{"id":"https://openalex.org/W4388100074","doi":"https://doi.org/10.1109/lra.2023.3328366","title":"An Ergo-Interactive Framework for Human-Robot Collaboration Via Learning From Demonstration","display_name":"An Ergo-Interactive Framework for Human-Robot Collaboration Via Learning From Demonstration","publication_year":2023,"publication_date":"2023-10-30","ids":{"openalex":"https://openalex.org/W4388100074","doi":"https://doi.org/10.1109/lra.2023.3328366"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2023.3328366","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3328366","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/A5078866149","display_name":"Zhiwei Liao","orcid":"https://orcid.org/0000-0002-1246-0050"},"institutions":[{"id":"https://openalex.org/I4210130157","display_name":"Institute of Informatics and Telematics","ror":"https://ror.org/02gdcn153","country_code":"IT","type":"facility","lineage":["https://openalex.org/I4210130157","https://openalex.org/I4210155236"]},{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN","IT"],"is_corresponding":true,"raw_author_name":"Zhiwei Liao","raw_affiliation_strings":["State Key Laboratory for Manufacturing Systems Engineering, Shaanxi Key Laboratory of Intelligent Robots, and School of Mechanical Engineering, Xi&#x0027;an Jiaotong University, Xi&#x0027;an, China","HRI2 Laboratory, IIT, Genova, Italy"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory for Manufacturing Systems Engineering, Shaanxi Key Laboratory of Intelligent Robots, and School of Mechanical Engineering, Xi&#x0027;an Jiaotong University, Xi&#x0027;an, China","institution_ids":["https://openalex.org/I87445476"]},{"raw_affiliation_string":"HRI2 Laboratory, IIT, Genova, Italy","institution_ids":["https://openalex.org/I4210130157"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073049605","display_name":"Marta Lorenzini","orcid":"https://orcid.org/0000-0002-9458-6844"},"institutions":[{"id":"https://openalex.org/I4210130157","display_name":"Institute of Informatics and Telematics","ror":"https://ror.org/02gdcn153","country_code":"IT","type":"facility","lineage":["https://openalex.org/I4210130157","https://openalex.org/I4210155236"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Marta Lorenzini","raw_affiliation_strings":["HRI2 Laboratory, IIT, Genova, Italy"],"affiliations":[{"raw_affiliation_string":"HRI2 Laboratory, IIT, Genova, Italy","institution_ids":["https://openalex.org/I4210130157"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026875541","display_name":"Mattia Leonori","orcid":"https://orcid.org/0000-0003-3653-4648"},"institutions":[{"id":"https://openalex.org/I4210130157","display_name":"Institute of Informatics and Telematics","ror":"https://ror.org/02gdcn153","country_code":"IT","type":"facility","lineage":["https://openalex.org/I4210130157","https://openalex.org/I4210155236"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Mattia Leonori","raw_affiliation_strings":["HRI2 Laboratory, IIT, Genova, Italy"],"affiliations":[{"raw_affiliation_string":"HRI2 Laboratory, IIT, Genova, Italy","institution_ids":["https://openalex.org/I4210130157"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112121580","display_name":"Fei Zhao","orcid":"https://orcid.org/0000-0002-1405-5593"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fei Zhao","raw_affiliation_strings":["State Key Laboratory for Manufacturing Systems Engineering, Shaanxi Key Laboratory of Intelligent Robots, and School of Mechanical Engineering, Xi&#x0027;an Jiaotong University, Xi&#x0027;an, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory for Manufacturing Systems Engineering, Shaanxi Key Laboratory of Intelligent Robots, and School of Mechanical Engineering, Xi&#x0027;an Jiaotong University, Xi&#x0027;an, China","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101986266","display_name":"Gedong Jiang","orcid":"https://orcid.org/0000-0002-3766-1211"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Gedong Jiang","raw_affiliation_strings":["State Key Laboratory for Manufacturing Systems Engineering, Shaanxi Key Laboratory of Intelligent Robots, and School of Mechanical Engineering, Xi&#x0027;an Jiaotong University, Xi&#x0027;an, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory for Manufacturing Systems Engineering, Shaanxi Key Laboratory of Intelligent Robots, and School of Mechanical Engineering, Xi&#x0027;an Jiaotong University, Xi&#x0027;an, China","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5070028115","display_name":"Arash Ajoudani","orcid":"https://orcid.org/0000-0002-1261-737X"},"institutions":[{"id":"https://openalex.org/I4210130157","display_name":"Institute of Informatics and Telematics","ror":"https://ror.org/02gdcn153","country_code":"IT","type":"facility","lineage":["https://openalex.org/I4210130157","https://openalex.org/I4210155236"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Arash Ajoudani","raw_affiliation_strings":["HRI2 Laboratory, IIT, Genova, Italy"],"affiliations":[{"raw_affiliation_string":"HRI2 Laboratory, IIT, Genova, Italy","institution_ids":["https://openalex.org/I4210130157"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5078866149"],"corresponding_institution_ids":["https://openalex.org/I4210130157","https://openalex.org/I87445476"],"apc_list":null,"apc_paid":null,"fwci":2.743,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.90542744,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"9","issue":"1","first_page":"359","last_page":"366"},"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9930999875068665,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.991100013256073,"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/task","display_name":"Task (project management)","score":0.6763214468955994},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6028112173080444},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.6016378998756409},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5962653160095215},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5952550172805786},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5930889844894409},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.5694395303726196},{"id":"https://openalex.org/keywords/motion-capture","display_name":"Motion