{"id":"https://openalex.org/W3195113316","doi":"https://doi.org/10.1109/ro-man50785.2021.9515326","title":"Intent-Aware Predictive Haptic Guidance and its Application to Shared Control Teleoperation","display_name":"Intent-Aware Predictive Haptic Guidance and its Application to Shared Control Teleoperation","publication_year":2021,"publication_date":"2021-08-08","ids":{"openalex":"https://openalex.org/W3195113316","doi":"https://doi.org/10.1109/ro-man50785.2021.9515326","mag":"3195113316"},"language":"en","primary_location":{"id":"doi:10.1109/ro-man50785.2021.9515326","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ro-man50785.2021.9515326","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 30th IEEE International Conference on Robot & Human Interactive Communication (RO-MAN)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://nottingham-repository.worktribe.com/output/5721206","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5073253853","display_name":"Kim Tien Ly","orcid":"https://orcid.org/0000-0002-4967-4220"},"institutions":[{"id":"https://openalex.org/I142263535","display_name":"University of Nottingham","ror":"https://ror.org/01ee9ar58","country_code":"GB","type":"education","lineage":["https://openalex.org/I142263535"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Kim Tien Ly","raw_affiliation_strings":["School of Computer Science, University of Nottingham, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science, University of Nottingham, UK","institution_ids":["https://openalex.org/I142263535"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062329913","display_name":"Mithun Poozhiyil","orcid":null},"institutions":[{"id":"https://openalex.org/I142263535","display_name":"University of Nottingham","ror":"https://ror.org/01ee9ar58","country_code":"GB","type":"education","lineage":["https://openalex.org/I142263535"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Mithun Poozhiyil","raw_affiliation_strings":["School of Computer Science, University of Nottingham, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science, University of Nottingham, UK","institution_ids":["https://openalex.org/I142263535"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090944040","display_name":"Harit Pandya","orcid":"https://orcid.org/0000-0002-3842-1949"},"institutions":[{"id":"https://openalex.org/I4210143477","display_name":"Toshiba (United Kingdom)","ror":"https://ror.org/054hmd463","country_code":"GB","type":"company","lineage":["https://openalex.org/I1292669757","https://openalex.org/I4210143477"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Harit Pandya","raw_affiliation_strings":["Toshiba Research Europe, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Toshiba Research Europe, UK","institution_ids":["https://openalex.org/I4210143477"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110467801","display_name":"Gerhard Neumann","orcid":"https://orcid.org/0000-0002-5483-4225"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Gerhard Neumann","raw_affiliation_strings":["Autonomous Learning Robots, KIT, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Learning Robots, KIT, Germany","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5054468538","display_name":"Ay\u015fe K\u00fc\u00e7\u00fcky\u0131lmaz","orcid":"https://orcid.org/0000-0003-3202-6750"},"institutions":[{"id":"https://openalex.org/I142263535","display_name":"University of Nottingham","ror":"https://ror.org/01ee9ar58","country_code":"GB","type":"education","lineage":["https://openalex.org/I142263535"]},{"id":"https://openalex.org/I51532219","display_name":"University of Lincoln","ror":"https://ror.org/03yeq9x20","country_code":"GB","type":"education","lineage":["https://openalex.org/I51532219"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Ayse Kucukyilmaz","raw_affiliation_strings":["Lincoln Centre for Autonomous Systems (L-CAS), University of Lincoln, UK","School of Computer Science, University of Nottingham, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Lincoln Centre for Autonomous Systems (L-CAS), University of Lincoln, UK","institution_ids":["https://openalex.org/I51532219"]},{"raw_affiliation_string":"School of Computer Science, University of Nottingham, UK","institution_ids":["https://openalex.org/I142263535"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5073253853"],"corresponding_institution_ids":["https://openalex.org/I142263535"],"apc_list":null,"apc_paid":null,"fwci":1.2395,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.76753834,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"565","last_page":"572"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9997000098228455,"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":0.9997000098228455,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9887999892234802,"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/T10914","display_name":"Tactile and Sensory Interactions","score":0.9800999760627747,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.9271169900894165},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.8830890655517578},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6803891658782959},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.5627172589302063},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.5157685279846191},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.45564186573028564},{"id":"https://openalex.org/keywords/telerobotics","display_name":"Telerobotics","score":0.44915124773979187},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.317466139793396},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.26490938663482666},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20222756266593933},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.15900826454162598}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.9271169900894165},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.8830890655517578},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6803891658782959},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.5627172589302063},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5157685279846191},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.45564186573028564},{"id":"https://openalex.org/C196467688","wikidata":"https://www.wikidata.org/wiki/Q1851985","display_name":"Telerobotics","level":4,"score":0.44915124773979187},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.317466139793396},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.26490938663482666},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20222756266593933},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.15900826454162598}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/ro-man50785.2021.9515326","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ro-man50785.2021.9515326","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 