{"id":"https://openalex.org/W4398788589","doi":"https://doi.org/10.1109/lra.2024.3405352","title":"Dynamic Collaborative Workspace Based on Human Interference Estimation for Safe and Productive Human-Robot Collaboration","display_name":"Dynamic Collaborative Workspace Based on Human Interference Estimation for Safe and Productive Human-Robot Collaboration","publication_year":2024,"publication_date":"2024-05-24","ids":{"openalex":"https://openalex.org/W4398788589","doi":"https://doi.org/10.1109/lra.2024.3405352"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3405352","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3405352","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/A5001851501","display_name":"Mitsuhiro Kamezaki","orcid":"https://orcid.org/0000-0002-4377-8993"},"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"]},{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Mitsuhiro Kamezaki","raw_affiliation_strings":["Graduate School of Engineering, The University of Tokyo, Tokyo, Japan","Graduate School of Engineering, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo, Japan","Future Robotics Organization, Waseda Univ., Japan"],"raw_orcid":"https://orcid.org/0000-0002-4377-8993","affiliations":[{"raw_affiliation_string":"Graduate School of Engineering, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Graduate School of Engineering, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Future Robotics Organization, Waseda Univ., Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112291172","display_name":"Tomohiro Wada","orcid":null},"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":"Tomohiro Wada","raw_affiliation_strings":["Department of Modern Mechanical Engineering, Waseda University, Tokyo, Japan","Major in Modern Mechanical Engineering, Waseda University, 17 Kikui-cho, Shinjuku-ku, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0009-0002-5540-2368","affiliations":[{"raw_affiliation_string":"Department of Modern Mechanical Engineering, Waseda University, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]},{"raw_affiliation_string":"Major in Modern Mechanical Engineering, Waseda University, 17 Kikui-cho, Shinjuku-ku, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5080654277","display_name":"Shigeki Sugano","orcid":"https://orcid.org/0000-0002-9331-2446"},"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":"Shigeki Sugano","raw_affiliation_strings":["Department of Modern Mechanical Engineering, Waseda University, Tokyo, Japan","Department of Modern Mechanical Engineering, Waseda University, 3-4-1 Okubo, Shinjuku-ku, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0000-0002-9331-2446","affiliations":[{"raw_affiliation_string":"Department of Modern Mechanical Engineering, Waseda University, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]},{"raw_affiliation_string":"Department of Modern Mechanical Engineering, Waseda University, 3-4-1 Okubo, Shinjuku-ku, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.7203,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.82271793,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"9","issue":"7","first_page":"6568","last_page":"6575"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9513000249862671,"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"}},"topics":[{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9513000249862671,"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/T10525","display_name":"Human-Automation Interaction and Safety","score":0.9445000290870667,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T12006","display_name":"Ergonomics and Musculoskeletal Disorders","score":0.9362999796867371,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.7661962509155273},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.6854236721992493},{"id":"https://openalex.org/keywords/interference","display_name":"Interference (communication)","score":0.5676658153533936},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5382075309753418},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5083922743797302},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4906386435031891},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2859429121017456},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.1614108681678772}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.7661962509155273},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.6854236721992493},{"id":"https://openalex.org/C32022120","wikidata":"https://www.wikidata.org/wiki/Q797225","display_name":"Interference (communication)","level":3,"score":0.5676658153533936},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5382075309753418},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5083922743797302},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4906386435031891},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2859429121017456},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.1614108681678772},{"id":"https://openalex.org/C127162648","wikidata":"https://www.wikidata.org/wiki/Q16858953","display_name":"Channel (broadcasting)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2024.3405352","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3405352","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/8","display_name":"Decent