{"id":"https://openalex.org/W4405778959","doi":"https://doi.org/10.1109/iros58592.2024.10802348","title":"An Optimization-based Scheme for Real-time Transfer of Human Arm Motion to Robot Arm","display_name":"An Optimization-based Scheme for Real-time Transfer of Human Arm Motion to Robot Arm","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405778959","doi":"https://doi.org/10.1109/iros58592.2024.10802348"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10802348","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802348","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":null,"display_name":"Zhelin Yang","orcid":null},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Zhelin Yang","raw_affiliation_strings":["Technical University of Munich,Munich Institute of Robotics and Machine Intelligence,M&#x00FC;nchen,Germany,80992"],"affiliations":[{"raw_affiliation_string":"Technical University of Munich,Munich Institute of Robotics and Machine Intelligence,M&#x00FC;nchen,Germany,80992","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001394047","display_name":"Seongjin Bien","orcid":null},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Seongjin Bien","raw_affiliation_strings":["Technical University of Munich,Munich Institute of Robotics and Machine Intelligence,M&#x00FC;nchen,Germany,80992"],"affiliations":[{"raw_affiliation_string":"Technical University of Munich,Munich Institute of Robotics and Machine Intelligence,M&#x00FC;nchen,Germany,80992","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068535560","display_name":"Simone Nertinger","orcid":"https://orcid.org/0000-0002-3546-2155"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Simone Nertinger","raw_affiliation_strings":["Technical University of Munich,Munich Institute of Robotics and Machine Intelligence,M&#x00FC;nchen,Germany,80992"],"affiliations":[{"raw_affiliation_string":"Technical University of Munich,Munich Institute of Robotics and Machine Intelligence,M&#x00FC;nchen,Germany,80992","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004124482","display_name":"Abdeldjallil Naceri","orcid":null},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Abdeldjallil Naceri","raw_affiliation_strings":["Technical University of Munich,Munich Institute of Robotics and Machine Intelligence,M&#x00FC;nchen,Germany,80992"],"affiliations":[{"raw_affiliation_string":"Technical University of Munich,Munich Institute of Robotics and Machine Intelligence,M&#x00FC;nchen,Germany,80992","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024171209","display_name":"Sami Haddadin","orcid":"https://orcid.org/0000-0001-7696-4955"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Sami Haddadin","raw_affiliation_strings":["Technical University of Munich,Munich Institute of Robotics and Machine Intelligence,M&#x00FC;nchen,Germany,80992"],"affiliations":[{"raw_affiliation_string":"Technical University of Munich,Munich Institute of Robotics and Machine Intelligence,M&#x00FC;nchen,Germany,80992","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":0.3173,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.61714278,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"12220","last_page":"12225"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9397000074386597,"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":0.9397000074386597,"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":0.9301000237464905,"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/scheme","display_name":"Scheme (mathematics)","score":0.7370572686195374},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.713407039642334},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6821466684341431},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5554090738296509},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5280150771141052},{"id":"https://openalex.org/keywords/human-arm","display_name":"Human arm","score":0.5134416818618774},{"id":"https://openalex.org/keywords/transfer","display_name":"Transfer (computing)","score":0.47236019372940063},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3505902886390686},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3292674422264099},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10599207878112793},{"id":"https://openalex.org/keywords/parallel-computing","display_name":"Parallel computing","score":0.051954180002212524}],"concepts":[{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.7370572686195374},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.713407039642334},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6821466684341431},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5554090738296509},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5280150771141052},{"id":"https://openalex.org/C2988484212","wikidata":"https://www.wikidata.org/wiki/Q43471","display_name":"Human arm","level":2,"score":0.5134416818618774},{"id":"https://openalex.org/C2776175482","wikidata":"https://www.wikidata.org/wiki/Q1195816","display_name":"Transfer (computing)","level":2,"score":0.47236019372940063},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3505902886390686},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3292674422264099},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10599207878112793},{"id":"https://openalex.org/C173608175","wikidata":"https://www.wikidata.org/wiki/Q232661","display_name":"Parallel computing","level":1,"score":0.051954180002212524},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros58592.2024.10802348","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802348","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":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1994634749","https://openalex.org/W2005660297","https://openalex.org/W2117758942","https://openalex.org/W2163555676","https://openalex.org/W2216535602","https://openalex.org/W2297000450","https://openalex.org/W2564845968","https://openalex.org/W2571249159","https://openalex.org/W2762522875","https://openalex.org/W2896690662","https://openalex.org/W2970872060","https://openalex.org/W3004144700","https://openalex.org/W3010904850","https://openalex.org/W3109827567","https://openalex.org/W4206874420","https://openalex.org/W4220814608","https://openalex.org/W4313398373","https://openalex.org/W4385430674","https://openalex.org/W4385430679","https://openalex.org/W4390480930","https://openalex.org/W6799150178","https://openalex.org/W6802366246","https://openalex.org/W6903773115"],"related_works":["https://openalex.org/W2196801576","https://openalex.org/W3034881631","https://openalex.org/W4381737315","https://openalex.org/W80236471","https://openalex.org/W2788434134","https://openalex.org/W2699559358","https://openalex.org/W2067149939","https://openalex.org/W4402911998","https://openalex.org/W4300849399","https://openalex.org/W2725184028"],"abstract_inverted_index":{"Performing":[0],"human-like":[1],"motion":[2,10,34,41],"is":[3,48,78],"crucial":[4],"for":[5,37],"service":[6,82],"humanoid":[7,83],"robots.":[8],"Real-time":[9],"retargeting":[11,35],"allows":[12],"clear":[13],"observation":[14],"of":[15,65],"the":[16,61,66],"robot\u2019s":[17],"pose":[18,106],"and":[19,55,88],"provides":[20],"instant":[21],"feedback":[22],"during":[23],"human":[24,39],"demonstrator":[25],"actions.":[26],"This":[27],"paper":[28],"presents":[29],"an":[30,70],"optimization-based":[31],"real-time":[32],"anthropomorphic":[33,71,100],"framework":[36,47],"transferring":[38],"arm":[40,67],"to":[42,51],"a":[43,81],"robot":[44,57],"arm.":[45],"The":[46,76,91],"generic,":[49],"applicable":[50],"both":[52,86],"spherical-rotational-spherical":[53],"(SRS)":[54],"non-SRS":[56],"arms.":[58],"We":[59],"introduce":[60],"normalized":[62],"normal":[63],"vector":[64],"plane":[68],"as":[69],"criterion":[72],"within":[73],"our":[74,96],"framework.":[75],"method":[77,97],"validated":[79],"on":[80],"robot,":[84],"with":[85],"static":[87],"dynamic":[89],"evaluations.":[90],"statistical":[92],"analysis":[93],"show":[94],"that":[95],"maintains":[98],"strong":[99],"features":[101],"while":[102],"ensuring":[103],"accurate":[104],"wrist":[105],"tracking.":[107]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-04-21T08:09:41.155169","created_date":"2025-10-10T00:00:00"}