30th IEEE International Conference on Robot & Human Interactive Communication (RO-MAN)","raw_type":"proceedings-article"},{"id":"pmh:oai:nottingham-repository.worktribe.com:5721206","is_oa":true,"landing_page_url":"https://nottingham-repository.worktribe.com/output/5721206","pdf_url":null,"source":{"id":"https://openalex.org/S4306402483","display_name":"Repository@Nottingham (University of Nottingham)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I142263535","host_organization_name":"University of Nottingham","host_organization_lineage":["https://openalex.org/I142263535"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"acceptedVersion"}],"best_oa_location":{"id":"pmh:oai:nottingham-repository.worktribe.com:5721206","is_oa":true,"landing_page_url":"https://nottingham-repository.worktribe.com/output/5721206","pdf_url":null,"source":{"id":"https://openalex.org/S4306402483","display_name":"Repository@Nottingham (University of Nottingham)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I142263535","host_organization_name":"University of Nottingham","host_organization_lineage":["https://openalex.org/I142263535"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"acceptedVersion"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3308442291","display_name":null,"funder_award_id":"EP/S033718/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G7256125567","display_name":null,"funder_award_id":"EP/S033718/2","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"},{"id":"https://openalex.org/F4320338463","display_name":"CHIST-ERA","ror":"https://ror.org/00rbzpz17"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":42,"referenced_works":["https://openalex.org/W112573420","https://openalex.org/W1482496154","https://openalex.org/W1684361744","https://openalex.org/W2012587148","https://openalex.org/W2012913160","https://openalex.org/W2018705428","https://openalex.org/W2096787288","https://openalex.org/W2098224401","https://openalex.org/W2099563642","https://openalex.org/W2105925198","https://openalex.org/W2114428836","https://openalex.org/W2120328935","https://openalex.org/W2126552455","https://openalex.org/W2140073083","https://openalex.org/W2148722082","https://openalex.org/W2150768354","https://openalex.org/W2151905266","https://openalex.org/W2154543878","https://openalex.org/W2160083885","https://openalex.org/W2161395589","https://openalex.org/W2166302491","https://openalex.org/W2167589601","https://openalex.org/W2169513627","https://openalex.org/W2191886813","https://openalex.org/W2483674195","https://openalex.org/W2592413607","https://openalex.org/W2735021678","https://openalex.org/W2790754119","https://openalex.org/W2913541242","https://openalex.org/W2963507484","https://openalex.org/W2978133643","https://openalex.org/W3004986371","https://openalex.org/W3011722025","https://openalex.org/W3035497536","https://openalex.org/W3095837294","https://openalex.org/W3102555952","https://openalex.org/W3125151095","https://openalex.org/W3128462963","https://openalex.org/W4211008118","https://openalex.org/W6653548176","https://openalex.org/W6786286644","https://openalex.org/W6789758169"],"related_works":["https://openalex.org/W2094105667","https://openalex.org/W2097347938","https://openalex.org/W2164858976","https://openalex.org/W2970545857","https://openalex.org/W2046710269","https://openalex.org/W817518365","https://openalex.org/W2097059456","https://openalex.org/W2141648055","https://openalex.org/W2145103607","https://openalex.org/W4367662652"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,60,65,73,87,96,130],"haptic":[4,78,194],"shared":[5],"control":[6],"paradigm":[7,58,210],"that":[8,147,189,207],"modulates":[9],"the":[10,35,44,57,81,83,93,100,103,106,111,139,166,171,179,193,199,208,225],"level":[11,36],"of":[12,18,37,198,227],"robotic":[13,38],"guidance,":[14],"based":[15,40],"on":[16,41,59,95,192],"predictions":[17,135],"human":[19,30,84,101,151],"motion":[20,113],"intentions.":[21],"The":[22,134,158,196],"proposed":[23,209],"method":[24],"incorporates":[25],"robot":[26,69,89,104,141,145],"trajectories":[27,146,168],"learned":[28,149],"from":[29,150],"demonstrations":[31,152],"and":[32,110,143,173,219,230,234],"dynamically":[33],"adjusts":[34],"assistance":[39],"how":[42],"closely":[43],"detected":[45,159],"intentions":[46,114,160],"match":[47],"these":[48],"trajectories.":[49],"An":[50],"experimental":[51],"study":[52],"is":[53],"conducted":[54,202],"to":[55,164,169,215],"demonstrate":[56],"teleoperated":[61],"pick-and-place":[62],"task":[63],"using":[64,129,153],"Franka":[66],"Emika":[67],"Panda":[68],"arm,":[70,105],"controlled":[71],"via":[72],"3D":[74],"Systems":[75],"Touch":[76],"X":[77],"interface.":[79],"In":[80],"experiment,":[82],"operator":[85],"teleoperates":[86,102],"remote":[88],"arm":[90],"while":[91],"observing":[92],"environment":[94],"2D":[97],"screen.":[98],"While":[99],"objects":[107],"are":[108,127,136,148,161,190],"tracked,":[109],"human\u2019s":[112],"(e.g.,":[115],"which":[116,122],"object":[117,176],"will":[118,124],"be":[119,125],"picked":[120],"or":[121],"bin":[123],"approached)":[126],"predicted":[128],"Deep":[131],"Q-Network":[132],"(DQN).":[133],"made":[137],"considering":[138],"current":[140],"state":[142],"baseline":[144],"Probabilistic":[154],"Movement":[155],"Primitives":[156],"(ProMPs).":[157],"then":[162],"used":[163],"condition":[165],"ProMP":[167],"modulate":[170],"movement":[172],"accommodate":[174],"changing":[175],"configurations.":[177],"Consequently,":[178],"system":[180],"generates":[181],"adaptive":[182],"force":[183],"guidance":[184],"as":[185],"weighted":[186],"virtual":[187],"fixtures":[188],"rendered":[191],"device.":[195],"outcomes":[197],"user":[200],"study,":[201],"with":[203],"12":[204],"participants,":[205],"indicate":[206],"can":[211],"successfully":[212],"guide":[213],"users":[214],"robust":[216],"grasping":[217],"configurations":[218],"brings":[220],"better":[221],"performance":[222],"by":[223],"reducing":[224],"number":[226],"grasp":[228],"attempts":[229],"improving":[231],"trajectory":[232],"smoothness":[233],"length.":[235]},"counts_by_year":[{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":5}],"updated_date":"2026-05-03T08:25:01.440150","created_date":"2025-10-10T00:00:00"}