{"id":"https://openalex.org/W3195873024","doi":"https://doi.org/10.1109/ro-man50785.2021.9515470","title":"Estimating Robot Body Torque for Two-Handed Cooperative Physical Human-Robot Interaction","display_name":"Estimating Robot Body Torque for Two-Handed Cooperative Physical Human-Robot Interaction","publication_year":2021,"publication_date":"2021-08-08","ids":{"openalex":"https://openalex.org/W3195873024","doi":"https://doi.org/10.1109/ro-man50785.2021.9515470","mag":"3195873024"},"language":"en","primary_location":{"id":"doi:10.1109/ro-man50785.2021.9515470","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ro-man50785.2021.9515470","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 &amp; Human Interactive Communication (RO-MAN)","raw_type":"proceedings-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/A5056983014","display_name":"Johannes Mogster","orcid":null},"institutions":[{"id":"https://openalex.org/I179863766","display_name":"Western Norway University of Applied Sciences","ror":"https://ror.org/05phns765","country_code":"NO","type":"education","lineage":["https://openalex.org/I179863766"]}],"countries":["NO"],"is_corresponding":false,"raw_author_name":"Johannes Mogster","raw_affiliation_strings":["Western Norway University of Applied Sciences,Department of Computer Science, Electrical Engineering and Mathematical Sciences, Faculty of Engineering and Science,F&#x00F8;rde,Norway"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Western Norway University of Applied Sciences,Department of Computer Science, Electrical Engineering and Mathematical Sciences, Faculty of Engineering and Science,F&#x00F8;rde,Norway","institution_ids":["https://openalex.org/I179863766"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026714512","display_name":"Martin F. Stoelen","orcid":"https://orcid.org/0000-0002-2944-759X"},"institutions":[{"id":"https://openalex.org/I179863766","display_name":"Western Norway University of Applied Sciences","ror":"https://ror.org/05phns765","country_code":"NO","type":"education","lineage":["https://openalex.org/I179863766"]}],"countries":["NO"],"is_corresponding":false,"raw_author_name":"Martin Stoelen","raw_affiliation_strings":["Western Norway University of Applied Sciences,Department of Computer Science, Electrical Engineering and Mathematical Sciences, Faculty of Engineering and Science,F&#x00F8;rde,Norway"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Western Norway University of Applied Sciences,Department of Computer Science, Electrical Engineering and Mathematical Sciences, Faculty of Engineering and Science,F&#x00F8;rde,Norway","institution_ids":["https://openalex.org/I179863766"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5009806151","display_name":"Erik Kyrkjeb\u00f8","orcid":"https://orcid.org/0000-0002-5487-6839"},"institutions":[{"id":"https://openalex.org/I179863766","display_name":"Western Norway University of Applied Sciences","ror":"https://ror.org/05phns765","country_code":"NO","type":"education","lineage":["https://openalex.org/I179863766"]}],"countries":["NO"],"is_corresponding":false,"raw_author_name":"Erik Kyrkjebo","raw_affiliation_strings":["Western Norway University of Applied Sciences,Department of Computer Science, Electrical Engineering and Mathematical Sciences, Faculty of Engineering and Science,F&#x00F8;rde,Norway"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Western Norway University of Applied Sciences,Department of Computer Science, Electrical Engineering and Mathematical Sciences, Faculty of Engineering and Science,F&#x00F8;rde,Norway","institution_ids":["https://openalex.org/I179863766"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.11112072,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"13","issue":null,"first_page":"279","last_page":"284"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9994999766349792,"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":0.9994999766349792,"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":0.9868000149726868,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9685999751091003,"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/robot","display_name":"Robot","score":0.7859030365943909},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.7034696340560913},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.7029340267181396},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.5100296139717102},{"id":"https://openalex.org/keywords/bang-bang-robot","display_name":"Bang-bang robot","score":0.4724198579788208},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.44969069957733154},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.42965254187583923},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.42481929063796997},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3778614401817322},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3606243133544922},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2862676680088043},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.26020878553390503},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.20454135537147522},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.13274428248405457}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7859030365943909},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.7034696340560913},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.7029340267181396},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.5100296139717102},{"id":"https://openalex.org/C584957","wikidata":"https://www.wikidata.org/wiki/Q4854909","display_name":"Bang-bang