{"id":"https://openalex.org/W3192808395","doi":"https://doi.org/10.1109/lra.2021.3102318","title":"Real-Time Obstacle Avoidance Using Dual-Type Proximity Sensor for Safe Human-Robot Interaction","display_name":"Real-Time Obstacle Avoidance Using Dual-Type Proximity Sensor for Safe Human-Robot Interaction","publication_year":2021,"publication_date":"2021-08-06","ids":{"openalex":"https://openalex.org/W3192808395","doi":"https://doi.org/10.1109/lra.2021.3102318","mag":"3192808395"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2021.3102318","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3102318","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/A5084715180","display_name":"Seung Jae Moon","orcid":"https://orcid.org/0000-0002-8978-474X"},"institutions":[{"id":"https://openalex.org/I848706","display_name":"Sungkyunkwan University","ror":"https://ror.org/04q78tk20","country_code":"KR","type":"education","lineage":["https://openalex.org/I848706"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Seung Jae Moon","raw_affiliation_strings":["School of Mechanical Engineering, Sungkyunkwan University, Suwon, South Korea"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Sungkyunkwan University, Suwon, South Korea","institution_ids":["https://openalex.org/I848706"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002581512","display_name":"Jinsol Kim","orcid":"https://orcid.org/0000-0002-7780-0685"},"institutions":[{"id":"https://openalex.org/I848706","display_name":"Sungkyunkwan University","ror":"https://ror.org/04q78tk20","country_code":"KR","type":"education","lineage":["https://openalex.org/I848706"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jinsol Kim","raw_affiliation_strings":["School of Mechanical Engineering, Sungkyunkwan University, Suwon, South Korea"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Sungkyunkwan University, Suwon, South Korea","institution_ids":["https://openalex.org/I848706"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073200376","display_name":"Hongsik Yim","orcid":"https://orcid.org/0000-0002-4918-386X"},"institutions":[{"id":"https://openalex.org/I848706","display_name":"Sungkyunkwan University","ror":"https://ror.org/04q78tk20","country_code":"KR","type":"education","lineage":["https://openalex.org/I848706"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hongsik Yim","raw_affiliation_strings":["School of Mechanical Engineering, Sungkyunkwan University, Suwon, South Korea"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Sungkyunkwan University, Suwon, South Korea","institution_ids":["https://openalex.org/I848706"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101943016","display_name":"Yeeun Kim","orcid":"https://orcid.org/0000-0002-9648-5801"},"institutions":[{"id":"https://openalex.org/I848706","display_name":"Sungkyunkwan University","ror":"https://ror.org/04q78tk20","country_code":"KR","type":"education","lineage":["https://openalex.org/I848706"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Yeeun Kim","raw_affiliation_strings":["School of Mechanical Engineering, Sungkyunkwan University, Suwon, South Korea"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Sungkyunkwan University, Suwon, South Korea","institution_ids":["https://openalex.org/I848706"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5011232432","display_name":"Hyouk Ryeol Choi","orcid":"https://orcid.org/0000-0003-2902-7453"},"institutions":[{"id":"https://openalex.org/I848706","display_name":"Sungkyunkwan University","ror":"https://ror.org/04q78tk20","country_code":"KR","type":"education","lineage":["https://openalex.org/I848706"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hyouk Ryeol Choi","raw_affiliation_strings":["School of Mechanical Engineering, Sungkyunkwan University, Suwon, South Korea"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Sungkyunkwan University, Suwon, South Korea","institution_ids":["https://openalex.org/I848706"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5084715180"],"corresponding_institution_ids":["https://openalex.org/I848706"],"apc_list":null,"apc_paid":null,"fwci":3.1786,"has_fulltext":false,"cited_by_count":46,"citation_normalized_percentile":{"value":0.91921143,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":93,"max":100},"biblio":{"volume":"6","issue":"4","first_page":"8021","last_page":"8028"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998000264167786,"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":0.9998000264167786,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9790999889373779,"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"}},{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9653000235557556,"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":0.7106180787086487},{"id":"https://openalex.org/keywords/proximity-sensor","display_name":"Proximity sensor","score":0.6849279403686523},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5552013516426086},{"id":"https://openalex.org/keywords/capacitive-sensing","display_name":"Capacitive