{"id":"https://openalex.org/W2299033933","doi":"https://doi.org/10.1109/lra.2016.2531124","title":"Low-Impedance Physical Human-Robot Interaction Using an Active\u2013Passive Dynamics Decoupling","display_name":"Low-Impedance Physical Human-Robot Interaction Using an Active\u2013Passive Dynamics Decoupling","publication_year":2016,"publication_date":"2016-02-19","ids":{"openalex":"https://openalex.org/W2299033933","doi":"https://doi.org/10.1109/lra.2016.2531124","mag":"2299033933"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2016.2531124","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2016.2531124","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-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/A5065961831","display_name":"Pascal Labrecque","orcid":null},"institutions":[{"id":"https://openalex.org/I43406934","display_name":"Universit\u00e9 Laval","ror":"https://ror.org/04sjchr03","country_code":"CA","type":"education","lineage":["https://openalex.org/I43406934"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Pascal D. Labrecque","raw_affiliation_strings":["Department of Mechanical Engineering, Universit\u00e9 Laval, Qu\u00e9bec, QC, Canada"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Universit\u00e9 Laval, Qu\u00e9bec, QC, Canada","institution_ids":["https://openalex.org/I43406934"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052885384","display_name":"Jacques-Michel Hache","orcid":null},"institutions":[{"id":"https://openalex.org/I43406934","display_name":"Universit\u00e9 Laval","ror":"https://ror.org/04sjchr03","country_code":"CA","type":"education","lineage":["https://openalex.org/I43406934"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Jacques-Michel Hache","raw_affiliation_strings":["Department of Mechanical Engineering, Universit\u00e9 Laval, Qu\u00e9bec, QC, Canada"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Universit\u00e9 Laval, Qu\u00e9bec, QC, Canada","institution_ids":["https://openalex.org/I43406934"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025530817","display_name":"Muhammad E. Abdallah","orcid":"https://orcid.org/0000-0002-0266-5052"},"institutions":[{"id":"https://openalex.org/I118136607","display_name":"General Motors (United States)","ror":"https://ror.org/05addee68","country_code":"US","type":"company","lineage":["https://openalex.org/I118136607"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Muhammad Abdallah","raw_affiliation_strings":["Manufacturing Systems Research Laboratory, General Motors R&D, Warren, MI, USA"],"affiliations":[{"raw_affiliation_string":"Manufacturing Systems Research Laboratory, General Motors R&D, Warren, MI, USA","institution_ids":["https://openalex.org/I118136607"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5055839781","display_name":"Cl\u00e9ment Gosselin","orcid":"https://orcid.org/0000-0001-7422-4515"},"institutions":[{"id":"https://openalex.org/I43406934","display_name":"Universit\u00e9 Laval","ror":"https://ror.org/04sjchr03","country_code":"CA","type":"education","lineage":["https://openalex.org/I43406934"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Clement Gosselin","raw_affiliation_strings":["Department of Mechanical Engineering, Universit\u00e9 Laval, Qu\u00e9bec, QC, Canada"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Universit\u00e9 Laval, Qu\u00e9bec, QC, Canada","institution_ids":["https://openalex.org/I43406934"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5065961831"],"corresponding_institution_ids":["https://openalex.org/I43406934"],"apc_list":null,"apc_paid":null,"fwci":1.8804,"has_fulltext":false,"cited_by_count":28,"citation_normalized_percentile":{"value":0.84510183,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"1","issue":"2","first_page":"938","last_page":"945"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9994999766349792,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9994999766349792,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9979000091552734,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9966999888420105,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6504119634628296},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.568231463432312},{"id":"https://openalex.org/keywords/decoupling","display_name":"Decoupling (probability)","score":0.5648496747016907},{"id":"https://openalex.org/keywords/payload","display_name":"Payload (computing)","score":0.5403262972831726},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.5049291253089905},{"id":"https://openalex.org/keywords/macro","display_name":"Macro","score":0.4997439384460449},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4914027452468872},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.4807184040546417},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.46712619066238403},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.4445876181125641},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.38709285855293274},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3611027002334595},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3572944104671478},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1645027995109558},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08438131213188171},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.06083527207374573}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6504119634628296},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.568231463432312},{"id":"https://openalex.org/C205606062","wikidata":"https://www.wikidata.org/wiki/Q5249645","display_name":"Decoupling (probability)","level":2,"score":0.5648496747016907},{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.5403262972831726},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.5049291253089905},{"id":"https://openalex.org/C166955791","wikidata":"https://www.wikidata.org/wiki/Q629579","display_name":"Macro","level":2,"score":0.4997439384460449},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4914027452468872},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.4807184040546417},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.46712619066238403},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.4445876181125641},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.38709285855293274},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3611027002334595},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3572944104671478},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1645027995109558},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08438131213188171},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.06083527207374573},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2016.2531124","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2016.2531124","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Partnerships for the goals","score":0.4699999988079071,"id":"https://metadata.un.org/sdg/17"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320334593","display_name":"Natural Sciences and Engineering Research Council of Canada","ror":"https://ror.org/01h531d29"},{"id":"https://openalex.org/F4320334841","display_name":"Fonds de recherche du Qu\u00e9bec \u2013 Nature et technologies","ror":"https://ror.org/00b9f9778"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1482681976","https://openalex.org/W1723566627","https://openalex.org/W1962965017","https://openalex.org/W1984219664","https://openalex.org/W1992937093","https://openalex.org/W2009192474","https://openalex.org/W2026639519","https://openalex.org/W2049655011","https://openalex.org/W2073633842","https://openalex.org/W2094537981","https://openalex.org/W2106650083","https://openalex.org/W2109588014","https://openalex.org/W2111253117","https://openalex.org/W2115906629","https://openalex.org/W2131686030","https://openalex.org/W2139394401","https://openalex.org/W2144535736","https://openalex.org/W2151394718","https://openalex.org/W2214212631","https://openalex.org/W2333008765","https://openalex.org/W4234812462","https://openalex.org/W6637529597","https://openalex.org/W6646198117"],"related_works":["https://openalex.org/W1535080110","https://openalex.org/W2030816003","https://openalex.org/W306312984","https://openalex.org/W857189463","https://openalex.org/W2979675132","https://openalex.org/W2790520092","https://openalex.org/W4306309337","https://openalex.org/W4239992647","https://openalex.org/W1500588313","https://openalex.org/W3105789002"],"abstract_inverted_index":{"When":[0],"a":[1,9,57,78,85],"robot":[2,80],"manipulator":[3,49],"is":[4,13,81,98],"designed":[5,64],"to":[6,17,36,50,115],"interact":[7],"with":[8,77,84,101],"human":[10],"being,":[11],"performance":[12],"often":[14],"compromised":[15],"due":[16],"safety":[18],"constraints.":[19],"The":[20,90],"interaction":[21,53],"becomes":[22],"thus":[23],"less":[24,27],"responsive":[25],"and":[26,119,131,134],"intuitive,":[28],"making":[29],"the":[30,45,52,94,102,105,113],"use":[31],"of":[32,47,73,104,129],"such":[33,109],"robots":[34],"difficult":[35],"implement":[37],"in":[38],"an":[39,110],"industrial":[40],"context.":[41],"This":[42,69],"letter":[43],"revisits":[44],"concept":[46],"macro-mini":[48],"improve":[51],"bandwidth,":[54],"by":[55],"introducing":[56],"novel":[58],"low":[59],"impedance":[60,97],"mini":[61,70],"mechanism":[62],"specifically":[63],"for":[65],"physical":[66],"human-robot":[67],"cooperation.":[68],"structure,":[71],"consisting":[72],"passive":[74,106,117],"joints,":[75],"combined":[76],"macro":[79],"experimentally":[82],"compared":[83],"nonredundant":[86],"fully":[87],"actuated":[88],"manipulator.":[89],"experiments":[91],"demonstrate":[92],"that":[93],"resulting":[95],"effective":[96],"greatly":[99],"reduced":[100],"addition":[103],"mechanism.":[107],"Therefore,":[108],"architecture":[111],"has":[112],"potential":[114],"provide":[116],"contacts":[118],"safer":[120],"interactions":[121],"while":[122],"providing":[123],"large":[124],"payload":[125],"capability,":[126],"extensive":[127],"range":[128],"motion,":[130],"end-effector":[132],"agility":[133],"responsiveness.":[135]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":5}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
