{"id":"https://openalex.org/W4409326473","doi":"https://doi.org/10.1109/lra.2025.3559845","title":"A Null Space Compliance Approach for Maintaining Safety and Tracking Performance in Human-Robot Interactions","display_name":"A Null Space Compliance Approach for Maintaining Safety and Tracking Performance in Human-Robot Interactions","publication_year":2025,"publication_date":"2025-04-10","ids":{"openalex":"https://openalex.org/W4409326473","doi":"https://doi.org/10.1109/lra.2025.3559845"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3559845","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3559845","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/A5086084976","display_name":"Zi-Qi Yang","orcid":"https://orcid.org/0009-0008-2053-2510"},"institutions":[{"id":"https://openalex.org/I125749732","display_name":"Western University","ror":"https://ror.org/02grkyz14","country_code":"CA","type":"education","lineage":["https://openalex.org/I125749732"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Zi-Qi Yang","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Western University, London, ON, Canada"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Western University, London, ON, Canada","institution_ids":["https://openalex.org/I125749732"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100343762","display_name":"Miaomiao Wang","orcid":"https://orcid.org/0000-0001-7498-5162"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Miaomiao Wang","raw_affiliation_strings":["School of Artificial Intelligence and Automation, Huazhong University of Science and Technology, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"School of Artificial Intelligence and Automation, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5018767588","display_name":"Mehrdad R. Kermani","orcid":"https://orcid.org/0000-0003-0513-9485"},"institutions":[{"id":"https://openalex.org/I125749732","display_name":"Western University","ror":"https://ror.org/02grkyz14","country_code":"CA","type":"education","lineage":["https://openalex.org/I125749732"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Mehrdad R. Kermani","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Western University, London, ON, Canada"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Western University, London, ON, Canada","institution_ids":["https://openalex.org/I125749732"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5086084976"],"corresponding_institution_ids":["https://openalex.org/I125749732"],"apc_list":null,"apc_paid":null,"fwci":2.3794,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.85636043,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"10","issue":"6","first_page":"5369","last_page":"5376"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10525","display_name":"Human-Automation Interaction and Safety","score":0.9850999712944031,"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/T10525","display_name":"Human-Automation Interaction and Safety","score":0.9850999712944031,"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/T10809","display_name":"Occupational Health and Safety Research","score":0.9257000088691711,"subfield":{"id":"https://openalex.org/subfields/3614","display_name":"Radiological and Ultrasound Technology"},"field":{"id":"https://openalex.org/fields/36","display_name":"Health Professions"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/null","display_name":"Null (SQL)","score":0.6326684951782227},{"id":"https://openalex.org/keywords/compliance","display_name":"Compliance (psychology)","score":0.6005638241767883},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.5957826375961304},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5663260817527771},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5548017024993896},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.4817790687084198},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.44466131925582886},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3317522406578064},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.30288398265838623},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.22854888439178467},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.11306041479110718},{"id":"https://openalex.org/keywords/social-psychology","display_name":"Social psychology","score":0.1087111234664917},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.05796021223068237}],"concepts":[{"id":"https://openalex.org/C203763787","wikidata":"https://www.wikidata.org/wiki/Q371029","display_name":"Null (SQL)","level":2,"score":0.6326684951782227},{"id":"https://openalex.org/C2781460075","wikidata":"https://www.wikidata.org/wiki/Q1399332","display_name":"Compliance (psychology)","level":2,"score":0.6005638241767883},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.5957826375961304},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5663260817527771},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5548017024993896},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.4817790687084198},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.44466131925582886},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3317522406578064},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.30288398265838623},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.22854888439178467},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.11306041479110718},{"id":"https://openalex.org/C77805123","wikidata":"https://www.wikidata.org/wiki/Q161272","display_name":"Social psychology","level":1,"score":0.1087111234664917},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.05796021223068237},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3559845","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3559845","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":[{"display_name":"Climate action","id":"https://metadata.un.org/sdg/13","score":0.4300000071525574}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1548528537","https://openalex.org/W1986152369","https://openalex.org/W1991667713","https://openalex.org/W2169015737","https://openalex.org/W2244449411","https://openalex.org/W2416909497","https://openalex.org/W2762248135","https://openalex.org/W2810905956","https://openalex.org/W2953943807","https://openalex.org/W2988334419","https://openalex.org/W3115157241","https://openalex.org/W3138748647","https://openalex.org/W3160173994","https://openalex.org/W4205617436","https://openalex.org/W4367314567","https://openalex.org/W4400966525","https://openalex.org/W6654793094"],"related_works":["https://openalex.org/W2410395228","https://openalex.org/W3125941065","https://openalex.org/W1570309050","https://openalex.org/W2484615095","https://openalex.org/W4366449942","https://openalex.org/W4287179229","https://openalex.org/W3205513966","https://openalex.org/W3120459843","https://openalex.org/W4366547574","https://openalex.org/W3200191727"],"abstract_inverted_index":{"In":[0,65],"recent":[1],"years,":[2],"the":[3,40,55,95,99,115,123,140,159,169,172,176],"focus":[4],"on":[5,161,183],"developing":[6],"robot":[7,56,124,141],"manipulators":[8],"has":[9,35],"shifted":[10],"towards":[11],"prioritizing":[12],"safety":[13],"in":[14,27,147],"Human-Robot":[15],"Interaction":[16],"(HRI).":[17],"Impedance":[18],"control":[19,26,33,82,137],"is":[20],"a":[21,32,78,86,132,184],"typical":[22],"approach":[23,34,71,108,178],"for":[24],"interaction":[25,96],"collaboration":[28],"tasks.":[29],"However,":[30],"such":[31],"two":[36],"main":[37,103,162],"limitations:":[38],"1)":[39],"end-effector":[41],"(EE)'s":[42],"limited":[43],"compliance":[44],"to":[45,47,58,61,72,112,143,149],"adapt":[46,60],"unknown":[48,62],"physical":[49,63],"interactions,":[50,150],"and":[51,174],"2)":[52],"inability":[53],"of":[54,98,171],"body":[57,142],"compliantly":[59,125],"interactions.":[64],"this":[66],"work,":[67],"we":[68,167],"present":[69],"an":[70],"address":[73],"these":[74],"drawbacks.":[75],"We":[76],"introduce":[77],"modified":[79],"Cartesian":[80],"impedance":[81,136],"method":[83,138],"combined":[84],"with":[85,114,131],"Dynamical":[87],"System":[88],"(DS)-based":[89],"motion":[90],"generator,":[91],"aimed":[92],"at":[93],"enhancing":[94],"capability":[97],"EE":[100,116],"without":[101],"compromising":[102],"task":[104,163],"tracking":[105,164],"performance.":[106,165],"This":[107],"enables":[109,139],"human":[110],"coworkers":[111],"interact":[113],"on-the-fly,":[117],"e.g.":[118],"tool":[119],"changeover,":[120],"after":[121],"which":[122],"resumes":[126],"its":[127],"task.":[128],"Additionally,":[129],"combining":[130],"new":[133],"null":[134],"space":[135],"exhibit":[144],"compliant":[145],"behaviour":[146],"response":[148],"avoiding":[151],"serious":[152],"injuries":[153],"from":[154],"accidental":[155],"contact":[156],"while":[157],"mitigating":[158],"impact":[160],"Finally,":[166],"prove":[168],"passivity":[170],"system":[173],"validate":[175],"proposed":[177],"through":[179],"comprehensive":[180],"comparative":[181],"experiments":[182],"7":[185],"Degree-of-Freedom":[186],"(DOF)":[187],"KUKA":[188],"LWR":[189],"IV+":[190],"robot.":[191]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-04-03T22:45:19.894376","created_date":"2025-10-10T00:00:00"}