{"id":"https://openalex.org/W2792539092","doi":"https://doi.org/10.1109/lra.2018.2812916","title":"Stable and Compliant Motion of Physical Human\u2013Robot Interaction Coupled With a Moving Environment Using Variable Admittance and Adaptive Control","display_name":"Stable and Compliant Motion of Physical Human\u2013Robot Interaction Coupled With a Moving Environment Using Variable Admittance and Adaptive Control","publication_year":2018,"publication_date":"2018-03-07","ids":{"openalex":"https://openalex.org/W2792539092","doi":"https://doi.org/10.1109/lra.2018.2812916","mag":"2792539092"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2018.2812916","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2018.2812916","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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/A5075221193","display_name":"Hsieh-Yu Li","orcid":"https://orcid.org/0000-0003-2651-917X"},"institutions":[{"id":"https://openalex.org/I152815399","display_name":"Singapore University of Technology and Design","ror":"https://ror.org/05j6fvn87","country_code":"SG","type":"education","lineage":["https://openalex.org/I152815399"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Hsieh-Yu Li","raw_affiliation_strings":["Pillar of Engineering Product Development, Singapore University of Technology of Design, Singapore"],"raw_orcid":"https://orcid.org/0000-0003-2651-917X","affiliations":[{"raw_affiliation_string":"Pillar of Engineering Product Development, Singapore University of Technology of Design, Singapore","institution_ids":["https://openalex.org/I152815399"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054377933","display_name":"Ishara Paranawithana","orcid":"https://orcid.org/0000-0001-6509-9687"},"institutions":[{"id":"https://openalex.org/I152815399","display_name":"Singapore University of Technology and Design","ror":"https://ror.org/05j6fvn87","country_code":"SG","type":"education","lineage":["https://openalex.org/I152815399"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Ishara Paranawithana","raw_affiliation_strings":["Pillar of Engineering Product Development, Singapore University of Technology of Design, Singapore"],"raw_orcid":"https://orcid.org/0000-0001-6509-9687","affiliations":[{"raw_affiliation_string":"Pillar of Engineering Product Development, Singapore University of Technology of Design, Singapore","institution_ids":["https://openalex.org/I152815399"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048861559","display_name":"L. Yang","orcid":"https://orcid.org/0000-0002-3294-0879"},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]},{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN","US"],"is_corresponding":false,"raw_author_name":"Liangjing Yang","raw_affiliation_strings":["Zhejiang University/University of Illinois at Urbana-Champaign Institute, Haining, China"],"raw_orcid":"https://orcid.org/0000-0002-3294-0879","affiliations":[{"raw_affiliation_string":"Zhejiang University/University of Illinois at Urbana-Champaign Institute, Haining, China","institution_ids":["https://openalex.org/I157725225","https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018833949","display_name":"Terence Sey Kiat Lim","orcid":null},"institutions":[{"id":"https://openalex.org/I2802225915","display_name":"Changi General Hospital","ror":"https://ror.org/02q854y08","country_code":"SG","type":"healthcare","lineage":["https://openalex.org/I2802225915"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Terence Sey Kiat Lim","raw_affiliation_strings":["Department of Urology, Changi General Hospital, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Urology, Changi General Hospital, Singapore","institution_ids":["https://openalex.org/I2802225915"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021980751","display_name":"Shaohui Foong","orcid":"https://orcid.org/0000-0002-9724-6159"},"institutions":[{"id":"https://openalex.org/I152815399","display_name":"Singapore University of Technology and Design","ror":"https://ror.org/05j6fvn87","country_code":"SG","type":"education","lineage":["https://openalex.org/I152815399"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Shaohui Foong","raw_affiliation_strings":["Pillar of Engineering Product Development, Singapore University of Technology of Design, Singapore"],"raw_orcid":"https://orcid.org/0000-0002-9724-6159","affiliations":[{"raw_affiliation_string":"Pillar of Engineering Product Development, Singapore University of Technology of Design, Singapore","institution_ids":["https://openalex.org/I152815399"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112001779","display_name":"Foo Cheong Ng","orcid":null},"institutions":[{"id":"https://openalex.org/I2802225915","display_name":"Changi General Hospital","ror":"https://ror.org/02q854y08","country_code":"SG","type":"healthcare","lineage":["https://openalex.org/I2802225915"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Foo Cheong Ng","raw_affiliation_strings":["Department of Urology, Changi General Hospital, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Urology, Changi General Hospital, Singapore","institution_ids":["https://openalex.org/I2802225915"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5023142347","display_name":"U-Xuan Tan","orcid":"https://orcid.org/0000-0002-5757-1379"},"institutions":[{"id":"https://openalex.org/I152815399","display_name":"Singapore University of Technology and Design","ror":"https://ror.org/05j6fvn87","country_code":"SG","type":"education","lineage":["https://openalex.org/I152815399"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"U-Xuan Tan","raw_affiliation_strings":["Pillar of Engineering Product Development, Singapore University of Technology of Design, Singapore"],"raw_orcid":"https://orcid.org/0000-0002-5757-1379","affiliations":[{"raw_affiliation_string":"Pillar of Engineering Product Development, Singapore University of Technology of Design, Singapore","institution_ids":["https://openalex.org/I152815399"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.5151,"has_fulltext":false,"cited_by_count":85,"citation_normalized_percentile":{"value":0.92933651,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"3","issue":"3","first_page":"2493","last_page":"2500"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9993000030517578,"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":0.9993000030517578,"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":0.998199999332428,"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":0.9976000189781189,"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/admittance","display_name":"Admittance","score":0.820004940032959},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6980670094490051},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6238645911216736},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6236730217933655},{"id":"https://openalex.org/keywords/passivity","display_name":"Passivity","score":0.595116913318634},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.4821576476097107},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4793154001235962},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.43014970421791077},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4181956350803375},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.4121530055999756},{"id":"https://openalex.org/keywords/variable","display_name":"Variable (mathematics)","score":0.41206592321395874},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.36964815855026245},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3689741790294647},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2982843518257141},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19887351989746094},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.15558600425720215},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12091118097305298}],"concepts":[{"id":"https://openalex.org/C108811297","wikidata":"https://www.wikidata.org/wiki/Q214518","display_name":"Admittance","level":3,"score":0.820004940032959},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6980670094490051},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6238645911216736},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6236730217933655},{"id":"https://openalex.org/C2778809601","wikidata":"https://www.wikidata.org/wiki/Q1045736","display_name":"Passivity","level":2,"score":0.595116913318634},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.4821576476097107},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4793154001235962},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.43014970421791077},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4181956350803375},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.4121530055999756},{"id":"https://openalex.org/C182365436","wikidata":"https://www.wikidata.org/wiki/Q50701","display_name":"Variable (mathematics)","level":2,"score":0.41206592321395874},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.36964815855026245},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3689741790294647},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2982843518257141},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19887351989746094},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.15558600425720215},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12091118097305298},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"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/lra.2018.2812916","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2018.2812916","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320309369","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44"},{"id":"https://openalex.org/F4320324110","display_name":"Singapore University of Technology and Design","ror":"https://ror.org/05j6fvn87"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W1487127700","https://openalex.org/W1487667890","https://openalex.org/W1517060199","https://openalex.org/W1548528537","https://openalex.org/W1967377907","https://openalex.org/W1974357213","https://openalex.org/W1983760700","https://openalex.org/W1986012074","https://openalex.org/W2006171429","https://openalex.org/W2009192474","https://openalex.org/W2017280345","https://openalex.org/W2022813413","https://openalex.org/W2057538835","https://openalex.org/W2067917454","https://openalex.org/W2083230850","https://openalex.org/W2092060192","https://openalex.org/W2098393146","https://openalex.org/W2102899117","https://openalex.org/W2106608467","https://openalex.org/W2121849985","https://openalex.org/W2124067196","https://openalex.org/W2126172323","https://openalex.org/W2133875529","https://openalex.org/W2136447622","https://openalex.org/W2137498472","https://openalex.org/W2139704669","https://openalex.org/W2148590777","https://openalex.org/W2148745139","https://openalex.org/W2152907952","https://openalex.org/W2164301889","https://openalex.org/W2165702032","https://openalex.org/W2169440744","https://openalex.org/W2193127336","https://openalex.org/W2296039882","https://openalex.org/W2517641405","https://openalex.org/W2524241018","https://openalex.org/W2593465928","https://openalex.org/W2735902434","https://openalex.org/W2738528937"],"related_works":["https://openalex.org/W2563149919","https://openalex.org/W1895460310","https://openalex.org/W2541053406","https://openalex.org/W4200568651","https://openalex.org/W2109066303","https://openalex.org/W2541812759","https://openalex.org/W1594265855","https://openalex.org/W4378982145","https://openalex.org/W1965852706","https://openalex.org/W2593465928"],"abstract_inverted_index":{"There":[0],"are":[1,37,129],"an":[2,47,93],"increasing":[3],"number":[4],"of":[5,11,43,70,73,112,135],"applications":[6],"that":[7],"require":[8],"the":[9,21,33,41,51,60,71,74,103,113,133,136],"end-effector":[10],"a":[12,26,78,87,98,106,125],"robotic":[13],"manipulator":[14],"to":[15,20,55,96,131],"be":[16],"compliant":[17],"in":[18,40,64],"response":[19],"intended":[22],"force":[23],"exerted":[24],"by":[25],"human":[27,45,104,121],"operator.":[28],"In":[29],"physical":[30,61],"human-robot":[31,62],"interaction,":[32],"stability":[34],"and":[35,46,77,105],"compliance":[36],"often":[38],"affected":[39],"presence":[42],"both":[44],"environment,":[48],"especially":[49],"during":[50],"transition":[52],"from":[53],"noncontact":[54],"contact.":[56],"Unlike":[57],"previous":[58],"works,":[59],"interaction":[63,72,122],"this":[65,84],"letter":[66,85],"takes":[67],"into":[68],"consideration":[69],"human,":[75],"robot,":[76],"moving":[79,107,126],"environment.":[80,127],"To":[81],"achieve":[82],"this,":[83],"proposes":[86],"variable":[88],"admittance":[89,119],"control":[90],"strategy":[91],"with":[92,102,120,124],"adaptive":[94],"controller":[95],"produce":[97],"time-varying":[99,118],"stiffness":[100],"interacting":[101],"environment":[108],"simultaneously.":[109],"The":[110],"passivity":[111],"system":[114],"is":[115],"guaranteed":[116],"for":[117],"coupled":[123],"Experiments":[128],"conducted":[130],"demonstrate":[132],"capability":[134],"controller.":[137]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":15},{"year":2024,"cited_by_count":13},{"year":2023,"cited_by_count":15},{"year":2022,"cited_by_count":17},{"year":2021,"cited_by_count":9},{"year":2020,"cited_by_count":8},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":5}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}