{"id":"https://openalex.org/W4385696071","doi":"https://doi.org/10.1109/lra.2023.3303828","title":"Unsupervised Human Motion Segmentation Based on Characteristic Force Signals of Contact Events","display_name":"Unsupervised Human Motion Segmentation Based on Characteristic Force Signals of Contact Events","publication_year":2023,"publication_date":"2023-08-09","ids":{"openalex":"https://openalex.org/W4385696071","doi":"https://doi.org/10.1109/lra.2023.3303828"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2023.3303828","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3303828","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/A5027541581","display_name":"Keito Sugawara","orcid":"https://orcid.org/0000-0002-1173-2237"},"institutions":[{"id":"https://openalex.org/I72253084","display_name":"Saitama University","ror":"https://ror.org/02evnh647","country_code":"JP","type":"education","lineage":["https://openalex.org/I72253084"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Keito Sugawara","raw_affiliation_strings":["Graduate School of Science and Engineering, Saitama University, Sakura, Saitama, Japan"],"raw_orcid":"https://orcid.org/0000-0002-1173-2237","affiliations":[{"raw_affiliation_string":"Graduate School of Science and Engineering, Saitama University, Sakura, Saitama, Japan","institution_ids":["https://openalex.org/I72253084"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065050034","display_name":"Sho Sakaino","orcid":"https://orcid.org/0000-0002-5182-5649"},"institutions":[{"id":"https://openalex.org/I146399215","display_name":"University of Tsukuba","ror":"https://ror.org/02956yf07","country_code":"JP","type":"education","lineage":["https://openalex.org/I146399215"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Sho Sakaino","raw_affiliation_strings":["Graduate School of Systems and Information Engineering, University of Tsukuba, Tsukuba, Ibaraki, Japan"],"raw_orcid":"https://orcid.org/0000-0002-5182-5649","affiliations":[{"raw_affiliation_string":"Graduate School of Systems and Information Engineering, University of Tsukuba, Tsukuba, Ibaraki, Japan","institution_ids":["https://openalex.org/I146399215"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5017159721","display_name":"Toshiaki Tsuji","orcid":"https://orcid.org/0000-0002-4532-4514"},"institutions":[{"id":"https://openalex.org/I72253084","display_name":"Saitama University","ror":"https://ror.org/02evnh647","country_code":"JP","type":"education","lineage":["https://openalex.org/I72253084"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Toshiaki Tsuji","raw_affiliation_strings":["Graduate School of Science and Engineering, Saitama University, Sakura, Saitama, Japan"],"raw_orcid":"https://orcid.org/0000-0002-4532-4514","affiliations":[{"raw_affiliation_string":"Graduate School of Science and Engineering, Saitama University, Sakura, Saitama, Japan","institution_ids":["https://openalex.org/I72253084"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.6884,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.69775672,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"8","issue":"10","first_page":"6203","last_page":"6210"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"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":0.9998999834060669,"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/T11398","display_name":"Hand Gesture Recognition Systems","score":0.9930999875068665,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9832000136375427,"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/segmentation","display_name":"Segmentation","score":0.8331818580627441},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7576040625572205},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6493886113166809},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6074733138084412},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5643566250801086},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5037502646446228},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.5019142627716064},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.47791773080825806},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4694209694862366},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.4366685152053833},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.4334734082221985},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.39662307500839233},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.15165454149246216},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12291765213012695}],"concepts":[{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.8331818580627441},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7576040625572205},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6493886113166809},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6074733138084412},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5643566250801086},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5037502646446228},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.5019142627716064},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.47791773080825806},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4694209694862366},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.4366685152053833},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.4334734082221985},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.39662307500839233},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.15165454149246216},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12291765213012695},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2023.3303828","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3303828","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":[{"id":"https://metadata.un.org/sdg/10","score":0.5400000214576721,"display_name":"Reduced inequalities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W1483365869","https://openalex.org/W1489248927","https://openalex.org/W1492952184","https://openalex.org/W1529739011","https://openalex.org/W1673310716","https://openalex.org/W1812585516","https://openalex.org/W1986014385","https://openalex.org/W2022760091","https://openalex.org/W2023944350","https://openalex.org/W2087780909","https://openalex.org/W2105777811","https://openalex.org/W2157332596","https://openalex.org/W2161491846","https://openalex.org/W2167947958","https://openalex.org/W2343142751","https://openalex.org/W2520697540","https://openalex.org/W2563258752","https://openalex.org/W2892211305","https://openalex.org/W2963669336","https://openalex.org/W2974467923","https://openalex.org/W2994446013","https://openalex.org/W3016699247","https://openalex.org/W3150398929","https://openalex.org/W3150915266","https://openalex.org/W3156015382","https://openalex.org/W3156821575","https://openalex.org/W6628808406","https://openalex.org/W6637131181","https://openalex.org/W6768196029"],"related_works":["https://openalex.org/W4379231730","https://openalex.org/W8302103","https://openalex.org/W2375420338","https://openalex.org/W1817375815","https://openalex.org/W4389858081","https://openalex.org/W3171631314","https://openalex.org/W2606825221","https://openalex.org/W4324315429","https://openalex.org/W2064245428","https://openalex.org/W2157702526"],"abstract_inverted_index":{"Humans":[0],"perform":[1],"complex":[2],"tasks":[3],"involving":[4],"force":[5],"interactions":[6],"daily.":[7],"Learning":[8],"from":[9],"demonstration,":[10],"a":[11,55,59,87],"method":[12,37,53,83],"for":[13,23,49,108],"transferring":[14],"such":[15],"human":[16],"manipulation":[17],"skills":[18],"to":[19],"robots,":[20],"requires":[21],"techniques":[22],"segmenting":[24],"the":[25,69,78,98],"demonstrations":[26],"into":[27],"movement":[28],"primitives.":[29],"Therefore,":[30],"we":[31],"propose":[32],"an":[33],"unsupervised":[34],"motion":[35,50,109],"segmentation":[36,65,82],"that":[38],"utilizes":[39],"small":[40],"characteristic":[41],"fluctuations":[42],"of":[43,72,100,104],"6-axis":[44,73],"force/torque":[45,74],"signals":[46,75],"as":[47],"features":[48],"segmentation.":[51,110],"This":[52],"includes":[54],"feature":[56],"extraction":[57],"using":[58,86,101],"time":[60,70,102],"derivative":[61,71,103],"process":[62],"and":[63,90,106],"detects":[64],"points":[66],"based":[67],"on":[68],"obtained":[76],"during":[77],"task":[79,89],"demonstrations.":[80],"The":[81,94],"was":[84],"evaluated":[85],"peg-in-hole":[88],"bottle-lid":[91],"opening":[92],"task.":[93],"experimental":[95],"results":[96],"demonstrate":[97],"validity":[99],"forces":[105],"torques":[107]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
