{"id":"https://openalex.org/W4388624079","doi":"https://doi.org/10.1109/ro-man57019.2023.10309327","title":"Hands-Free Physical Human-Robot Interaction and Testing for Navigating a Virtual Ballbot","display_name":"Hands-Free Physical Human-Robot Interaction and Testing for Navigating a Virtual Ballbot","publication_year":2023,"publication_date":"2023-08-28","ids":{"openalex":"https://openalex.org/W4388624079","doi":"https://doi.org/10.1109/ro-man57019.2023.10309327"},"language":"en","primary_location":{"id":"doi:10.1109/ro-man57019.2023.10309327","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/ro-man57019.2023.10309327","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 32nd IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5049853180","display_name":"Seung Yun Song","orcid":"https://orcid.org/0000-0002-1919-4111"},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Seung Yun Song","raw_affiliation_strings":["University of Illinois at Urbana-Champaign,Department of Mechanical Science and Engineering,IL,USA,61801"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Illinois at Urbana-Champaign,Department of Mechanical Science and Engineering,IL,USA,61801","institution_ids":["https://openalex.org/I157725225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055581481","display_name":"Nadja Marin","orcid":"https://orcid.org/0000-0002-2979-3388"},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nadja Marin","raw_affiliation_strings":["University of Illinois at Urbana-Champaign,Department of Mechanical Science and Engineering,IL,USA,61801"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Illinois at Urbana-Champaign,Department of Mechanical Science and Engineering,IL,USA,61801","institution_ids":["https://openalex.org/I157725225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024972182","display_name":"Chenzhang Xiao","orcid":"https://orcid.org/0000-0002-8473-8963"},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]},{"id":"https://openalex.org/I88773910","display_name":"Intuit (United States)","ror":"https://ror.org/049mrbr98","country_code":"US","type":"company","lineage":["https://openalex.org/I88773910"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Chenzhang Xiao","raw_affiliation_strings":["University of Illinois at Urbana-Champaign,Department of Mechanical Science and Engineering,IL,USA,61801","Intuitive, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Illinois at Urbana-Champaign,Department of Mechanical Science and Engineering,IL,USA,61801","institution_ids":["https://openalex.org/I157725225"]},{"raw_affiliation_string":"Intuitive, CA, USA","institution_ids":["https://openalex.org/I88773910"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034934128","display_name":"Ryu Okubo","orcid":"https://orcid.org/0009-0001-7140-2870"},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ryu Okubo","raw_affiliation_strings":["University of Illinois at Urbana-Champaign,Department of Electrical and Computer Engineering,IL,USA,61801"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Illinois at Urbana-Champaign,Department of Electrical and Computer Engineering,IL,USA,61801","institution_ids":["https://openalex.org/I157725225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025315784","display_name":"Jo\u00e3o Ramos","orcid":"https://orcid.org/0000-0002-3562-0117"},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]},{"id":"https://openalex.org/I4210143335","display_name":"Boston Dynamics (United States)","ror":"https://ror.org/0488ezv32","country_code":"US","type":"company","lineage":["https://openalex.org/I4210143335"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Joao Ramos","raw_affiliation_strings":["University of Illinois at Urbana-Champaign,Department of Mechanical Science and Engineering,IL,USA,61801","Boston Dynamics, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Illinois at Urbana-Champaign,Department of Mechanical Science and Engineering,IL,USA,61801","institution_ids":["https://openalex.org/I157725225"]},{"raw_affiliation_string":"Boston Dynamics, MA, USA","institution_ids":["https://openalex.org/I4210143335"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5084784424","display_name":"Elizabeth T. Hsiao\u2010Wecksler","orcid":"https://orcid.org/0000-0002-9373-3611"},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Elizabeth T. Hsiao-Wecksler","raw_affiliation_strings":["University of Illinois at Urbana-Champaign,Department of Mechanical Science and Engineering,IL,USA,61801"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Illinois at Urbana-Champaign,Department of Mechanical Science and Engineering,IL,USA,61801","institution_ids":["https://openalex.org/I157725225"]}]}],"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":0.24506854,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"8","issue":null,"first_page":"556","last_page":"563"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10525","display_name":"Human-Automation Interaction and Safety","score":0.9969000220298767,"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":0.9969000220298767,"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/T11707","display_name":"Gaze Tracking and Assistive Technology","score":0.9965999722480774,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10925","display_name":"Spinal Cord Injury Research","score":0.9914000034332275,"subfield":{"id":"https://openalex.org/subfields/2734","display_name":"Pathology and Forensic