{"id":"https://openalex.org/W4298112304","doi":"https://doi.org/10.1109/ro-man53752.2022.9900856","title":"Timing-Specified Controllers with Feedback for Human-Robot Handovers","display_name":"Timing-Specified Controllers with Feedback for Human-Robot Handovers","publication_year":2022,"publication_date":"2022-08-29","ids":{"openalex":"https://openalex.org/W4298112304","doi":"https://doi.org/10.1109/ro-man53752.2022.9900856"},"language":"en","primary_location":{"id":"doi:10.1109/ro-man53752.2022.9900856","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ro-man53752.2022.9900856","pdf_url":null,"source":{"id":"https://openalex.org/S4363607995","display_name":"2022 31st IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 31st IEEE International Conference on Robot and 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/A5058151846","display_name":"Alap Kshirsagar","orcid":"https://orcid.org/0000-0003-3102-4200"},"institutions":[{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]},{"id":"https://openalex.org/I4210148073","display_name":"Sibley Memorial Hospital","ror":"https://ror.org/056jn9s46","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I2799853436","https://openalex.org/I4210148073"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Alap Kshirsagar","raw_affiliation_strings":["Sibley School of Mechanical and Aerospace Engineering, Cornell University,USA","Sibley School of Mechanical and Aerospace Engineering, Cornell University, USA"],"affiliations":[{"raw_affiliation_string":"Sibley School of Mechanical and Aerospace Engineering, Cornell University,USA","institution_ids":["https://openalex.org/I4210148073","https://openalex.org/I205783295"]},{"raw_affiliation_string":"Sibley School of Mechanical and Aerospace Engineering, Cornell University, USA","institution_ids":["https://openalex.org/I4210148073","https://openalex.org/I205783295"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039126409","display_name":"Rahul Kumar Ravi","orcid":null},"institutions":[{"id":"https://openalex.org/I4210148073","display_name":"Sibley Memorial Hospital","ror":"https://ror.org/056jn9s46","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I2799853436","https://openalex.org/I4210148073"]},{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Rahul Kumar Ravi","raw_affiliation_strings":["Sibley School of Mechanical and Aerospace Engineering, Cornell University,USA","Sibley School of Mechanical and Aerospace Engineering, Cornell University, USA"],"affiliations":[{"raw_affiliation_string":"Sibley School of Mechanical and Aerospace Engineering, Cornell University,USA","institution_ids":["https://openalex.org/I4210148073","https://openalex.org/I205783295"]},{"raw_affiliation_string":"Sibley School of Mechanical and Aerospace Engineering, Cornell University, USA","institution_ids":["https://openalex.org/I4210148073","https://openalex.org/I205783295"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020074157","display_name":"Hadas Kress\u2010Gazit","orcid":"https://orcid.org/0000-0002-7754-1011"},"institutions":[{"id":"https://openalex.org/I4210148073","display_name":"Sibley Memorial Hospital","ror":"https://ror.org/056jn9s46","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I2799853436","https://openalex.org/I4210148073"]},{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hadas Kress-Gazit","raw_affiliation_strings":["Sibley School of Mechanical and Aerospace Engineering, Cornell University,USA","Sibley School of Mechanical and Aerospace Engineering, Cornell University, USA"],"affiliations":[{"raw_affiliation_string":"Sibley School of Mechanical and Aerospace Engineering, Cornell University,USA","institution_ids":["https://openalex.org/I4210148073","https://openalex.org/I205783295"]},{"raw_affiliation_string":"Sibley School of Mechanical and Aerospace Engineering, Cornell University, USA","institution_ids":["https://openalex.org/I4210148073","https://openalex.org/I205783295"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5039553919","display_name":"Guy Hoffman","orcid":"https://orcid.org/0000-0002-0404-6159"},"institutions":[{"id":"https://openalex.org/I4210148073","display_name":"Sibley Memorial Hospital","ror":"https://ror.org/056jn9s46","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I2799853436","https://openalex.org/I4210148073"]},{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Guy Hoffman","raw_affiliation_strings":["Sibley School of Mechanical and Aerospace Engineering, Cornell University,USA","Sibley School of Mechanical and Aerospace Engineering, Cornell University, USA"],"affiliations":[{"raw_affiliation_string":"Sibley School of Mechanical and Aerospace Engineering, Cornell University,USA","institution_ids":["https://openalex.org/I4210148073","https://openalex.org/I205783295"]},{"raw_affiliation_string":"Sibley School of Mechanical and Aerospace Engineering, Cornell University, USA","institution_ids":["https://openalex.org/I4210148073","https://openalex.org/I205783295"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5058151846"],"corresponding_institution_ids":["https://openalex.org/I205783295","https://openalex.org/I4210148073"],"apc_list":null,"apc_paid":null,"fwci":1.0026,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.72946009,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"1313","last_page":"1320"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10982","display_name":"Motor Control and Adaptation","score":0.9994000196456909,"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"}},"topics":[{"id":"https://openalex.org/T10982","display_name":"Motor Control and Adaptation","score":0.9994000196456909,"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"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9951000213623047,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9941999912261963,"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/controller","display_name":"Controller (irrigation)","score":0.7827059030532837},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7135699987411499},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6154553890228271},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5668885707855225},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5470113158226013},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.41701316833496094},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4120737612247467},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3236675262451172},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.29974114894866943},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18611615896224976}],"concepts":[{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.7827059030532837},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7135699987411499},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6154553890228271},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5668885707855225},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5470113158226013},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.41701316833496094},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4120737612247467},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3236675262451172},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.29974114894866943},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18611615896224976},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ro-man53752.2022.9900856","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ro-man53752.2022.9900856","pdf_url":null,"source":{"id":"https://openalex.org/S4363607995","display_name":"2022 31st IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 31st IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W95067517","https://openalex.org/W818552805","https://openalex.org/W1588241099","https://openalex.org/W1885639605","https://openalex.org/W2026157703","https://openalex.org/W2110074961","https://openalex.org/W2118978323","https://openalex.org/W2121606156","https://openalex.org/W2274524839","https://openalex.org/W2400148300","https://openalex.org/W2569141289","https://openalex.org/W2764092873","https://openalex.org/W2802919237","https://openalex.org/W2896381102","https://openalex.org/W2901706007","https://openalex.org/W2931948195","https://openalex.org/W3003555862","https://openalex.org/W3003759476","https://openalex.org/W3003892384","https://openalex.org/W3048615328","https://openalex.org/W4229918187","https://openalex.org/W6622992991","https://openalex.org/W6677975924","https://openalex.org/W6713034521","https://openalex.org/W6731814361","https://openalex.org/W6745485484"],"related_works":["https://openalex.org/W8302103","https://openalex.org/W3171631314","https://openalex.org/W2674584172","https://openalex.org/W2967743314","https://openalex.org/W2606825221","https://openalex.org/W2184085865","https://openalex.org/W2064245428","https://openalex.org/W3213722473","https://openalex.org/W2110944602","https://openalex.org/W2000675896"],"abstract_inverted_index":{"We":[0,103,156],"develop":[1],"and":[2,20,74,79,93,111,121,145,179,189,234],"evaluate":[3],"two":[4,60,113],"human-robot":[5,240],"handover":[6],"controllers":[7,61,67,106,125,238],"that":[8,21,68,158],"allow":[9],"end-users":[10,53],"to":[11,45,116,150,195,210],"specify":[12],"timing":[13,160],"parameters":[14,176],"for":[15,48,239],"the":[16,25,94,105,118,142,159,163,175,181,184,196,200,211,223,230],"robot":[17,26,110,149,185],"reach":[18],"motion,":[19],"provide":[22,167,205],"feedback":[23,34],"if":[24],"cannot":[27],"satisfy":[28],"those":[29],"constraints.":[30],"End-user":[31],"tuning":[32],"with":[33,147,162,183],"is":[35],"a":[36,86,96,108,127,148,152,168],"useful":[37],"controller":[38,84,143,161,216],"feature":[39],"in":[40,70,219],"settings":[41],"where":[42],"robots":[43],"have":[44,56],"be":[46],"re-programmed":[47],"varying":[49],"task":[50],"requirements":[51],"but":[52],"do":[54],"not":[55,204],"programming":[57],"knowledge.":[58],"The":[59,214],"we":[62],"propose":[63],"are":[64],"both":[65,172],"receding-horizon":[66],"differ":[69],"their":[71,75,81],"objective":[72,91,101],"function,":[73,92],"user":[76,119,170,207],"specified":[77],"parameters,":[78,144],"subsequently":[80],"user-interface:":[82],"One":[83],"uses":[85],"minimum":[87,97],"cumulative":[88,98],"jerk":[89],"(MCJ)":[90],"other":[95],"error":[99],"(MCE)":[100],"function.":[102],"implemented":[104],"on":[107],"collaborative":[109],"conducted":[112],"controlled":[114],"experiments":[115],"compare":[117],"experience":[120,208],"performance":[122],"of":[123,232],"these":[124],"vis-\u00e0-vis":[126],"baseline":[128],"proportional":[129],"velocity":[130],"(PV)":[131],"controller.":[132,213,225],"In":[133],"each":[134],"experiment,":[135],"participants":[136],"(n":[137],"=":[138],"30)":[139],"interactively":[140],"tuned":[141],"collaborated":[146],"perform":[151],"time-constrained":[153],"repetitive":[154],"task.":[155],"found":[157],"MCE":[164],"implementation":[165,202],"can":[166],"better":[169,206],"experience,":[171],"while":[173],"setting":[174],"(p":[177,186,192],"=0.011)":[178],"performing":[180],"handovers":[182],"<":[187],"0.001),":[188],"fewer":[190],"failures":[191,221],"=0.016)":[193],"compared":[194,209],"PV":[197,212,224],"controller,":[198],"however":[199],"MCJ":[201,215],"did":[203],"also":[217],"resulted":[218],"more":[220],"than":[222],"These":[226],"results":[227],"could":[228],"inform":[229],"design":[231],"usable":[233],"effective":[235],"end-user":[236],"configurable":[237],"interaction.":[241]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}