{"id":"https://openalex.org/W4400726753","doi":"https://doi.org/10.1109/lra.2024.3430131","title":"Hierarchical Human Motion Intention Prediction for Increasing Efficacy of Human-Robot Collaboration","display_name":"Hierarchical Human Motion Intention Prediction for Increasing Efficacy of Human-Robot Collaboration","publication_year":2024,"publication_date":"2024-07-17","ids":{"openalex":"https://openalex.org/W4400726753","doi":"https://doi.org/10.1109/lra.2024.3430131"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3430131","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3430131","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":null,"display_name":"Lingyi Meng","orcid":"https://orcid.org/0009-0001-0048-8451"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Lingyi Meng","raw_affiliation_strings":["State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0009-0001-0048-8451","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210112150","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102889997","display_name":"Lin Yang","orcid":"https://orcid.org/0000-0001-5786-828X"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Lin Yang","raw_affiliation_strings":["School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore"],"raw_orcid":"https://orcid.org/0000-0001-5786-828X","affiliations":[{"raw_affiliation_string":"School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5032907893","display_name":"Enhao Zheng","orcid":"https://orcid.org/0000-0002-8819-0130"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Enhao Zheng","raw_affiliation_strings":["State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-8819-0130","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210112150","https://openalex.org/I19820366"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210112150"],"apc_list":null,"apc_paid":null,"fwci":6.5457,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.96821863,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"9","issue":"9","first_page":"7637","last_page":"7644"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12006","display_name":"Ergonomics and Musculoskeletal Disorders","score":0.9412000179290771,"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"}},"topics":[{"id":"https://openalex.org/T12006","display_name":"Ergonomics and Musculoskeletal Disorders","score":0.9412000179290771,"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/motion","display_name":"Motion (physics)","score":0.6614201068878174},{"id":"https://openalex.org/keywords/human-motion","display_name":"Human motion","score":0.6480083465576172},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.5602298378944397},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5037724375724792},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.47205549478530884},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4013635516166687},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.37230217456817627},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.3475803732872009}],"concepts":[{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.6614201068878174},{"id":"https://openalex.org/C2986578859","wikidata":"https://www.wikidata.org/wiki/Q657632","display_name":"Human motion","level":3,"score":0.6480083465576172},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.5602298378944397},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5037724375724792},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.47205549478530884},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4013635516166687},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.37230217456817627},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.3475803732872009}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2024.3430131","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3430131","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/G2479127965","display_name":null,"funder_award_id":"62073318","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/F4320322847","display_name":"Youth Innovation Promotion Association of the Chinese Academy of Sciences","ror":"https://ror.org/031141b54"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W2036411590","https://openalex.org/W2109207762","https://openalex.org/W2295029210","https://openalex.org/W2564917287","https://openalex.org/W2588978360","https://openalex.org/W2606499982","https://openalex.org/W2765218414","https://openalex.org/W2766203889","https://openalex.org/W2784881541","https://openalex.org/W2915722752","https://openalex.org/W2920965856","https://openalex.org/W2923078152","https://openalex.org/W2939037429","https://openalex.org/W2948218505","https://openalex.org/W2958441538","https://openalex.org/W3006115429","https://openalex.org/W3012435612","https://openalex.org/W3041162835","https://openalex.org/W3049156125","https://openalex.org/W3088224066","https://openalex.org/W3093774781","https://openalex.org/W3108940487","https://openalex.org/W3177437499","https://openalex.org/W4205876578","https://openalex.org/W4211049957","https://openalex.org/W4223627534","https://openalex.org/W4285155143","https://openalex.org/W4313072373","https://openalex.org/W4383108858","https://openalex.org/W4388430323","https://openalex.org/W4389121755","https://openalex.org/W6754266399","https://openalex.org/W6857329305"],"related_works":["https://openalex.org/W2978665606","https://openalex.org/W4287179229","https://openalex.org/W3205513966","https://openalex.org/W3120459843","https://openalex.org/W4366547574","https://openalex.org/W2529580585","https://openalex.org/W3200191727","https://openalex.org/W189465620","https://openalex.org/W2804584315","https://openalex.org/W4366818884"],"abstract_inverted_index":{"When":[0],"humans":[1,24],"and":[2,25,57,93,99,136,161,198],"robots":[3,13,151],"work":[4],"together":[5],"to":[6,21,106],"accomplish":[7],"tasks":[8],"with":[9,23,65,76,115,186],"dynamic":[10],"uncertainty,":[11],"the":[12,44,51,58,83,95,112,119,127,138,142,170,176],"should":[14],"perceive":[15],"human":[16,48,72,107,133],"motion":[17,35,49,55,62,79],"intentions":[18],"so":[19],"as":[20,155],"cooperate":[22],"increase":[26],"efficacy.":[27],"In":[28],"this":[29],"study,":[30],"we":[31],"propose":[32],"a":[33,88,182],"hierarchical":[34,128,153,172],"intention":[36],"prediction":[37,75],"model":[38,69,114,129,173],"for":[39],"human-robot":[40,120,179],"collaboration,":[41],"in":[42,91,102,118],"which":[43],"bottom":[45],"level":[46,53,60],"acquires":[47],"information,":[50],"middle":[52],"recognizes":[54],"states":[56],"high":[59],"predicts":[61],"intentions.":[63],"Compared":[64],"existing":[66,187],"methods,":[67],"our":[68],"fuses":[70],"task-level":[71],"behavioral":[73],"pattern":[74],"instantaneous":[77],"continuous":[78],"intent":[80],"decoding.":[81],"Therefore,":[82],"robot":[84],"controller":[85],"can":[86,130],"generate":[87],"collaborative":[89],"trajectory":[90],"advance":[92],"adjust":[94],"key":[96],"parameters":[97],"(forces":[98],"velocities,":[100],"etc.)":[101],"real":[103],"time":[104],"according":[105],"motions.":[108],"We":[109],"quantitatively":[110],"verify":[111],"proposed":[113,171],"10":[116],"subjects":[117,149],"sawing":[121],"task.":[122,143],"The":[123],"results":[124],"show":[125],"that":[126,148,169],"effectively":[131],"reduce":[132],"energy":[134],"consumption":[135],"improve":[137],"average":[139],"speed":[140],"of":[141,157,178],"Meanwhile,":[144],"subjective":[145],"metrics":[146],"indicate":[147],"believe":[150],"employing":[152],"models":[154],"capable":[156],"fostering":[158],"improved":[159],"cooperation":[160],"delivering":[162],"greater":[163],"assistance.":[164],"Our":[165],"study":[166],"systematically":[167],"proves":[168],"significantly":[174],"enhanced":[175],"efficiency":[177],"co-manipulation,":[180],"marking":[181],"step":[183],"forward":[184],"compared":[185],"works.":[188],"Future":[189],"studies":[190],"will":[191],"be":[192],"focused":[193],"on":[194],"investigating":[195],"more":[196],"complex":[197],"general":[199],"tasks.":[200]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":9}],"updated_date":"2026-05-03T08:25:01.440150","created_date":"2025-10-10T00:00:00"}
