ids":["https://openalex.org/I154130895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100730991","display_name":"Ke Wang","orcid":"https://orcid.org/0000-0001-5788-1396"},"institutions":[{"id":"https://openalex.org/I178645029","display_name":"Illumina (United States)","ror":"https://ror.org/05k34t975","country_code":"US","type":"company","lineage":["https://openalex.org/I178645029"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ke Wang","raw_affiliation_strings":["Acumino"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Acumino","institution_ids":["https://openalex.org/I178645029"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016820774","display_name":"Patrick Jarvis","orcid":null},"institutions":[{"id":"https://openalex.org/I178645029","display_name":"Illumina (United States)","ror":"https://ror.org/05k34t975","country_code":"US","type":"company","lineage":["https://openalex.org/I178645029"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Patrick Jarvis","raw_affiliation_strings":["Acumino"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Acumino","institution_ids":["https://openalex.org/I178645029"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5043544803","display_name":"Minas Liarokapis","orcid":"https://orcid.org/0000-0002-6016-1477"},"institutions":[{"id":"https://openalex.org/I154130895","display_name":"University of Auckland","ror":"https://ror.org/03b94tp07","country_code":"NZ","type":"education","lineage":["https://openalex.org/I154130895"]}],"countries":["NZ"],"is_corresponding":false,"raw_author_name":"Minas Liarokapis","raw_affiliation_strings":["The University of Auckland,New Dexterity research group,Department of Mechanical and Mechatronics Engineering,New Zealand","Department of Mechanical and Mechatronics Engineering, New Dexterity research group, The University of Auckland, New Zealand"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Auckland,New Dexterity research group,Department of Mechanical and Mechatronics Engineering,New Zealand","institution_ids":["https://openalex.org/I154130895"]},{"raw_affiliation_string":"Department of Mechanical and Mechatronics Engineering, New Dexterity research group, The University of Auckland, New Zealand","institution_ids":["https://openalex.org/I154130895"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":8,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.6884,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.71256512,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"6318","last_page":"6325"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9997000098228455,"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":0.9997000098228455,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9991999864578247,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9965000152587891,"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/grippers","display_name":"Grippers","score":0.7669373750686646},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.7400276064872742},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7275592088699341},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6737315058708191},{"id":"https://openalex.org/keywords/wearable-computer","display_name":"Wearable computer","score":0.5663080811500549},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.5631175637245178},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.5576109886169434},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5268686413764954},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5266706347465515},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4517603814601898},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.4431416988372803},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.4176768958568573},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3816601634025574},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.15901336073875427},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1416766345500946}],"concepts":[{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.7669373750686646},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.7400276064872742},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7275592088699341},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6737315058708191},{"id":"https://openalex.org/C150594956","wikidata":"https://www.wikidata.org/wiki/Q1334829","display_name":"Wearable computer","level":2,"score":0.5663080811500549},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.5631175637245178},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5576109886169434},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5268686413764954},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5266706347465515},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4517603814601898},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.4431416988372803},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.4176768958568573},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3816601634025574},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.15901336073875427},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1416766345500946},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros55552.2023.10341661","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10341661","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W2539321","https://openalex.org/W1630678085","https://openalex.org/W1994349244","https://openalex.org/W1994900553","https://openalex.org/W2033208083","https://openalex.org/W2046747440","https://openalex.org/W2065425346","https://openalex.org/W2077053231","https://openalex.org/W2099184899","https://openalex.org/W2108107014","https://openalex.org/W2121095571","https://openalex.org/W2141664020","https://openalex.org/W2294294776","https://openalex.org/W2331138946","https://openalex.org/W2724857106","https://openalex.org/W2792400536","https://openalex.org/W2834877435","https://openalex.org/W2900662523","https://openalex.org/W2906540835","https://openalex.org/W2963683864","https://openalex.org/W2976205474","https://openalex.org/W2994446013","https://openalex.org/W3010621561","https://openalex.org/W3014528623","https://openalex.org/W3091331558","https://openalex.org/W3110983935","https://openalex.org/W3130970867","https://openalex.org/W3162448638","https://openalex.org/W4246449400","https://openalex.org/W4255827778","https://openalex.org/W4285102148","https://openalex.org/W4289829017","https://openalex.org/W4312082901","https://openalex.org/W6756486208","https://openalex.org/W6803376173"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2371519816","https://openalex.org/W2043154226","https://openalex.org/W2369529107","https://openalex.org/W2109948066","https://openalex.org/W2329043542","https://openalex.org/W1999333556","https://openalex.org/W1678858522","https://openalex.org/W3195090107","https://openalex.org/W38056103"],"abstract_inverted_index":{"The":[0,18,67,90,129],"advent":[1],"of":[2,20,63,80,102,134,147],"collaborative":[3],"industrial":[4],"and":[5,15,60,75,92,104,120,132,138,155],"house-hold":[6],"robotics":[7],"has":[8],"blurred":[9],"the":[10,13,39,78,97,100,112,117,135,145],"demarcation":[11],"between":[12],"human":[14,88],"robot":[16],"workspace.":[17],"capability":[19],"robots":[21],"to":[22,30,38],"function":[23],"efficiently":[24],"alongside":[25],"humans":[26],"requires":[27],"new":[28],"research":[29],"be":[31,126],"conducted":[32],"in":[33,83],"dynamic":[34,84],"environments":[35,85],"as":[36],"opposed":[37],"traditional":[40],"well-structured":[41],"laboratory.":[42],"In":[43],"this":[44],"work,":[45],"we":[46],"propose":[47],"an":[48],"efficient":[49,56,108],"skill":[50,139],"transfer":[51,140],"methodology":[52,141],"comprising":[53],"intuitive":[54],"interfaces,":[55],"optical":[57],"tracking":[58],"systems,":[59],"compliant":[61],"control":[62],"robotic":[64,73],"arm-hand":[65],"systems.":[66],"lightweight":[68],"wearable":[69],"interfaces":[70,98,137],"mounted":[71,95,118],"with":[72],"grippers":[74,119],"hands":[76],"allow":[77],"execution":[79,146],"dexterous":[81],"activities":[82],"without":[86],"restricting":[87],"dexterity.":[89],"fiducial":[91],"reflective":[93],"markers":[94],"on":[96],"facilitate":[99],"extraction":[101],"positional":[103],"rotational":[105],"information":[106,124],"allowing":[107],"trajectory":[109],"tracking.":[110],"As":[111],"tasks":[113,149],"are":[114,142],"performed":[115],"using":[116],"hands,":[121],"gripper":[122],"state":[123],"can":[125],"directly":[127],"transferred.":[128],"hardware-agnostic":[130],"nature":[131],"efficiency":[133],"proposed":[136],"demonstrated":[143],"through":[144],"complex":[148],"that":[150],"require":[151],"increased":[152],"dexterity,":[153],"writing":[154],"drawing.":[156]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
