{"id":"https://openalex.org/W1962965017","doi":"https://doi.org/10.1109/mra.2004.1310938","title":"Playing it safe","display_name":"Playing it safe","publication_year":2004,"publication_date":"2004-06-01","ids":{"openalex":"https://openalex.org/W1962965017","doi":"https://doi.org/10.1109/mra.2004.1310938","mag":"1962965017"},"language":"en","primary_location":{"id":"doi:10.1109/mra.2004.1310938","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mra.2004.1310938","pdf_url":null,"source":{"id":"https://openalex.org/S132261465","display_name":"IEEE Robotics & Automation Magazine","issn_l":"1070-9932","issn":["1070-9932","1558-223X"],"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 & Automation Magazine","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/A5088739855","display_name":"Michael Zinn","orcid":"https://orcid.org/0000-0002-6815-5899"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"M. Zinn","raw_affiliation_strings":["Design Division, Department of Mechanical Engineering, University of Stanford, Stanford, CA, USA","Dept. of Mech. Eng., Stanford Univ., CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Design Division, Department of Mechanical Engineering, University of Stanford, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]},{"raw_affiliation_string":"Dept. of Mech. Eng., Stanford Univ., CA, USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051336665","display_name":"Oussama Khatib","orcid":"https://orcid.org/0000-0003-0482-1415"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"O. Khatib","raw_affiliation_strings":["International Foundation of Robotics Research, IFRR, Switzerland","[International Foundation of Robotics Research, IFRR, Switzerland]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"International Foundation of Robotics Research, IFRR, Switzerland","institution_ids":[]},{"raw_affiliation_string":"[International Foundation of Robotics Research, IFRR, Switzerland]","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111811328","display_name":"Bernard Roth","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"B. Roth","raw_affiliation_strings":["International Federation for Robotics","[International Federation for Robotics]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"International Federation for Robotics","institution_ids":[]},{"raw_affiliation_string":"[International Federation for Robotics]","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5110822793","display_name":"J. Kenneth Salisbury","orcid":null},"institutions":[{"id":"https://openalex.org/I1311060795","display_name":"U.S. National Science Foundation","ror":"https://ror.org/021nxhr62","country_code":"US","type":"government","lineage":["https://openalex.org/I1311060795"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"J.K. Salisbury","raw_affiliation_strings":["Robotics and Human Augmentation, National Science Foundation's Advisory Council, USA","[Robotics and Human Augmentation, National Science Foundation's Advisory Council, USA]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics and Human Augmentation, National Science Foundation's Advisory Council, USA","institution_ids":["https://openalex.org/I1311060795"]},{"raw_affiliation_string":"[Robotics and Human Augmentation, National Science Foundation's Advisory Council, USA]","institution_ids":["https://openalex.org/I1311060795"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":46.5118,"has_fulltext":false,"cited_by_count":405,"citation_normalized_percentile":{"value":0.99899149,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"11","issue":"2","first_page":"12","last_page":"21"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9993000030517578,"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":0.9993000030517578,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9984999895095825,"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/T10868","display_name":"Soft Robotics and Applications","score":0.970300018787384,"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/robotics","display_name":"Robotics","score":0.8273571729660034},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6736111640930176},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6080714464187622},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5856286883354187},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.5819076299667358},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.55451899766922},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.4921655058860779},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.48363959789276123},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4576394557952881},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.4438939690589905},{"id":"https://openalex.org/keywords/mobile-manipulator","display_name":"Mobile manipulator","score":0.44081762433052063},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3908708691596985},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3603052496910095},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.3292095363140106},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.21532025933265686},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.061325132846832275}],"concepts":[{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.8273571729660034},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6736111640930176},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6080714464187622},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5856286883354187},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.5819076299667358},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.55451899766922},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.4921655058860779},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.48363959789276123},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4576394557952881},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.4438939690589905},{"id":"https://openalex.org/C190727649","wikidata":"https://www.wikidata.org/wiki/Q1941532","display_name":"Mobile manipulator","level":4,"score":0.44081762433052063},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3908708691596985},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3603052496910095},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.3292095363140106},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.21532025933265686},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.061325132846832275},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/mra.2004.1310938","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mra.2004.1310938","pdf_url":null,"source":{"id":"https://openalex.org/S132261465","display_name":"IEEE Robotics & Automation Magazine","issn_l":"1070-9932","issn":["1070-9932","1558-223X"],"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 & Automation Magazine","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.75,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W22439419","https://openalex.org/W104381567","https://openalex.org/W1521257674","https://openalex.org/W1554436968","https://openalex.org/W1915593659","https://openalex.org/W2066379939","https://openalex.org/W2100890824","https://openalex.org/W2111253117","https://openalex.org/W2112474089","https://openalex.org/W2117038705","https://openalex.org/W2131063775","https://openalex.org/W2135569231","https://openalex.org/W2162189406","https://openalex.org/W2175599199","https://openalex.org/W6631331923"],"related_works":["https://openalex.org/W4234825356","https://openalex.org/W2695075568","https://openalex.org/W4361186078","https://openalex.org/W2331363374","https://openalex.org/W2329712830","https://openalex.org/W2648339586","https://openalex.org/W577644862","https://openalex.org/W2391397427","https://openalex.org/W2159353126","https://openalex.org/W3146509177"],"abstract_inverted_index":{"We":[0],"have":[1],"presented":[2],"a":[3,25,102],"new":[4,17,40],"actuation":[5,41,59],"concept":[6,18],"for":[7],"human-friendly":[8],"robot":[9,28],"design,":[10],"referred":[11],"to":[12,35,64],"as":[13,80],"DM/sup":[14,20],"2/.":[15],"The":[16,39,70],"of":[19,58,67,73,110,123],"2/":[21],"was":[22],"demonstrated":[23],"on":[24,77],"two-degree-of-freedom":[26],"prototype":[27],"arm":[29],"that":[30],"we":[31,115],"designed":[32],"and":[33,83,94],"built":[34],"validate":[36],"our":[37],"approach.":[38],"approach":[42],"substantially":[43],"reduces":[44],"the":[45,55,62,65,68,108],"impact":[46],"loads":[47],"associated":[48],"with":[49],"uncontrolled":[50],"manipulator":[51,124],"collision":[52],"by":[53],"relocating":[54],"major":[56],"source":[57],"effort":[60],"from":[61],"joint":[63],"base":[66],"manipulator.":[69],"emerging":[71],"field":[72],"human-centered":[74],"robotics":[75,82],"focuses":[76],"application":[78],"such":[79],"medical":[81],"service":[84],"robotics,":[85],"which":[86],"require":[87],"close":[88],"interaction":[89],"between":[90],"robotic":[91],"manipulation":[92],"systems":[93],"human":[95],"beings,":[96],"including":[97],"direct":[98],"human-manipulator":[99],"contact.":[100],"As":[101],"result,":[103],"this":[104],"system":[105],"must":[106,116],"consider":[107],"requirements":[109],"safety.":[111],"To":[112],"achieve":[113],"safety":[114],"employ":[117],"multiple":[118],"strategies":[119],"involving":[120],"all":[121],"aspects":[122],"design.":[125]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":17},{"year":2020,"cited_by_count":14},{"year":2019,"cited_by_count":23},{"year":2018,"cited_by_count":24},{"year":2017,"cited_by_count":20},{"year":2016,"cited_by_count":13},{"year":2015,"cited_by_count":22},{"year":2014,"cited_by_count":25},{"year":2013,"cited_by_count":14},{"year":2012,"cited_by_count":28}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2016-06-24T00:00:00"}