capture","score":0.4660782516002655},{"id":"https://openalex.org/keywords/adaptation","display_name":"Adaptation (eye)","score":0.45599621534347534},{"id":"https://openalex.org/keywords/task-analysis","display_name":"Task analysis","score":0.45335474610328674},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.42424729466438293},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.41871920228004456},{"id":"https://openalex.org/keywords/cartesian-coordinate-system","display_name":"Cartesian coordinate system","score":0.41470763087272644},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.40033307671546936},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2567533850669861},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.12005829811096191}],"concepts":[{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6763214468955994},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6028112173080444},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.6016378998756409},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5962653160095215},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5952550172805786},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5930889844894409},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.5694395303726196},{"id":"https://openalex.org/C48007421","wikidata":"https://www.wikidata.org/wiki/Q676252","display_name":"Motion capture","level":3,"score":0.4660782516002655},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.45599621534347534},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.45335474610328674},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.42424729466438293},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.41871920228004456},{"id":"https://openalex.org/C16038011","wikidata":"https://www.wikidata.org/wiki/Q62912","display_name":"Cartesian coordinate system","level":2,"score":0.41470763087272644},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.40033307671546936},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2567533850669861},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.12005829811096191},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2023.3328366","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3328366","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":[{"id":"https://openalex.org/G3379047307","display_name":null,"funder_award_id":"850932","funder_id":"https://openalex.org/F4320334678","funder_display_name":"European Research Council"},{"id":"https://openalex.org/G7774179347","display_name":null,"funder_award_id":"52175029","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320322725","display_name":"China Scholarship Council","ror":"https://ror.org/04atp4p48"},{"id":"https://openalex.org/F4320334678","display_name":"European Research Council","ror":"https://ror.org/0472cxd90"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1523815250","https://openalex.org/W1969874316","https://openalex.org/W1979117064","https://openalex.org/W2033663068","https://openalex.org/W2136719407","https://openalex.org/W2157289187","https://openalex.org/W2157719307","https://openalex.org/W2296332048","https://openalex.org/W2739274579","https://openalex.org/W2765218414","https://openalex.org/W2767508918","https://openalex.org/W2799280697","https://openalex.org/W2895599712","https://openalex.org/W2922427364","https://openalex.org/W3091416641","https://openalex.org/W3112041916","https://openalex.org/W3118504914","https://openalex.org/W3187113103","https://openalex.org/W4210645477","https://openalex.org/W4210863484","https://openalex.org/W4226039310","https://openalex.org/W4312625742","https://openalex.org/W4313388998","https://openalex.org/W4317424970"],"related_works":["https://openalex.org/W1941703695","https://openalex.org/W3131574667","https://openalex.org/W2559881192","https://openalex.org/W4388624165","https://openalex.org/W2586362452","https://openalex.org/W2621386530","https://openalex.org/W2148892780","https://openalex.org/W3097029141","https://openalex.org/W2159606325","https://openalex.org/W2157119315"],"abstract_inverted_index":{"This":[0,134],"work":[1],"presents":[2],"an":[3],"ergonomic":[4,56],"and":[5,23,125,153,158,165],"interactive":[6],"human-robot":[7,36,109],"collaboration":[8],"(HRC)":[9],"framework,":[10,103],"through":[11,25],"which":[12,92],"new":[13],"collaborative":[14],"skills":[15],"are":[16],"extracted":[17],"from":[18],"a":[19,63,82,86,104,108,138],"one-shot":[20],"human":[21,53,163],"demonstration":[22],"learned":[24,74,148],"Riemannian":[26],"dynamic":[27],"movement":[28],"primitives":[29],"(DMP).":[30],"The":[31,66,77,114,142],"proposed":[32,102],"framework":[33,78],"responds":[34],"to":[35,39,41,155,162],"interaction":[37],"forces":[38],"adapt":[40],"the":[42,52,73,94,101,117,147],"task":[43,75,111,123],"requirements,":[44],"while":[45],"generating":[46],"virtual":[47],"\u201cergonomic":[48],"forces\u201d":[49],"that":[50,146],"guide":[51],"toward":[54],"more":[55],"postures,":[57],"based":[58],"on":[59,81],"online":[60,160],"monitoring":[61],"of":[62,96,116,122],"kinematics-based":[64],"index.":[65],"resulting":[67],"motion":[68],"is":[69,79,112,128,135],"then":[70],"integrated":[71],"into":[72],"trajectories.":[76],"implemented":[80],"mobile":[83],"manipulator":[84],"with":[85],"weighted":[87],"whole-body":[88],"Cartesian":[89],"velocity":[90],"controller,":[91],"meets":[93],"needs":[95],"large-scale":[97],"HRC.":[98],"To":[99],"evaluate":[100],"multi-subject":[105],"experiment":[106],"involving":[107],"co-carrying":[110],"conducted.":[113],"performance":[115,124],"ergo-interactive":[118],"control":[119],"in":[120],"terms":[121],"ergonomics":[126],"adaptation":[127],"verified":[129],"under":[130],"different":[131],"experimental":[132,143],"conditions.":[133],"followed":[136],"by":[137],"comparative":[139],"statistical":[140],"analysis.":[141],"results":[144],"show":[145],"trajectory":[149],"can":[150],"be":[151],"reproduced":[152],"generalized":[154],"several":[156],"targets":[157],"adjusted":[159],"according":[161],"preferences":[164],"ergonomics.":[166]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":7}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
