{"id":"https://openalex.org/W4411272139","doi":"https://doi.org/10.1109/ismr67322.2025.11025975","title":"Collaborative Handheld Robots Near the Limits of Human Dexterity\u2014A Pilot Study","display_name":"Collaborative Handheld Robots Near the Limits of Human Dexterity\u2014A Pilot Study","publication_year":2025,"publication_date":"2025-05-14","ids":{"openalex":"https://openalex.org/W4411272139","doi":"https://doi.org/10.1109/ismr67322.2025.11025975"},"language":"en","primary_location":{"id":"doi:10.1109/ismr67322.2025.11025975","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ismr67322.2025.11025975","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 International Symposium on Medical Robotics (ISMR)","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/A5057261663","display_name":"Yusra Farhat Ullah","orcid":"https://orcid.org/0000-0001-9312-2493"},"institutions":[{"id":"https://openalex.org/I130238516","display_name":"University of Minnesota","ror":"https://ror.org/017zqws13","country_code":"US","type":"education","lineage":["https://openalex.org/I130238516"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yusra Farhat Ullah","raw_affiliation_strings":["University of Minnesota,Mechanical Engineering,Minneapolis,MN,USA,55455"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Minnesota,Mechanical Engineering,Minneapolis,MN,USA,55455","institution_ids":["https://openalex.org/I130238516"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058360336","display_name":"Daniel F. Keefe","orcid":"https://orcid.org/0000-0002-7039-2340"},"institutions":[{"id":"https://openalex.org/I130238516","display_name":"University of Minnesota","ror":"https://ror.org/017zqws13","country_code":"US","type":"education","lineage":["https://openalex.org/I130238516"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Daniel F. Keefe","raw_affiliation_strings":["University of Minnesota,Computer Science and Engineering,Minneapolis,MN,USA,55455"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Minnesota,Computer Science and Engineering,Minneapolis,MN,USA,55455","institution_ids":["https://openalex.org/I130238516"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5020982696","display_name":"Timothy M. Kowalewski","orcid":"https://orcid.org/0000-0001-6596-3324"},"institutions":[{"id":"https://openalex.org/I130238516","display_name":"University of Minnesota","ror":"https://ror.org/017zqws13","country_code":"US","type":"education","lineage":["https://openalex.org/I130238516"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Timothy M. Kowalewski","raw_affiliation_strings":["University of Minnesota,Mechanical Engineering,Minneapolis,MN,USA,55455"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Minnesota,Mechanical Engineering,Minneapolis,MN,USA,55455","institution_ids":["https://openalex.org/I130238516"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.11507037,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"37","last_page":"43"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9944000244140625,"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"}},"topics":[{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9944000244140625,"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/T10789","display_name":"Interactive and Immersive Displays","score":0.9930999875068665,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9918000102043152,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6556416153907776},{"id":"https://openalex.org/keywords/mobile-device","display_name":"Mobile device","score":0.6389012336730957},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6049243807792664},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.584545373916626},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.517422080039978},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.4994843006134033},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23656600713729858},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.2008456289768219}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6556416153907776},{"id":"https://openalex.org/C186967261","wikidata":"https://www.wikidata.org/wiki/Q5082128","display_name":"Mobile device","level":2,"score":0.6389012336730957},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6049243807792664},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.584545373916626},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.517422080039978},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.4994843006134033},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23656600713729858},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.2008456289768219}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ismr67322.2025.11025975","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ismr67322.2025.11025975","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 International Symposium on Medical Robotics (ISMR)","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":25,"referenced_works":["https://openalex.org/W168769873","https://openalex.org/W1974070762","https://openalex.org/W1995875735","https://openalex.org/W2004745129","https://openalex.org/W2017150428","https://openalex.org/W2018346149","https://openalex.org/W2047325228","https://openalex.org/W2055399397","https://openalex.org/W2057982268","https://openalex.org/W2065903557","https://openalex.org/W2095153723","https://openalex.org/W2112400778","https://openalex.org/W2130274074","https://openalex.org/W2130338154","https://openalex.org/W2913973514","https://openalex.org/W2925091787","https://openalex.org/W3048892024","https://openalex.org/W3119582087","https://openalex.org/W3194774659","https://openalex.org/W3198322187","https://openalex.org/W4210916243","https://openalex.org/W4225399997","https://openalex.org/W4239127880","https://openalex.org/W4322719776","https://openalex.org/W4400579795"],"related_works":["https://openalex.org/W2122871747","https://openalex.org/W3114279067","https://openalex.org/W2978665606","https://openalex.org/W4287179229","https://openalex.org/W3205513966","https://openalex.org/W3120459843","https://openalex.org/W4366547574","https://openalex.org/W189465620","https://openalex.org/W4366818884","https://openalex.org/W2248308732"],"abstract_inverted_index":{"Jointly":[0],"collaborating":[1],"with":[2],"a":[3,38,66,76,91,99,112,148,162],"handheld":[4,54,67,108],"robot":[5,42,85,109],"could":[6],"enable":[7],"human":[8,87,95,121],"users":[9,146],"to":[10,37,88],"exceed":[11],"their":[12],"freehand":[13,96,178],"accuracy":[14],"and":[15,24,124,189],"speed.":[16],"Handheld":[17],"tool":[18],"use":[19],"builds":[20],"on":[21,157],"existing":[22],"intuition":[23],"dexterity":[25],"of":[26,34,65,111,130,150,170,184],"hand":[27],"use.":[28],"While":[29],"collaboration":[30,48,74,176],"through":[31],"the":[32,63,103,128,131,136,166],"delegation":[33],"high-precision":[35],"tasks":[36],"large,":[39],"grounded":[40],"surgical":[41],"has":[43],"shown":[44],"improved":[45],"performance,":[46],"joint":[47,72,175],"is":[49,81,134],"not":[50],"widely":[51],"studied":[52],"in":[53,75,98,165],"robots.":[55],"To":[56],"further":[57],"explore":[58],"this":[59,187],"topic,":[60],"we":[61],"evaluate":[62],"feasibility":[64,185],"robotic":[68],"platform":[69,188],"for":[70,83,120,144,174,186,193],"studying":[71],"human-robot":[73],"trajectory":[77],"tracking":[78],"task":[79,132],"that":[80,133],"impossible":[82],"either":[84],"or":[86],"complete":[89],"alone:":[90],"precision":[92,97],"constraint":[93],"beyond":[94],"workspace":[100],"larger":[101],"than":[102],"robot's":[104,137],"reachable":[105,138],"workspace.":[106,139],"The":[107],"consists":[110],"modified":[113],"2-DoF":[114],"laser":[115],"engraving":[116],"module":[117],"which":[118],"compensates":[119],"movement":[122],"error":[123],"also":[125],"semi-autonomously":[126],"completes":[127],"portion":[129],"within":[135],"Motion":[140],"data":[141],"were":[142],"collected":[143],"three":[145],"laser-marking":[147],"series":[149],"square":[151],"shapes":[152],"at":[153],"varying":[154],"distances":[155],"apart":[156],"thermal":[158],"paper.":[159],"We":[160],"observed":[161],"five-fold":[163],"increase":[164],"steering":[167],"law":[168],"Index":[169],"Performance":[171],"(IP)":[172],"[1]":[173],"over":[177],"lasering.":[179],"This":[180],"work":[181],"provides":[182],"evidence":[183],"informs":[190],"power":[191],"analysis":[192],"future":[194],"research.":[195]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}