{"id":"https://openalex.org/W4389667377","doi":"https://doi.org/10.1109/iros55552.2023.10341890","title":"An Avatar Robot Overlaid with the 3D Human Model of a Remote Operator","display_name":"An Avatar Robot Overlaid with the 3D Human Model of a Remote Operator","publication_year":2023,"publication_date":"2023-10-01","ids":{"openalex":"https://openalex.org/W4389667377","doi":"https://doi.org/10.1109/iros55552.2023.10341890"},"language":"en","primary_location":{"id":"doi:10.1109/iros55552.2023.10341890","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10341890","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/A5057758042","display_name":"Ravi Tejwani","orcid":"https://orcid.org/0000-0002-8773-9435"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ravi Tejwani","raw_affiliation_strings":["Massachusetts Institute of Technology,Department of Electrical Engineering and Computer Science (EECS),Cambridge,MA,USA,02142"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology,Department of Electrical Engineering and Computer Science (EECS),Cambridge,MA,USA,02142","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100308850","display_name":"Chengyuan Ma","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Chengyuan Ma","raw_affiliation_strings":["Massachusetts Institute of Technology,Department of Electrical Engineering and Computer Science (EECS),Cambridge,MA,USA,02142"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology,Department of Electrical Engineering and Computer Science (EECS),Cambridge,MA,USA,02142","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066700427","display_name":"Paolo Bonato","orcid":"https://orcid.org/0000-0002-1818-1714"},"institutions":[{"id":"https://openalex.org/I136199984","display_name":"Harvard University","ror":"https://ror.org/03vek6s52","country_code":"US","type":"education","lineage":["https://openalex.org/I136199984"]},{"id":"https://openalex.org/I2799748957","display_name":"Spaulding Rehabilitation Hospital","ror":"https://ror.org/011dvr318","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I2799748957","https://openalex.org/I48633490"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Paolo Bonato","raw_affiliation_strings":["Spaulding Rehabilitation Hospital,Harvard Medical School Department of Physical Medicine and Rehabilitation,Charlestown,MA,USA,02129"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Spaulding Rehabilitation Hospital,Harvard Medical School Department of Physical Medicine and Rehabilitation,Charlestown,MA,USA,02129","institution_ids":["https://openalex.org/I2799748957","https://openalex.org/I136199984"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5012292967","display_name":"H. Harry Asada","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"H. Harry Asada","raw_affiliation_strings":["Massachusetts Institute of Technology,Department of Mechanical Engineering,Cambridge,MA,USA,02142"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology,Department of Mechanical Engineering,Cambridge,MA,USA,02142","institution_ids":["https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.2046,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.79810452,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"7061","last_page":"7068"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9995999932289124,"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":0.9995999932289124,"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":0.9984999895095825,"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":0.9976000189781189,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/avatar","display_name":"Avatar","score":0.8260307908058167},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7792608737945557},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7476780414581299},{"id":"https://openalex.org/keywords/solver","display_name":"Solver","score":0.6799651384353638},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5592787265777588},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5322760343551636},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.45971041917800903},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.45310327410697937},{"id":"https://openalex.org/keywords/augmented-reality","display_name":"Augmented reality","score":0.41783300042152405}],"concepts":[{"id":"https://openalex.org/C2777365542","wikidata":"https://www.wikidata.org/wiki/Q83090","display_name":"Avatar","level":2,"score":0.8260307908058167},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7792608737945557},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7476780414581299},{"id":"https://openalex.org/C2778770139","wikidata":"https://www.wikidata.org/wiki/Q1966904","display_name":"Solver","level":2,"score":0.6799651384353638},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5592787265777588},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5322760343551636},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.45971041917800903},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.45310327410697937},{"id":"https://openalex.org/C153715457","wikidata":"https://www.wikidata.org/wiki/Q254183","display_name":"Augmented reality","level":2,"score":0.41783300042152405},{"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/iros55552.2023.10341890","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10341890","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":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1513513654","https://openalex.org/W1679381181","https://openalex.org/W1977259876","https://openalex.org/W1999165127","https://openalex.org/W2025090193","https://openalex.org/W2064945982","https://openalex.org/W2096278465","https://openalex.org/W2291609146","https://openalex.org/W2325458387","https://openalex.org/W2966246658","https://openalex.org/W3005821069","https://openalex.org/W3094546143","https://openalex.org/W4285102257","https://openalex.org/W4293057254","https://openalex.org/W4312082901","https://openalex.org/W4312561237","https://openalex.org/W4323537099"],"related_works":["https://openalex.org/W3138471234","https://openalex.org/W4247958311","https://openalex.org/W4396832849","https://openalex.org/W2785089443","https://openalex.org/W2265117524","https://openalex.org/W4287179229","https://openalex.org/W3205513966","https://openalex.org/W3120459843","https://openalex.org/W4366547574","https://openalex.org/W3200191727"],"abstract_inverted_index":{"Although":[0],"telepresence":[1],"assistive":[2],"robots":[3],"have":[4],"made":[5],"significant":[6],"progress,":[7],"they":[8],"still":[9],"lack":[10,26],"the":[11,19,59,67,71,83,89,104,113,117,132,147,151],"sense":[12],"of":[13,18,27,31,58,70,108,150],"realism":[14],"and":[15,29,74,129],"physical":[16],"presence":[17],"remote":[20,72],"operator.":[21],"This":[22],"results":[23],"in":[24,56,136],"a":[25,45,54],"trust":[28],"adoption":[30],"such":[32],"robots.":[33],"In":[34,80],"this":[35,81],"paper,":[36],"we":[37],"introduce":[38],"an":[39,96,142],"Avatar":[40],"Robot":[41],"System":[42],"which":[43],"is":[44,64,124],"mixed":[46],"real/virtual":[47],"robotic":[48],"system":[49],"that":[50,101,145,158],"physically":[51],"interacts":[52],"with":[53,66,165],"person":[55,84],"proximity":[57],"robot.":[60],"The":[61,120],"robot":[62,90,114],"structure":[63],"overlaid":[65],"3D":[68,109],"model":[69,111],"caregiver":[73],"visualized":[75],"through":[76,153],"Augmented":[77],"Reality":[78],"(AR).":[79],"way,":[82],"receives":[85],"haptic":[86],"feedback":[87],"as":[88,170],"touches":[91],"him/her.":[92],"We":[93,139,156],"further":[94],"present":[95],"Optimal":[97],"Non-Iterative":[98],"Alignment":[99],"solver":[100,123,160],"solves":[102],"for":[103],"optimally":[105],"aligned":[106],"pose":[107],"Human":[110],"to":[112,116],"(shoulder":[115],"wrist":[118],"non-iteratively).":[119],"proposed":[121],"alignment":[122,128,148],"stateless,":[125],"achieves":[126],"optimal":[127],"faster":[130],"than":[131],"baseline":[133],"solvers":[134,152],"(demonstrated":[135],"our":[137,159],"evaluations).":[138],"also":[140],"propose":[141],"evaluation":[143],"framework":[144],"quantifies":[146],"quality":[149],"multifaceted":[154],"metrics.":[155],"show":[157],"can":[161],"consistently":[162],"produce":[163],"poses":[164],"similar":[166],"or":[167],"superior":[168],"alignments":[169],"IK-based":[171],"baselines":[172],"without":[173],"their":[174],"potential":[175],"drawbacks.":[176]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":5}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}