sensing","score":0.5296499729156494},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.4623907804489136},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4447654187679291},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4227154850959778},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.4213058054447174},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.38643351197242737},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3606719970703125},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3425397276878357},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.30146968364715576},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.23036080598831177},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1980760097503662}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7106180787086487},{"id":"https://openalex.org/C135403697","wikidata":"https://www.wikidata.org/wiki/Q796765","display_name":"Proximity sensor","level":2,"score":0.6849279403686523},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5552013516426086},{"id":"https://openalex.org/C206755178","wikidata":"https://www.wikidata.org/wiki/Q1131271","display_name":"Capacitive sensing","level":2,"score":0.5296499729156494},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.4623907804489136},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4447654187679291},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4227154850959778},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.4213058054447174},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.38643351197242737},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3606719970703125},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3425397276878357},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.30146968364715576},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.23036080598831177},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1980760097503662},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2021.3102318","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3102318","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":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321681","display_name":"Ministry of Trade, Industry and Energy","ror":"https://ror.org/008nkqk13"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":9,"referenced_works":["https://openalex.org/W1978023077","https://openalex.org/W2077281874","https://openalex.org/W2346410411","https://openalex.org/W2559539034","https://openalex.org/W2588016079","https://openalex.org/W2967778346","https://openalex.org/W3004052631","https://openalex.org/W3004410362","https://openalex.org/W3129933761"],"related_works":["https://openalex.org/W340201814","https://openalex.org/W2152098532","https://openalex.org/W4386571252","https://openalex.org/W2045180228","https://openalex.org/W2731973168","https://openalex.org/W241455228","https://openalex.org/W2155218958","https://openalex.org/W4283740974","https://openalex.org/W3082546580","https://openalex.org/W2166944910"],"abstract_inverted_index":{"This":[0],"letter":[1],"introduces":[2],"a":[3,8,12,58,75,83,111,116,134,151],"dual-type":[4,59],"proximity":[5,60],"sensor":[6],"and":[7,47,66,69,77,96,162],"control":[9,95,109],"strategy":[10],"for":[11,30],"robot":[13,49,76,153],"manipulator":[14,105],"to":[15,88,107,141],"realize":[16],"safe":[17],"human-robot":[18,160],"interactions":[19],"(HRI)":[20],"by":[21,92],"using":[22,93,133],"the":[23,41,48,72,101,104,124],"sensor.":[24],"Safety":[25],"is":[26,50,128],"an":[27,44],"essential":[28],"condition":[29],"HRI":[31],"in":[32],"practical":[33],"scenarios.":[34],"To":[35,52,99],"achieve":[36],"this":[37,54],"condition,":[38],"information":[39],"about":[40],"relationship":[42],"between":[43,74],"external":[45,78],"objects":[46],"required.":[51],"obtain":[53],"information,":[55],"we":[56,81],"employ":[57],"sensor,":[61],"which":[62],"consists":[63],"of":[64,103,126,138],"capacitive":[65],"inductive":[67],"transducers":[68],"can":[70],"detect":[71],"distance":[73,97],"objects.":[79],"Further,":[80,123],"propose":[82],"real-time":[84],"trajectory":[85],"planning":[86],"method":[87,147],"deal":[89],"with":[90],"obstacles":[91],"admittance":[94],"measurements.":[98],"update":[100],"motion":[102],"according":[106],"our":[108],"strategy,":[110],"Weight-Prioritized":[112],"solution":[113],"based":[114],"on":[115,150],"QP":[117],"(quadratic":[118],"programming)":[119],"formalism":[120],"was":[121,148,165],"applied.":[122],"problem":[125],"self-sensing":[127],"solved":[129],"via":[130],"machine":[131],"learning":[132],"training":[135],"dataset":[136],"consisting":[137],"data":[139],"corresponding":[140],"random":[142],"joint":[143],"positions.":[144],"The":[145],"proposed":[146],"implemented":[149],"collaborate":[152],"(UR10).":[154],"Experiments":[155],"were":[156],"conducted":[157],"considering":[158],"realistic":[159],"interactions,":[161],"safety":[163],"improvement":[164],"validated.":[166]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":20},{"year":2024,"cited_by_count":12},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":2}],"updated_date":"2026-03-12T08:34:05.389933","created_date":"2025-10-10T00:00:00"}