{"id":"https://openalex.org/W4399767199","doi":"https://doi.org/10.1109/lra.2024.3415930","title":"A Passive Power-Based Control Strategy for pHRI Tasks With Omni-Directional Robotic Mobile Platforms","display_name":"A Passive Power-Based Control Strategy for pHRI Tasks With Omni-Directional Robotic Mobile Platforms","publication_year":2024,"publication_date":"2024-06-18","ids":{"openalex":"https://openalex.org/W4399767199","doi":"https://doi.org/10.1109/lra.2024.3415930"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3415930","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2024.3415930","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","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":true,"oa_status":"hybrid","oa_url":"https://doi.org/10.1109/lra.2024.3415930","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5006328420","display_name":"Theodora Kastritsi","orcid":"https://orcid.org/0000-0002-5379-0259"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Theodora Kastritsi","raw_affiliation_strings":["Human-Robot Interfaces and Interaction Laboratory, Istituto Italiano di Tecnologia, Genoa, Italy"],"raw_orcid":"https://orcid.org/0000-0002-5379-0259","affiliations":[{"raw_affiliation_string":"Human-Robot Interfaces and Interaction Laboratory, Istituto Italiano di Tecnologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"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/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Arash Ajoudani","raw_affiliation_strings":["Human-Robot Interfaces and Interaction Laboratory, Istituto Italiano di Tecnologia, Genoa, Italy"],"raw_orcid":"https://orcid.org/0000-0002-1261-737X","affiliations":[{"raw_affiliation_string":"Human-Robot Interfaces and Interaction Laboratory, Istituto Italiano di Tecnologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5006328420"],"corresponding_institution_ids":["https://openalex.org/I30771326"],"apc_list":null,"apc_paid":null,"fwci":1.7139,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.83810942,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"9","issue":"8","first_page":"6959","last_page":"6966"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11707","display_name":"Gaze Tracking and Assistive Technology","score":0.9879000186920166,"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"}},"topics":[{"id":"https://openalex.org/T11707","display_name":"Gaze Tracking and Assistive Technology","score":0.9879000186920166,"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/T10429","display_name":"EEG and Brain-Computer Interfaces","score":0.9853000044822693,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9850000143051147,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.6066124439239502},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5853826403617859},{"id":"https://openalex.org/keywords/power","display_name":"Power (physics)","score":0.5548850297927856},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.5302472114562988},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3749784231185913},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3712276816368103},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.3422578275203705},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.286277174949646},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1562497913837433}],"concepts":[{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.6066124439239502},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5853826403617859},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.5548850297927856},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5302472114562988},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3749784231185913},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3712276816368103},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.3422578275203705},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.286277174949646},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1562497913837433},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2024.3415930","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2024.3415930","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1109/lra.2024.3415930","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2024.3415930","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.4699999988079071,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W1500588313","https://openalex.org/W1548528537","https://openalex.org/W2009192474","https://openalex.org/W2101392974","https://openalex.org/W2134235175","https://openalex.org/W2586687222","https://openalex.org/W2967680879","https://openalex.org/W3129604472","https://openalex.org/W3175634108","https://openalex.org/W3195040544","https://openalex.org/W4214854542","https://openalex.org/W4253990853","https://openalex.org/W4301491118"],"related_works":["https://openalex.org/W1967782764","https://openalex.org/W2100279467","https://openalex.org/W4313418547","https://openalex.org/W2128187209","https://openalex.org/W2739511251","https://openalex.org/W2765396887","https://openalex.org/W4377982295","https://openalex.org/W2045581700","https://openalex.org/W2275027362","https://openalex.org/W2114040463"],"abstract_inverted_index":{"Mobile":[0],"robotic":[1,38,164],"platforms":[2],"have":[3],"gained":[4],"increasing":[5],"popularity":[6],"across":[7],"various":[8],"fields;":[9],"however,":[10],"achieving":[11],"intuitive":[12],"physical":[13],"interaction":[14],"between":[15],"these":[16,107],"robots":[17],"and":[18,87,128,151],"humans":[19],"remains":[20],"an":[21,162],"ongoing":[22],"area":[23],"of":[24,48,60,106,145,153],"exploration.":[25],"In":[26,75,140],"this":[27],"study,":[28],"we":[29,147],"proposed":[30,42,155],"a":[31,114,120],"novel":[32],"variable":[33,108],"admittance":[34,43,80],"model":[35,44],"designed":[36],"for":[37],"mobile":[39,165],"platforms.":[40],"The":[41,104],"achieves":[45],"the":[46,49,54,61,73,76,79,85,91,101,125,149,154],"decoupling":[47],"desired":[50],"dynamics":[51],"related":[52],"to":[53,97,100,112,118,124,129,142],"intended":[55,92],"motion":[56,93],"direction":[57,94],"from":[58],"that":[59,65],"unintentional":[62,77],"motion,":[63],"ensuring":[64,137],"changes":[66],"in":[67],"one":[68],"space":[69],"do":[70],"not":[71],"affect":[72],"other.":[74],"space,":[78],"parameters":[81],"remain":[82],"constant,":[83],"while":[84],"inertia":[86],"damping":[88],"gains":[89],"along":[90],"are":[95],"adjusted":[96],"provide":[98],"compliance":[99],"human":[102,126,134],"user.":[103],"design":[105],"terms":[109],"was":[110],"performed":[111],"ensure":[113],"consistent":[115,122],"response,":[116],"aiming":[117],"offer":[119],"perceived":[121],"behavior":[123],"user":[127],"guarantee":[130],"strict":[131],"passivity":[132],"under":[133],"force":[135],"input,":[136],"manipulation":[138],"stability.":[139],"addition":[141],"theoretical":[143],"proof":[144],"passivity,":[146],"validate":[148],"effectiveness":[150],"performance":[152],"control":[156],"scheme":[157],"through":[158],"experimental":[159],"results":[160],"using":[161],"omni-directional":[163],"platform.":[166]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1}],"updated_date":"2026-04-25T08:17:42.794288","created_date":"2025-10-10T00:00:00"}
