{"id":"https://openalex.org/W4405779029","doi":"https://doi.org/10.1109/iros58592.2024.10802077","title":"TacLink-Integrated Robot Arm toward Safe Human-Robot Interaction","display_name":"TacLink-Integrated Robot Arm toward Safe Human-Robot Interaction","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405779029","doi":"https://doi.org/10.1109/iros58592.2024.10802077"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10802077","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802077","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5050122472","display_name":"Quan Khanh Luu","orcid":"https://orcid.org/0000-0002-8544-7260"},"institutions":[{"id":"https://openalex.org/I177738480","display_name":"Japan Advanced Institute of Science and Technology","ror":"https://ror.org/03frj4r98","country_code":"JP","type":"education","lineage":["https://openalex.org/I177738480"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Quan Khanh Luu","raw_affiliation_strings":["Japan Advanced Institute of Science and Technology (JAIST),Ishikawa,Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Japan Advanced Institute of Science and Technology (JAIST),Ishikawa,Japan","institution_ids":["https://openalex.org/I177738480"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041142320","display_name":"Alessandro Albini","orcid":"https://orcid.org/0000-0003-1562-7044"},"institutions":[{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Alessandro Albini","raw_affiliation_strings":["University of Oxford,Oxford Robotics Institute,Oxford,England"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Oxford,Oxford Robotics Institute,Oxford,England","institution_ids":["https://openalex.org/I40120149"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054789141","display_name":"Perla Maiolino","orcid":"https://orcid.org/0000-0002-7588-9567"},"institutions":[{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Perla Maiolino","raw_affiliation_strings":["University of Oxford,Oxford Robotics Institute,Oxford,England"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Oxford,Oxford Robotics Institute,Oxford,England","institution_ids":["https://openalex.org/I40120149"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5007406858","display_name":"Van Anh Ho","orcid":"https://orcid.org/0000-0002-4519-0448"},"institutions":[{"id":"https://openalex.org/I177738480","display_name":"Japan Advanced Institute of Science and Technology","ror":"https://ror.org/03frj4r98","country_code":"JP","type":"education","lineage":["https://openalex.org/I177738480"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Van Anh Ho","raw_affiliation_strings":["Japan Advanced Institute of Science and Technology (JAIST),Ishikawa,Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Japan Advanced Institute of Science and Technology (JAIST),Ishikawa,Japan","institution_ids":["https://openalex.org/I177738480"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.1652,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.79983123,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"12356","last_page":"12362"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T13382","display_name":"Robotics and Automated Systems","score":0.84170001745224,"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/T13382","display_name":"Robotics and Automated Systems","score":0.84170001745224,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7102186679840088},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.6654062867164612},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5985491275787354},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.5279119610786438},{"id":"https://openalex.org/keywords/arm-solution","display_name":"Arm solution","score":0.4707016944885254},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.44334715604782104},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.440077006816864},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4107320308685303},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.32772040367126465}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7102186679840088},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.6654062867164612},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5985491275787354},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.5279119610786438},{"id":"https://openalex.org/C25592040","wikidata":"https://www.wikidata.org/wiki/Q3562730","display_name":"Arm solution","level":5,"score":0.4707016944885254},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.44334715604782104},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.440077006816864},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4107320308685303},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.32772040367126465}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros58592.2024.10802077","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802077","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320338111","display_name":"Precursory Research for Embryonic Science and Technology","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1579753478","https://openalex.org/W1965078187","https://openalex.org/W2073136132","https://openalex.org/W2133835651","https://openalex.org/W2149085596","https://openalex.org/W2154777391","https://openalex.org/W2171130677","https://openalex.org/W2562512666","https://openalex.org/W2762248135","https://openalex.org/W2775635818","https://openalex.org/W2790961751","https://openalex.org/W2955383310","https://openalex.org/W2971268498","https://openalex.org/W3011336092","https://openalex.org/W3089374988","https://openalex.org/W3095708125","https://openalex.org/W3136239642","https://openalex.org/W3136315168","https://openalex.org/W3189245621","https://openalex.org/W4210913434","https://openalex.org/W4224215578","https://openalex.org/W4245882831","https://openalex.org/W4280638736","https://openalex.org/W4285232917","https://openalex.org/W4313147710","https://openalex.org/W4322707307","https://openalex.org/W4376605745"],"related_works":["https://openalex.org/W4390695967","https://openalex.org/W2036081980","https://openalex.org/W3201274123","https://openalex.org/W4361770474","https://openalex.org/W2108575589","https://openalex.org/W841410736","https://openalex.org/W2160983430","https://openalex.org/W2749023251","https://openalex.org/W4296340444","https://openalex.org/W2794101066"],"abstract_inverted_index":{"Recent":[0],"developments":[1],"in":[2,94,145,149,177,191],"vision-based":[3,54],"tactile":[4,55,110],"sensing":[5,56],"offer":[6],"a":[7,64,87,100,120,127,158,167],"simple":[8],"means":[9],"to":[10,13,74,96,155],"enable":[11],"robots":[12,190],"perceive":[14],"touch":[15],"interactions.":[16,45],"However,":[17],"existing":[18],"sensors":[19],"are":[20,153],"primarily":[21,107],"designed":[22],"for":[23,34,42,169,186],"small-scale":[24],"applications":[25],"like":[26],"robotic":[27],"hands,":[28],"lacking":[29],"research":[30],"on":[31],"their":[32],"integration":[33],"large-sized":[35],"robot":[36,77,88,160],"bodies":[37],"that":[38,152],"can":[39,69,164],"be":[40],"leveraged":[41],"safe":[43],"human-robot":[44,192],"This":[46,162],"paper":[47],"explores":[48],"the":[49,52,84,91,115,131,139,171],"utilization":[50],"of":[51,86,141,173],"previously-developed":[53],"link":[57],"(called":[58],"TacLink)":[59],"with":[60,90,126,157],"soft":[61,92,116,174,187],"skin":[62],"as":[63,71,166],"safety":[65,184],"control":[66,102],"mechanism,":[67],"which":[68],"serve":[70],"an":[72],"alternative":[73],"conventional":[75],"rigid":[76,129],"links":[78],"and":[79,148,181],"impact":[80,146],"observers.":[81],"We":[82],"characterize":[83],"behavior":[85],"integrated":[89],"TacLink":[93,117],"response":[95],"collisions,":[97],"particularly":[98],"employing":[99],"reactive":[101,178],"strategy.":[103],"The":[104],"controller":[105],"is":[106],"driven":[108],"by":[109],"force":[111],"information":[112],"acquired":[113],"from":[114,134],"sensor":[118],"through":[119],"data-driven":[121],"sim2real":[122],"learning":[123],"method.":[124],"Compared":[125],"standard":[128],"link,":[130],"results":[132],"obtained":[133],"collision":[135,179],"experiments":[136],"also":[137],"confirm":[138],"advantages":[140],"our":[142],"\"soft\"":[143],"solution":[144],"resilience":[147],"facilitating":[150],"controls":[151],"difficult":[154],"achieve":[156],"stiff":[159],"body.":[161],"study":[163],"act":[165],"benchmark":[168],"assessing":[170],"efficiency":[172],"tactile-sensitive":[175],"skins":[176],"responses":[180],"open":[182],"new":[183],"standards":[185],"skin-based":[188],"collaborative":[189],"interaction":[193],"scenarios.":[194]},"counts_by_year":[{"year":2025,"cited_by_count":4}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
