{"id":"https://openalex.org/W2909528630","doi":"https://doi.org/10.1109/lra.2019.2893018","title":"A Variational Approach to Minimum-Jerk Trajectories for Psychological Safety in Collaborative Assembly Stations","display_name":"A Variational Approach to Minimum-Jerk Trajectories for Psychological Safety in Collaborative Assembly Stations","publication_year":2019,"publication_date":"2019-01-14","ids":{"openalex":"https://openalex.org/W2909528630","doi":"https://doi.org/10.1109/lra.2019.2893018","mag":"2909528630"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2019.2893018","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2019.2893018","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/A5012595152","display_name":"Rafael A. Rojas","orcid":"https://orcid.org/0000-0002-3668-7719"},"institutions":[{"id":"https://openalex.org/I171543936","display_name":"Free University of Bozen-Bolzano","ror":"https://ror.org/012ajp527","country_code":"IT","type":"education","lineage":["https://openalex.org/I171543936"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Rafael A. Rojas","raw_affiliation_strings":["Faculty of Science and Technology, Free University of Bozen-Bolzano, Bolzano, Italy","Faculty of Science and Technology, Free University of Bozen/Bolzano, Bolzano, Italy"],"raw_orcid":"https://orcid.org/0000-0002-3668-7719","affiliations":[{"raw_affiliation_string":"Faculty of Science and Technology, Free University of Bozen-Bolzano, Bolzano, Italy","institution_ids":["https://openalex.org/I171543936"]},{"raw_affiliation_string":"Faculty of Science and Technology, Free University of Bozen/Bolzano, Bolzano, Italy","institution_ids":["https://openalex.org/I171543936"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028345730","display_name":"Manuel A. Ruiz Garcia","orcid":"https://orcid.org/0000-0001-8827-8469"},"institutions":[{"id":"https://openalex.org/I171543936","display_name":"Free University of Bozen-Bolzano","ror":"https://ror.org/012ajp527","country_code":"IT","type":"education","lineage":["https://openalex.org/I171543936"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Manuel A. Ruiz Garcia","raw_affiliation_strings":["Faculty of Science and Technology, Free University of Bozen-Bolzano, Bolzano, Italy","Faculty of Science and Technology, Free University of Bozen/Bolzano, Bolzano, Italy"],"raw_orcid":"https://orcid.org/0000-0001-8827-8469","affiliations":[{"raw_affiliation_string":"Faculty of Science and Technology, Free University of Bozen-Bolzano, Bolzano, Italy","institution_ids":["https://openalex.org/I171543936"]},{"raw_affiliation_string":"Faculty of Science and Technology, Free University of Bozen/Bolzano, Bolzano, Italy","institution_ids":["https://openalex.org/I171543936"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067331931","display_name":"Erich Wehrle","orcid":"https://orcid.org/0000-0002-5760-4468"},"institutions":[{"id":"https://openalex.org/I171543936","display_name":"Free University of Bozen-Bolzano","ror":"https://ror.org/012ajp527","country_code":"IT","type":"education","lineage":["https://openalex.org/I171543936"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Erich Wehrle","raw_affiliation_strings":["Faculty of Science and Technology, Free University of Bozen-Bolzano, Bolzano, Italy","Faculty of Science and Technology, Free University of Bozen/Bolzano, Bolzano, Italy"],"raw_orcid":"https://orcid.org/0000-0002-5760-4468","affiliations":[{"raw_affiliation_string":"Faculty of Science and Technology, Free University of Bozen-Bolzano, Bolzano, Italy","institution_ids":["https://openalex.org/I171543936"]},{"raw_affiliation_string":"Faculty of Science and Technology, Free University of Bozen/Bolzano, Bolzano, Italy","institution_ids":["https://openalex.org/I171543936"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5055755579","display_name":"Renato Vidoni","orcid":"https://orcid.org/0000-0002-7429-0974"},"institutions":[{"id":"https://openalex.org/I171543936","display_name":"Free University of Bozen-Bolzano","ror":"https://ror.org/012ajp527","country_code":"IT","type":"education","lineage":["https://openalex.org/I171543936"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Renato Vidoni","raw_affiliation_strings":["Faculty of Science and Technology, Free University of Bozen-Bolzano, Bolzano, Italy","Faculty of Science and Technology, Free University of Bozen/Bolzano, Bolzano, Italy"],"raw_orcid":"https://orcid.org/0000-0002-7429-0974","affiliations":[{"raw_affiliation_string":"Faculty of Science and Technology, Free University of Bozen-Bolzano, Bolzano, Italy","institution_ids":["https://openalex.org/I171543936"]},{"raw_affiliation_string":"Faculty of Science and Technology, Free University of Bozen/Bolzano, Bolzano, Italy","institution_ids":["https://openalex.org/I171543936"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I171543936"],"apc_list":null,"apc_paid":null,"fwci":7.6926,"has_fulltext":false,"cited_by_count":49,"citation_normalized_percentile":{"value":0.97502989,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"4","issue":"2","first_page":"823","last_page":"829"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10525","display_name":"Human-Automation Interaction and Safety","score":0.9979000091552734,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},"topics":[{"id":"https://openalex.org/T10525","display_name":"Human-Automation Interaction and Safety","score":0.9979000091552734,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T10809","display_name":"Occupational Health and Safety Research","score":0.996399998664856,"subfield":{"id":"https://openalex.org/subfields/3614","display_name":"Radiological and Ultrasound Technology"},"field":{"id":"https://openalex.org/fields/36","display_name":"Health