work and economic growth","score":0.6700000166893005}],"awards":[{"id":"https://openalex.org/G7898847430","display_name":"Research on human collaborative robots that induce intrinsic motivation based on the perception of internal dynamics through physical contact","funder_award_id":"24H00728","funder_id":"https://openalex.org/F4320334764","funder_display_name":"Japan Society for the Promotion of Science"}],"funders":[{"id":"https://openalex.org/F4320334764","display_name":"Japan Society for the Promotion of Science","ror":"https://ror.org/00hhkn466"},{"id":"https://openalex.org/F4320336715","display_name":"Future Robotics Organization, Waseda University","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W2419360510","https://openalex.org/W2513304997","https://openalex.org/W2561340204","https://openalex.org/W2774036007","https://openalex.org/W2778540354","https://openalex.org/W2789905221","https://openalex.org/W2791385109","https://openalex.org/W2887530648","https://openalex.org/W2901630465","https://openalex.org/W2908086359","https://openalex.org/W2910081881","https://openalex.org/W2922186535","https://openalex.org/W2948218505","https://openalex.org/W2955189310","https://openalex.org/W2958453231","https://openalex.org/W3003705398","https://openalex.org/W3043377354","https://openalex.org/W3044675897","https://openalex.org/W3094493488","https://openalex.org/W3113242254","https://openalex.org/W3114952123","https://openalex.org/W3182645060","https://openalex.org/W3186826702","https://openalex.org/W3197128667","https://openalex.org/W4210911538","https://openalex.org/W4312651793","https://openalex.org/W4312759788","https://openalex.org/W4313148857","https://openalex.org/W4379364617"],"related_works":["https://openalex.org/W2368970131","https://openalex.org/W2978665606","https://openalex.org/W4287179229","https://openalex.org/W3205513966","https://openalex.org/W3120459843","https://openalex.org/W4366547574","https://openalex.org/W3200191727","https://openalex.org/W189465620","https://openalex.org/W4366818884","https://openalex.org/W2248308732"],"abstract_inverted_index":{"Collaborative":[0],"robots":[1],"that":[2,186,269],"operate":[3],"safely":[4],"close":[5],"to":[6,63,144,148,160,164,209,213],"workers":[7],"without":[8,254,263],"fences":[9,255],"have":[10,21],"attracted":[11],"attention,":[12],"but":[13],"few":[14],"examples":[15],"of":[16,180,286],"such":[17],"human-robot":[18],"collaboration":[19],"(HRC)":[20],"been":[22],"seen":[23],"in":[24,32,105,150,167,235],"factories.":[25],"The":[26,69],"main":[27],"reason":[28],"is":[29,76,82,229,234],"the":[30,42,48,74,96,110,120,146,162,198,211,232,270,278,283,289],"difficulty":[31],"balancing":[33],"safety":[34,155,287],"and":[35,59,117,154,192,206,231,253,256,262,267,281],"productivity.":[36],"Current":[37],"fenceless":[38],"HRC":[39,241],"systems":[40,242],"stop":[41],"robot":[43,60,70,111,147,233,246],"when":[44,73,218],"a":[45,92,102,177,181,219,244,264,274],"human":[46,58,75,163,212,220],"enters":[47,221],"collaborative":[49,183],"workspace":[50,184],"(":[51,112,125],"<italic":[52,87,106,113,122,126,132,136,151,168,189,193,222,226],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[53,88,107,114,123,127,133,137,152,169,190,194,223,227],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">CC</i>":[54,89,108,124,134,224,228],")":[55,129],"where":[56],"both":[57],"can":[61],"work":[62,149],"ensure":[64],"safety,":[65],"which":[66],"ISO/TS15066":[67],"regulates.":[68],"stops":[71],"even":[72],"far":[77],"enough":[78],"away,":[79],"so":[80],"productivity":[81,140,280],"drastically":[83],"decreased":[84],"(FCW,":[85],"Fixed":[86],").":[90],"If":[91],"system":[93,272,291],"could":[94],"identify":[95],"human-work":[97],"area,":[98],"designate":[99],"it":[100],"as":[101,288],"no-entry":[103],"space":[104],"for":[109],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">CCPP</i>":[115,138,170,195],"),":[116],"dynamically":[118,187],"set":[119],"closed":[121],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">CCCC</i>":[128,153,191],"with":[130,252,261,273,292],"shrinking":[131],"by":[135],",":[139,225],"would":[141,156],"improve":[142],"thanks":[143,159],"enabling":[145],"be":[157],"ensured":[158],"allowing":[161],"continue":[165],"working":[166],".":[171],"In":[172],"this":[173],"study,":[174],"we":[175],"propose":[176],"new":[178],"concept":[179],"dynamic":[182],"(DCW)":[185],"sets":[188],"based":[196],"on":[197],"human's":[199],"predicted":[200],"trajectory.":[201],"It":[202],"also":[203],"provides":[204],"visual":[205],"auditory":[207],"prompts":[208],"enable":[210],"understand":[214],"DCW":[215,259],"states,":[216],"i.e.,":[217],"changed,":[230],"emergency":[236],"mode.":[237],"We":[238],"compared":[239],"four":[240],"using":[243],"real":[245],"arm:":[247],"two":[248,257],"conventional":[249,290],"FCW":[250],"ones":[251,260],"proposed":[258,271],"state":[265,275],"indicator":[266,276],"found":[268],"has":[277],"best":[279],"ensures":[282],"same":[284],"level":[285],"fences.":[293]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":1}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}