robot","level":5,"score":0.4724198579788208},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.44969069957733154},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.42965254187583923},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.42481929063796997},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3778614401817322},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3606243133544922},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2862676680088043},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.26020878553390503},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.20454135537147522},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.13274428248405457},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ro-man50785.2021.9515470","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ro-man50785.2021.9515470","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 &amp; Human Interactive Communication (RO-MAN)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.5699999928474426,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W1509235676","https://openalex.org/W1548528537","https://openalex.org/W1973073634","https://openalex.org/W1978023077","https://openalex.org/W1986152369","https://openalex.org/W2118486943","https://openalex.org/W2280090643","https://openalex.org/W2485992890","https://openalex.org/W2771140250","https://openalex.org/W2977721975","https://openalex.org/W2997798509"],"related_works":["https://openalex.org/W771724700","https://openalex.org/W2171912896","https://openalex.org/W3044674998","https://openalex.org/W2319780154","https://openalex.org/W2542723153","https://openalex.org/W2021541810","https://openalex.org/W2139206564","https://openalex.org/W4242231179","https://openalex.org/W1979819035","https://openalex.org/W1854444597"],"abstract_inverted_index":{"Cooperative":[0],"physical":[1],"Human":[2],"Robot":[3],"Interaction":[4],"(pHRI)":[5],"aims":[6],"to":[7,44,47,53,75,173,267,271,277,289],"combine":[8],"the":[9,16,105,116,140,156,161,186,192,196,200,215,219,222,232,236,239,244,249,264,268,273,283],"best":[10],"of":[11,21,90,113,119,152,206,218,221,246,263],"human":[12,48,169],"problem-solving":[13],"skills":[14],"with":[15,175,185],"strength,":[17],"speed":[18],"and":[19,26,35,50,67,79,104,132,195,313,324],"accuracy":[20],"a":[22,71,120,149,168,176,259,294,301],"robot.":[23,121,296],"When":[24,55],"humans":[25],"robots":[27,87],"physically":[28],"interact,":[29],"there":[30,135],"will":[31,213],"be":[32,40,60,126,287],"interaction":[33,77,91,114,138,237,275,315],"Forces":[34],"Torques":[36],"(F/Ts)":[37],"that":[38,208,241],"must":[39],"within":[41],"safe":[42,279,304],"limits":[43,145],"avoid":[45,80],"threats":[46],"life":[49],"unacceptable":[51],"damage":[52],"equipment.":[54],"measured,":[56],"these":[57],"F/Ts":[58,92,217,276],"can":[59,69,110,125,286],"limited":[61],"by":[62,93],"safety":[63,144],"rated":[64],"emergency":[65,82],"stops,":[66],"one":[68,189,212],"design":[70,290],"compliant":[72],"robot":[73,141,162,187,193,201,269],"behavior":[74],"reduce":[76],"F/Ts,":[78],"unnecessary":[81],"stops.":[83],"Several":[84],"recent":[85],"collaborative":[86],"offer":[88],"measurements":[89,112,320],"utilizing":[94],"torque":[95,234,285,299],"sensors":[96],"in":[97],"joints":[98],"or":[99,158,182],"observers":[100],"for":[101,293,321],"joint":[102,129],"torque,":[103,256,309],"classical":[106],"end-effector":[107,123,157,194,311,314],"F/T":[108,316],"sensor":[109],"provide":[111],"at":[115],"working":[117],"end":[118],"The":[122],"wrench":[124],"calculated":[127],"from":[128],"torques":[130],"if":[131,134],"only":[133],"is":[136,242,258,300],"no":[137],"on":[139,155,160,191,199,238,248],"body.":[142,163],"Typically,":[143],"are":[146,209,317],"evaluated":[147,210],"around":[148],"single":[150],"point":[151],"contact":[153,207],"\u2013":[154],"elsewhere":[159],"This":[164],"approach":[165],"fails":[166],"when":[167,179],"uses":[170],"both":[171],"hands":[172],"interact":[174],"robot,":[177],"e.g.":[178],"hand":[180,190,198],"guiding":[181],"otherwise":[183],"cooperating":[184],"placing":[188],"other":[197],"elbow.":[202],"Having":[203],"two":[204],"points":[205],"as":[211,235],"limit":[214,272],"allowed":[216],"sum":[220],"contacts":[223],"rather":[224],"than":[225],"individually.":[226],"In":[227],"this":[228,254],"paper,":[229],"we":[230],"introduce":[231],"body":[233,240,255,274,284,298,308],"not":[243],"result":[245],"interactions":[247],"end-effector.":[250],"We":[251],"then":[252],"use":[253],"which":[257],"more":[260],"accurate":[261],"representation":[262],"forces":[265],"applied":[266],"body,":[270],"ensure":[278],"human-robot":[280],"interaction.":[281],"Furthermore,":[282],"used":[288],"null-space":[291],"compliance":[292],"redundant":[295],"Distinguishing":[297],"step":[302],"towards":[303],"cooperative":[305],"pHRI,":[306],"where":[307],"unknown":[310],"loads,":[312],"all":[318],"important":[319],"safety,":[322],"control":[323],"compliance.":[325]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
