{"id":"https://openalex.org/W4416750370","doi":"https://doi.org/10.1109/iros60139.2025.11246788","title":"Weight Regression for a Generalized Motion Primitive Formulation in Cooperative Hand Placement Tasks with Upper-Limb Prostheses","display_name":"Weight Regression for a Generalized Motion Primitive Formulation in Cooperative Hand Placement Tasks with Upper-Limb Prostheses","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416750370","doi":"https://doi.org/10.1109/iros60139.2025.11246788"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11246788","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246788","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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":"Hongjun Cai","orcid":null},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]},{"id":"https://openalex.org/I2799853436","display_name":"Johns Hopkins Medicine","ror":"https://ror.org/037zgn354","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I2799853436"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Hongjun Cai","raw_affiliation_strings":["Johns Hopkins University,Department of Electrical Engineering and Computer Engineering,Baltimore,MD,USA"],"affiliations":[{"raw_affiliation_string":"Johns Hopkins University,Department of Electrical Engineering and Computer Engineering,Baltimore,MD,USA","institution_ids":["https://openalex.org/I145311948","https://openalex.org/I2799853436"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012301360","display_name":"Rebecca Greene","orcid":null},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]},{"id":"https://openalex.org/I2799853436","display_name":"Johns Hopkins Medicine","ror":"https://ror.org/037zgn354","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I2799853436"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Rebecca Jamie Greene","raw_affiliation_strings":["Johns Hopkins University,Department of Electrical Engineering and Computer Engineering,Baltimore,MD,USA"],"affiliations":[{"raw_affiliation_string":"Johns Hopkins University,Department of Electrical Engineering and Computer Engineering,Baltimore,MD,USA","institution_ids":["https://openalex.org/I145311948","https://openalex.org/I2799853436"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082476927","display_name":"Christopher L. Hunt","orcid":"https://orcid.org/0000-0001-7647-1886"},"institutions":[{"id":"https://openalex.org/I4210109689","display_name":"Infinite Biomedical Technologies (United States)","ror":"https://ror.org/01kbw1w05","country_code":"US","type":"company","lineage":["https://openalex.org/I4210109689"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Christopher L Hunt","raw_affiliation_strings":["Infinite Biomedical Technologies,Baltimore,MD,USA"],"affiliations":[{"raw_affiliation_string":"Infinite Biomedical Technologies,Baltimore,MD,USA","institution_ids":["https://openalex.org/I4210109689"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5088964967","display_name":"Nitish V. Thakor","orcid":"https://orcid.org/0000-0002-9981-9395"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nitish V. Thakor","raw_affiliation_strings":["Johns Hopkins University,Department of Biomedical Engineering,Baltimore,MD,USA"],"affiliations":[{"raw_affiliation_string":"Johns Hopkins University,Department of Biomedical Engineering,Baltimore,MD,USA","institution_ids":["https://openalex.org/I145311948"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I145311948","https://openalex.org/I2799853436"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.34247985,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"10093","last_page":"10099"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.8296999931335449,"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"}},"topics":[{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.8296999931335449,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.08550000190734863,"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/T10982","display_name":"Motor Control and Adaptation","score":0.02319999970495701,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.6534000039100647},{"id":"https://openalex.org/keywords/cartesian-coordinate-system","display_name":"Cartesian coordinate system","score":0.5867000222206116},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5774999856948853},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5004000067710876},{"id":"https://openalex.org/keywords/adaptation","display_name":"Adaptation (eye)","score":0.4593999981880188},{"id":"https://openalex.org/keywords/prosthesis","display_name":"Prosthesis","score":0.45210000872612},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.43970000743865967},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4390999972820282}],"concepts":[{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.6534000039100647},{"id":"https://openalex.org/C16038011","wikidata":"https://www.wikidata.org/wiki/Q62912","display_name":"Cartesian coordinate