{"id":"https://openalex.org/W3043377354","doi":"https://doi.org/10.1109/lra.2020.3010211","title":"Combining Speed and Separation Monitoring With Power and Force Limiting for Safe Collaborative Robotics Applications","display_name":"Combining Speed and Separation Monitoring With Power and Force Limiting for Safe Collaborative Robotics Applications","publication_year":2020,"publication_date":"2020-07-17","ids":{"openalex":"https://openalex.org/W3043377354","doi":"https://doi.org/10.1109/lra.2020.3010211","mag":"3043377354"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2020.3010211","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.3010211","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":true,"oa_status":"green","oa_url":"http://hdl.handle.net/11311/1146403","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5078071541","display_name":"Niccol\u00f2 Lucci","orcid":"https://orcid.org/0000-0001-5014-6137"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]},{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["CN","IT"],"is_corresponding":true,"raw_author_name":"Niccolo Lucci","raw_affiliation_strings":["Institute of Medical Robotics and Department of Automation, Shanghai Jiao Tong University, Shanghai, China","Politecnico di Milano, Milano, Italy"],"affiliations":[{"raw_affiliation_string":"Institute of Medical Robotics and Department of Automation, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]},{"raw_affiliation_string":"Politecnico di Milano, Milano, Italy","institution_ids":["https://openalex.org/I93860229"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047120390","display_name":"Bakir La\u010devi\u0107","orcid":"https://orcid.org/0000-0002-9781-9500"},"institutions":[{"id":"https://openalex.org/I104817121","display_name":"University of Sarajevo","ror":"https://ror.org/02hhwgd43","country_code":"BA","type":"education","lineage":["https://openalex.org/I104817121"]}],"countries":["BA"],"is_corresponding":false,"raw_author_name":"Bakir Lacevic","raw_affiliation_strings":["University of Sarajevo, Sarajevo, Bosnia and Herzegovina"],"affiliations":[{"raw_affiliation_string":"University of Sarajevo, Sarajevo, Bosnia and Herzegovina","institution_ids":["https://openalex.org/I104817121"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050366331","display_name":"Andrea Maria Zanchettin","orcid":"https://orcid.org/0000-0002-1866-7482"},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Andrea Maria Zanchettin","raw_affiliation_strings":["Politecnico di Milano, Milano, Italy"],"affiliations":[{"raw_affiliation_string":"Politecnico di Milano, Milano, Italy","institution_ids":["https://openalex.org/I93860229"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5065821384","display_name":"Paolo Rocco","orcid":"https://orcid.org/0000-0001-6716-434X"},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Paolo Rocco","raw_affiliation_strings":["Politecnico di Milano, Milano, Italy"],"affiliations":[{"raw_affiliation_string":"Politecnico di Milano, Milano, Italy","institution_ids":["https://openalex.org/I93860229"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5078071541"],"corresponding_institution_ids":["https://openalex.org/I183067930","https://openalex.org/I93860229"],"apc_list":null,"apc_paid":null,"fwci":3.5707,"has_fulltext":false,"cited_by_count":84,"citation_normalized_percentile":{"value":0.93434707,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":"5","issue":"4","first_page":"6121","last_page":"6128"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9975000023841858,"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":0.9975000023841858,"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":0.9973999857902527,"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":0.9904000163078308,"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/robotics","display_name":"Robotics","score":0.7454653382301331},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7201912999153137},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5812520384788513},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5632749795913696},{"id":"https://openalex.org/keywords/limiting","display_name":"Limiting","score":0.5128843784332275},{"id":"https://openalex.org/keywords/separation","display_name":"Separation (statistics)","score":0.4677700400352478},{"id":"https://openalex.org/keywords/limit","display_name":"Limit (mathematics)","score":0.46542876958847046},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.46244174242019653},{"id":"https://openalex.org/keywords/consistency","display_name":"Consistency (knowledge bases)","score":0.45153293013572693},{"id":"https://openalex.org/keywords/power","display_name":"Power (physics)","score":0.41699856519699097},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.35562410950660706},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.34907495975494385},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2592686414718628},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.13967794179916382},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11762556433677673},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.10525676608085632}],"concepts":[{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.7454653382301331},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7201912999153137},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5812520384788513},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5632749795913696},{"id":"https://openalex.org/C188198153","wikidata":"https://www.wikidata.org/wiki/Q1613840","display_name":"Limiting","level":2,"score":0.5128843784332275},{"id":"https://openalex.org/C2776061190","wikidata":"https://www.wikidata.org/wiki/Q7451805","display_name":"Separation (statistics)","level":2,"score":0.4677700400352478},{"id":"https://openalex.org/C151201525","wikidata":"https://www.wikidata.org/wiki/Q177239","display_name":"Limit (mathematics)","level":2,"score":0.46542876958847046},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.46244174242019653},{"id":"https://openalex.org/C2776436953","wikidata":"https://www.wikidata.org/wiki/Q5163215","display_name":"Consistency (knowledge bases)","level":2,"score":0.45153293013572693},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.41699856519699097},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.35562410950660706},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.34907495975494385},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2592686414718628},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.13967794179916382},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11762556433677673},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.10525676608085632},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","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},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2020.3010211","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.3010211","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"},{"id":"pmh:oai:re.public.polimi.it:11311/1146403","is_oa":true,"landing_page_url":"http://hdl.handle.net/11311/1146403","pdf_url":null,"source":{"id":"https://openalex.org/S4306400312","display_name":"Virtual Community of Pathological Anatomy (University of Castilla La Mancha)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79189158","host_organization_name":"University of Castilla-La Mancha","host_organization_lineage":["https://openalex.org/I79189158"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:re.public.polimi.it:11311/1146403","is_oa":true,"landing_page_url":"http://hdl.handle.net/11311/1146403","pdf_url":null,"source":{"id":"https://openalex.org/S4306400312","display_name":"Virtual Community of Pathological Anatomy (University of Castilla La Mancha)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79189158","host_organization_name":"University of Castilla-La Mancha","host_organization_lineage":["https://openalex.org/I79189158"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"},"sustainable_development_goals":[{"score":0.6000000238418579,"id":"https://metadata.un.org/sdg/8","display_name":"Decent work and economic growth"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1579753478","https://openalex.org/W2066379939","https://openalex.org/W2090482009","https://openalex.org/W2100913768","https://openalex.org/W2206736364","https://openalex.org/W2214385277","https://openalex.org/W2318055712","https://openalex.org/W2513304997","https://openalex.org/W2586840159","https://openalex.org/W2756430093","https://openalex.org/W2765218414","https://openalex.org/W2768174095","https://openalex.org/W2775443152","https://openalex.org/W2783126484","https://openalex.org/W2888193176","https://openalex.org/W2888391846","https://openalex.org/W2925101122","https://openalex.org/W2965057984","https://openalex.org/W3100296292","https://openalex.org/W4229856339"],"related_works":["https://openalex.org/W2071676784","https://openalex.org/W4323768008","https://openalex.org/W3131574667","https://openalex.org/W4292513318","https://openalex.org/W1508899372","https://openalex.org/W4248382324","https://openalex.org/W4360995134","https://openalex.org/W2387529410","https://openalex.org/W2039473718","https://openalex.org/W2357101623"],"abstract_inverted_index":{"Enabling":[0],"humans":[1],"and":[2,30,33,36],"robots":[3],"to":[4,8,47,70,130,134,157],"safely":[5],"work":[6],"close":[7],"each":[9,113],"other":[10],"deserves":[11],"careful":[12],"consideration.":[13],"With":[14],"the":[15,28,34,50,61,64,81,88,92,98,102,108,116,126,144,148,160,175],"publication":[16],"of":[17,63,74,80,91,101,110,112,115,143],"ISO/TS":[18],"15066":[19],"directives":[20],"on":[21,168],"this":[22],"matter,":[23],"two":[24,51],"different":[25],"strategies,":[26],"namely":[27],"Speed":[29],"Separation":[31],"Monitoring":[32],"Power":[35],"Force":[37],"Limiting,":[38],"have":[39,154],"been":[40,155],"proposed.":[41],"This":[42,84],"letter":[43],"proposes":[44],"a":[45,106,140],"method":[46,162],"efficiently":[48],"combine":[49],"aforementioned":[52],"safety":[53,79,176],"strategies":[54],"for":[55,174],"collaborative":[56],"robotics":[57],"operations.":[58],"By":[59],"exploiting":[60],"combination":[62],"two,":[65],"it":[66],"is":[67,85,118,128],"then":[68],"possible":[69],"achieve":[71],"higher":[72],"levels":[73],"productivity,":[75],"while":[76,96,171],"still":[77,172],"preserving":[78,97],"human":[82],"operators.":[83],"achieved":[86],"by":[87,179],"optimal":[89],"scaling":[90],"initially":[93],"prescribed":[94,178],"velocity,":[95],"path":[99],"consistency":[100],"robot":[103,117,127,169],"trajectory.":[104],"In":[105],"nutshell,":[107],"state":[109],"motion":[111],"point":[114],"monitored":[119],"so":[120],"that":[121,159],"at":[122],"every":[123],"time":[124],"instant":[125],"able":[129],"modulate":[131],"its":[132],"speed":[133],"eventually":[135],"come":[136],"into":[137],"contact":[138],"with":[139,147],"body":[141],"region":[142],"human,":[145],"consistently":[146],"corresponding":[149],"biomechanical":[150],"limit.":[151],"Validation":[152],"experiments":[153],"conducted":[156],"establish":[158],"proposed":[161],"enables":[163],"substantially":[164],"less":[165],"stringent":[166],"limits":[167,177],"performance":[170],"allowing":[173],"ISO":[180],"directives.":[181]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":19},{"year":2024,"cited_by_count":20},{"year":2023,"cited_by_count":13},{"year":2022,"cited_by_count":16},{"year":2021,"cited_by_count":11},{"year":2020,"cited_by_count":1}],"updated_date":"2026-04-02T15:55:50.835912","created_date":"2020-07-23T00:00:00"}
