{"id":"https://openalex.org/W4385975785","doi":"https://doi.org/10.1109/lra.2023.3306668","title":"Uncertainty-Aware Haptic Shared Control With Humanoid Robots for Flexible Object Manipulation","display_name":"Uncertainty-Aware Haptic Shared Control With Humanoid Robots for Flexible Object Manipulation","publication_year":2023,"publication_date":"2023-08-18","ids":{"openalex":"https://openalex.org/W4385975785","doi":"https://doi.org/10.1109/lra.2023.3306668"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2023.3306668","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3306668","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/A5085682434","display_name":"Takumi Hara","orcid":"https://orcid.org/0009-0006-8885-6330"},"institutions":[{"id":"https://openalex.org/I22299242","display_name":"Kyoto University","ror":"https://ror.org/02kpeqv85","country_code":"JP","type":"education","lineage":["https://openalex.org/I22299242"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Takumi Hara","raw_affiliation_strings":["Depertment of Informatics, Graduate School of Informatics, Kyoto University, Sakyo, Kyoto, Japan"],"raw_orcid":"https://orcid.org/0009-0006-8885-6330","affiliations":[{"raw_affiliation_string":"Depertment of Informatics, Graduate School of Informatics, Kyoto University, Sakyo, Kyoto, Japan","institution_ids":["https://openalex.org/I22299242"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017861176","display_name":"Takashi Sat\u014d","orcid":"https://orcid.org/0000-0002-1577-8259"},"institutions":[{"id":"https://openalex.org/I22299242","display_name":"Kyoto University","ror":"https://ror.org/02kpeqv85","country_code":"JP","type":"education","lineage":["https://openalex.org/I22299242"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Takashi Sato","raw_affiliation_strings":["Department of Communication and Computer Engineering, Graduate School of Infomatics, Kyoto University, Sakyo, Kyoto, Japan"],"raw_orcid":"https://orcid.org/0000-0002-1577-8259","affiliations":[{"raw_affiliation_string":"Department of Communication and Computer Engineering, Graduate School of Infomatics, Kyoto University, Sakyo, Kyoto, Japan","institution_ids":["https://openalex.org/I22299242"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055922202","display_name":"Tetsuya Ogata","orcid":"https://orcid.org/0000-0001-7015-0379"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tetsuya Ogata","raw_affiliation_strings":["Department of Intermedia Art and Science, School of Fundamental Science and Engineering, Waseda University, Shinjuku, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0000-0001-7015-0379","affiliations":[{"raw_affiliation_string":"Department of Intermedia Art and Science, School of Fundamental Science and Engineering, Waseda University, Shinjuku, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102716651","display_name":"Hiromitsu Awano","orcid":"https://orcid.org/0000-0002-3674-4584"},"institutions":[{"id":"https://openalex.org/I22299242","display_name":"Kyoto University","ror":"https://ror.org/02kpeqv85","country_code":"JP","type":"education","lineage":["https://openalex.org/I22299242"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hiromitsu Awano","raw_affiliation_strings":["Department of Communication and Computer Engineering, Graduate School of Infomatics, Kyoto University, Sakyo, Kyoto, Japan"],"raw_orcid":"https://orcid.org/0000-0002-3674-4584","affiliations":[{"raw_affiliation_string":"Department of Communication and Computer Engineering, Graduate School of Infomatics, Kyoto University, Sakyo, Kyoto, Japan","institution_ids":["https://openalex.org/I22299242"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.7535,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.90425419,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"8","issue":"10","first_page":"6435","last_page":"6442"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9976000189781189,"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":0.9976000189781189,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9954000115394592,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.9785000085830688,"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/haptic-technology","display_name":"Haptic technology","score":0.8840759992599487},{"id":"https://openalex.org/keywords/operability","display_name":"Operability","score":0.7607139945030212},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6849803924560547},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.6474260687828064},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.569815456867218},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.5655471086502075},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5355100035667419},{"id":"https://openalex.org/keywords/presentation","display_name":"Presentation (obstetrics)","score":0.5027203559875488},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4837470054626465},{"id":"https://openalex.org/keywords/inference","display_name":"Inference","score":0.4687538146972656},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4579119086265564},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.40527403354644775},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3749806880950928},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.17386701703071594}],"concepts":[{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.8840759992599487},{"id":"https://openalex.org/C126231374","wikidata":"https://www.wikidata.org/wiki/Q1061298","display_name":"Operability","level":2,"score":0.7607139945030212},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6849803924560547},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.6474260687828064},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.569815456867218},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.5655471086502075},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5355100035667419},{"id":"https://openalex.org/C2777601897","wikidata":"https://www.wikidata.org/wiki/Q3409113","display_name":"Presentation (obstetrics)","level":2,"score":0.5027203559875488},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4837470054626465},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.4687538146972656},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4579119086265564},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.40527403354644775},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3749806880950928},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.17386701703071594},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.0},{"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/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C126838900","wikidata":"https://www.wikidata.org/wiki/Q77604","display_name":"Radiology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2023.3306668","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3306668","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":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1963840845","https://openalex.org/W2004359926","https://openalex.org/W2077235177","https://openalex.org/W2085480121","https://openalex.org/W2120328935","https://openalex.org/W2128750024","https://openalex.org/W2558355904","https://openalex.org/W2559767995","https://openalex.org/W2587449023","https://openalex.org/W2592413607","https://openalex.org/W2891618570","https://openalex.org/W2942100496","https://openalex.org/W2967246862","https://openalex.org/W3001358351","https://openalex.org/W3011722025","https://openalex.org/W3033809666","https://openalex.org/W3198322187","https://openalex.org/W3200270133","https://openalex.org/W3205062082","https://openalex.org/W4223520461","https://openalex.org/W4223954591","https://openalex.org/W6704559304"],"related_works":["https://openalex.org/W1486626671","https://openalex.org/W2153012318","https://openalex.org/W1543696273","https://openalex.org/W2125626150","https://openalex.org/W4379404267","https://openalex.org/W2045316876","https://openalex.org/W2736987351","https://openalex.org/W3215343488","https://openalex.org/W3041788432","https://openalex.org/W2579292459"],"abstract_inverted_index":{"We":[0],"propose":[1],"a":[2,13,37,110,122,126],"haptic":[3,19,29,59,78,150],"shared":[4,30],"control":[5,25,31],"system":[6],"that":[7,103,140,145],"predicts":[8],"human":[9,107],"manipulation":[10],"intentions":[11],"using":[12,114],"neural":[14,72,87,159],"network":[15,88],"and":[16,91],"adaptively":[17],"presents":[18],"guidance":[20,46,60,79,101,151],"to":[21,39,139],"achieve":[22],"smooth":[23],"robot":[24],"remotely.":[26],"Although":[27],"the":[28,56,64,67,71,77,86,115,147,155,158],"has":[32],"garnered":[33],"increasing":[34],"attention":[35],"as":[36],"method":[38,144],"improve":[40],"operability":[41],"in":[42,84,121,131],"remote":[43],"operations,":[44],"incorrect":[45],"can":[47],"worsen":[48],"operability.":[49],"In":[50],"this":[51],"study,":[52],"we":[53,75,129],"dynamically":[54],"switch":[55],"strength":[57,81,148],"of":[58,66,70,112,149,157],"presentation":[61,80,102,152],"depending":[62],"on":[63],"uncertainty":[65],"inference":[68],"results":[69],"network.":[73,160],"Thus,":[74],"weaken":[76],"for":[82,94],"predictions":[83],"which":[85],"lacks":[89],"confidence":[90,156],"strengthen":[92],"it":[93],"those":[95],"with":[96,141],"high":[97],"confidence,":[98],"thereby":[99],"achieving":[100],"does":[104],"not":[105],"impede":[106],"manipulation.":[108],"As":[109],"result":[111],"experiments":[113],"Nextage":[116],"OPEN":[117],"upper-body":[118],"humanoid":[119],"robot,":[120],"task":[123,133],"involving":[124],"folding":[125],"flexible":[127],"object,":[128],"succeeded":[130],"reducing":[132],"execution":[134],"time":[135],"by":[136],"17.1%":[137],"compared":[138],"an":[142],"existing":[143],"determines":[146],"without":[153],"considering":[154]},"counts_by_year":[{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}