Professions"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9904000163078308,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.8819075226783752},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.8132603168487549},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6844601035118103},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.6440749168395996},{"id":"https://openalex.org/keywords/jerk","display_name":"Jerk","score":0.6225429177284241},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5403644442558289},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4837632179260254},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.43405503034591675},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.32634103298187256},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2173711061477661},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.07825157046318054}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.8819075226783752},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.8132603168487549},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6844601035118103},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.6440749168395996},{"id":"https://openalex.org/C181605269","wikidata":"https://www.wikidata.org/wiki/Q497332","display_name":"Jerk","level":3,"score":0.6225429177284241},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5403644442558289},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4837632179260254},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.43405503034591675},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.32634103298187256},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2173711061477661},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.07825157046318054},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/lra.2019.2893018","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2019.2893018","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"},{"id":"pmh:oai:alma.39UBZ_INST:11235182440001241","is_oa":false,"landing_page_url":"https://ieeexplore.ieee.org/document/8611391","pdf_url":null,"source":{"id":"https://openalex.org/S4210197018","display_name":"Open Research (University of Surrey)","issn_l":"2688-268X","issn":["2688-268X","2688-3988"],"is_oa":false,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},{"id":"pmh:oai:unibz.it:11235182440001241","is_oa":false,"landing_page_url":"https://bia.unibz.it/esploro/outputs/journalArticle/A-Variational-Approach-to-Minimum-Jerk-Trajectories/991005772882801241","pdf_url":null,"source":{"id":"https://openalex.org/S4210197018","display_name":"Open Research (University of Surrey)","issn_l":"2688-268X","issn":["2688-268X","2688-3988"],"is_oa":false,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1885639605","https://openalex.org/W1967911984","https://openalex.org/W1976943561","https://openalex.org/W2002281437","https://openalex.org/W2037071615","https://openalex.org/W2040329973","https://openalex.org/W2042846337","https://openalex.org/W2053957850","https://openalex.org/W2123871098","https://openalex.org/W2133877295","https://openalex.org/W2136733323","https://openalex.org/W2157087522","https://openalex.org/W2160514056","https://openalex.org/W2162130878","https://openalex.org/W2318055712","https://openalex.org/W2444581964","https://openalex.org/W2502318522","https://openalex.org/W2502320255","https://openalex.org/W2747868790","https://openalex.org/W2755206946","https://openalex.org/W2806808311","https://openalex.org/W3046218573","https://openalex.org/W6679796306","https://openalex.org/W6743010796","https://openalex.org/W7018479058","https://openalex.org/W7024440156"],"related_works":["https://openalex.org/W4281395624","https://openalex.org/W2497204748","https://openalex.org/W2351684991","https://openalex.org/W1992503747","https://openalex.org/W1561345858","https://openalex.org/W2539932329","https://openalex.org/W1983113136","https://openalex.org/W2392989031","https://openalex.org/W2371519816","https://openalex.org/W2043154226"],"abstract_inverted_index":{"Collaborative":[0],"robotics":[1],"is":[2,157],"one":[3],"of":[4,8,50,122,128,154,165],"the":[5,9,27,62,69,75,116,120,134,139,144,149,155,163,166],"main":[6],"drivers":[7],"fourth":[10],"industrial":[11],"revolution,":[12],"where":[13],"robots":[14,23,29,44,65,104],"and":[15,60,90,110,119,159],"humans":[16],"cooperate":[17],"in":[18],"a":[19,47,83,98,126],"shared":[20],"workspace.":[21],"Such":[22],"are":[24],"distinguished":[25],"from":[26],"traditional":[28],"by":[30,80,148],"several":[31],"features":[32],"that,":[33],"if":[34],"tuned":[35],"correctly,":[36],"ensure":[37,107],"safe":[38],"physical":[39,111,145],"interaction.":[40],"However,":[41],"interaction":[42],"with":[43,64],"also":[45],"represents":[46],"potential":[48],"source":[49],"psychological":[51,109],"stress.":[52],"Indeed,":[53],"it":[54],"has":[55],"been":[56],"proven":[57],"that":[58,142],"working":[59],"sharing":[61],"workspace":[63],"can":[66],"psychologically":[67,129],"stress":[68],"operator.":[70],"This":[71],"drawback-in":[72],"addition":[73],"to":[74,86,106,124],"reduced":[76],"speed":[77],"operation":[78],"imposed":[79],"safety":[81],"standards-represents":[82],"constraint":[84],"difficult":[85],"bear":[87],"for":[88,102],"small":[89],"medium-sized":[91],"enterprises.":[92],"In":[93],"this":[94],"letter,":[95],"we":[96,137],"propose":[97],"novel":[99],"trajectory-planning":[100],"methodology":[101],"collaborative":[103],"able":[105],"both":[108],"safety.":[112],"We":[113],"rely":[114],"on":[115],"available":[117],"literature":[118],"calculus":[121],"variations":[123],"identify":[125],"family":[127],"acceptable":[130],"minimum-jerk":[131],"trajectories.":[132],"From":[133],"identified":[135],"family,":[136],"compute":[138],"fastest":[140],"trajectory":[141],"limits":[143],"danger":[146],"represented":[147],"robot.":[150],"A":[151],"numerical":[152],"implementation":[153],"method":[156],"discussed,":[158],"experimental":[160],"results":[161],"prove":[162],"effectiveness":[164],"idea.":[167]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":11},{"year":2020,"cited_by_count":13},{"year":2019,"cited_by_count":1}],"updated_date":"2026-08-06T08:24:18.245995","created_date":"2025-10-10T00:00:00"}