system","level":2,"score":0.5867000222206116},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5774999856948853},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5048999786376953},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5004000067710876},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.4593999981880188},{"id":"https://openalex.org/C2778715743","wikidata":"https://www.wikidata.org/wiki/Q181802","display_name":"Prosthesis","level":2,"score":0.45210000872612},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.43970000743865967},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4390999972820282},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.43320000171661377},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.37700000405311584},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3765999972820282},{"id":"https://openalex.org/C77265313","wikidata":"https://www.wikidata.org/wiki/Q879844","display_name":"Rest (music)","level":2,"score":0.3741999864578247},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3725999891757965},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.33410000801086426},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.32109999656677246},{"id":"https://openalex.org/C3020781530","wikidata":"https://www.wikidata.org/wiki/Q181802","display_name":"Prosthetic hand","level":2,"score":0.3107999861240387},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3100000023841858},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.3009999990463257},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.2847999930381775},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.27959999442100525},{"id":"https://openalex.org/C83546350","wikidata":"https://www.wikidata.org/wiki/Q1139051","display_name":"Regression","level":2,"score":0.2734000086784363},{"id":"https://openalex.org/C170700871","wikidata":"https://www.wikidata.org/wiki/Q193378","display_name":"Biomechanics","level":2,"score":0.25290000438690186}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11246788","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246788","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/W1562363158","https://openalex.org/W1861018751","https://openalex.org/W1969010174","https://openalex.org/W1991012411","https://openalex.org/W1997136850","https://openalex.org/W1997815560","https://openalex.org/W2100790457","https://openalex.org/W2100993276","https://openalex.org/W2136719407","https://openalex.org/W2144576818","https://openalex.org/W2144994235","https://openalex.org/W2161395589","https://openalex.org/W2170832633","https://openalex.org/W2552320543","https://openalex.org/W2564924180","https://openalex.org/W2611223806","https://openalex.org/W2735762883","https://openalex.org/W2950708117","https://openalex.org/W3033294558","https://openalex.org/W3116092050","https://openalex.org/W3120545464","https://openalex.org/W3128528928","https://openalex.org/W3136958148","https://openalex.org/W3142504421","https://openalex.org/W3181705464","https://openalex.org/W3201252281","https://openalex.org/W4225126690","https://openalex.org/W4225151277","https://openalex.org/W4300982816","https://openalex.org/W4376851398","https://openalex.org/W4379094319","https://openalex.org/W4383220362","https://openalex.org/W4396759292","https://openalex.org/W4403676507","https://openalex.org/W4405785190"],"related_works":[],"abstract_inverted_index":{"Recent":[0],"years":[1],"have":[2],"seen":[3],"a":[4,23,32,44,59,66,74,92,136,148],"growing":[5],"interest":[6],"in":[7],"the":[8,53,161],"development":[9],"of":[10,47,55,89,95,104,141],"shared":[11,166],"control":[12,34,167],"strategies":[13],"for":[14,36,87,168],"upper":[15],"limb":[16],"prostheses.":[17],"In":[18],"this":[19,159],"work,":[20],"we":[21],"take":[22],"critical":[24],"step":[25],"towards":[26],"developing":[27],"transhumeral":[28,169],"devices":[29],"by":[30],"proposing":[31],"biomimetic":[33],"strategy":[35],"cooperative":[37],"hand":[38],"placement.":[39],"This":[40],"is":[41,160],"achieved":[42],"through":[43],"novel":[45],"adaptation":[46],"Dynamic":[48],"Movement":[49],"Primitives":[50],"(DMPs),":[51],"enabling":[52],"generation":[54],"smooth":[56],"trajectories":[57,116],"from":[58],"rest":[60],"position":[61],"to":[62,164],"arbitrary":[63],"points":[64],"within":[65],"user\u2019s":[67],"reach":[68],"space.":[69],"Our":[70],"method":[71],"revolves":[72],"around":[73],"key":[75],"observation":[76],"that":[77],"DMP":[78,128],"forcing-function":[79],"weights":[80],"can":[81],"be":[82],"modeled":[83],"(p":[84,123],"<":[85,124],"0.05)":[86],"\u226590%":[88],"values":[90,103],"as":[91,150],"simple":[93],"function":[94],"Cartesian":[96],"position,":[97],"achieving":[98],"median":[99,137],"R<sup":[100],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[101],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">2</sup>":[102],"0.63,":[105],"0.43,":[106],"and":[107,111,129,171],"0.02":[108],"(horizontal,":[109],"vertical,":[110],"depth).":[112],"Validation":[113],"on":[114,174],"519":[115],"via":[117],"5-fold":[118],"cross-validation":[119],"showed":[120],"significant":[121],"improvements":[122],"0.01)":[125],"over":[126],"Extended":[127],"kernel-based":[130],"methods.":[131],"Real-time":[132],"human-in-the-loop":[133],"experiments":[134],"revealed":[135],"minimum":[138],"cumulative-distance":[139],"deviation":[140],"0.0733":[142],"m":[143],"(8.5%":[144],"error)":[145],"motion":[146,176],"with":[147,152],"prosthesis":[149],"compared":[151],"an":[153],"intact":[154],"limb.":[155],"To":[156],"our":[157,172],"knowledge,":[158],"first":[162],"study":[163],"explore":[165],"prostheses,":[170],"observations":[173],"human":[175],"modeling":[177],"may":[178],"inspire":[179],"future":[180],"Learning-from-Demonstration":[181],"studies.":[182]},"counts_by_year":[],"updated_date":"2026-04-21T08:09:41.155169","created_date":"2025-11-28T00:00:00"}