Medicine"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/torso","display_name":"Torso","score":0.8781166076660156},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.6323626041412354},{"id":"https://openalex.org/keywords/joystick","display_name":"Joystick","score":0.6249904632568359},{"id":"https://openalex.org/keywords/wheelchair","display_name":"Wheelchair","score":0.5439245104789734},{"id":"https://openalex.org/keywords/virtual-reality","display_name":"Virtual reality","score":0.5339248180389404},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48160263895988464},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.46466362476348877},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.32917308807373047},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3183721601963043},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2180095613002777},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.11755132675170898}],"concepts":[{"id":"https://openalex.org/C523889960","wikidata":"https://www.wikidata.org/wiki/Q160695","display_name":"Torso","level":2,"score":0.8781166076660156},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.6323626041412354},{"id":"https://openalex.org/C96439379","wikidata":"https://www.wikidata.org/wiki/Q178805","display_name":"Joystick","level":2,"score":0.6249904632568359},{"id":"https://openalex.org/C2781042323","wikidata":"https://www.wikidata.org/wiki/Q191931","display_name":"Wheelchair","level":2,"score":0.5439245104789734},{"id":"https://openalex.org/C194969405","wikidata":"https://www.wikidata.org/wiki/Q170519","display_name":"Virtual reality","level":2,"score":0.5339248180389404},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48160263895988464},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.46466362476348877},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.32917308807373047},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3183721601963043},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2180095613002777},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.11755132675170898},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.0},{"id":"https://openalex.org/C136764020","wikidata":"https://www.wikidata.org/wiki/Q466","display_name":"World Wide Web","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ro-man57019.2023.10309327","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/ro-man57019.2023.10309327","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 32nd IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W1542083230","https://openalex.org/W1561256858","https://openalex.org/W2029165778","https://openalex.org/W2033534435","https://openalex.org/W2060469901","https://openalex.org/W2077684742","https://openalex.org/W2079179991","https://openalex.org/W2080767518","https://openalex.org/W2098775528","https://openalex.org/W2110679265","https://openalex.org/W2149809459","https://openalex.org/W2153738822","https://openalex.org/W2157289187","https://openalex.org/W2292331599","https://openalex.org/W2299682569","https://openalex.org/W2498736626","https://openalex.org/W2782892168","https://openalex.org/W2856991417","https://openalex.org/W2883257901","https://openalex.org/W2904462746","https://openalex.org/W3014865320","https://openalex.org/W3038372909","https://openalex.org/W3047510328","https://openalex.org/W3091962739","https://openalex.org/W3129402570","https://openalex.org/W4210916243","https://openalex.org/W4224271896","https://openalex.org/W4225096158","https://openalex.org/W4234886047","https://openalex.org/W4252655862","https://openalex.org/W4284967147","https://openalex.org/W4388623311","https://openalex.org/W6723685390"],"related_works":["https://openalex.org/W2172827307","https://openalex.org/W2899737318","https://openalex.org/W2120422838","https://openalex.org/W2789946196","https://openalex.org/W1864091273","https://openalex.org/W2703250229","https://openalex.org/W2117758670","https://openalex.org/W2163077615","https://openalex.org/W2584508748","https://openalex.org/W2055575216"],"abstract_inverted_index":{"A":[0,26,57],"hands-free":[1],"(HF)":[2],"lean-to-steer":[3],"control":[4,53,215,236],"concept":[5],"that":[6,186],"uses":[7],"torso":[8,46,93],"motions":[9,47],"is":[10],"demonstrated":[11],"by":[12,84],"navigating":[13],"a":[14,21,72,114,123],"virtual":[15,115,124],"robotic":[16,23],"mobility":[17],"device":[18],"based":[19],"on":[20,127],"ball-based":[22],"(ballbot)":[24],"wheelchair.":[25],"custom":[27],"sensor":[28],"system":[29],"(i.e.,":[30,147,152,156,162],"Torso-dynamics":[31],"Estimation":[32],"System":[33],"(TES))":[34],"was":[35,60,183,211],"utilized":[36],"to":[37,50,62,71,96,121,173,247],"measure":[38],"and":[39,77,118,160,175,243],"convert":[40],"the":[41,44,55,64,67,108,128],"dynamics":[42],"of":[43,54,66,149,164],"rider\u2019s":[45],"into":[48],"commands":[49],"provide":[51],"HF":[52,68,195,214,231,235],"robot.":[56],"simulation":[58],"study":[59],"conducted":[61],"explore":[63],"efficacy":[65],"controller":[69],"compared":[70,95],"traditional":[73],"joystick":[74],"(JS)":[75],"controller,":[76],"whether":[78],"there":[79],"were":[80,119],"differences":[81],"in":[82,177],"performance":[83,143],"manual":[85],"wheelchair":[86],"users":[87,98,221],"(mWCUs),":[88],"who":[89],"may":[90],"have":[91],"reduced":[92],"function,":[94],"able-bodied":[97],"(ABUs).":[99],"Twenty":[100],"test":[101],"subjects":[102,206],"(10":[103],"mWCUs":[104,198],"+10":[105],"ABUs)":[106],"used":[107],"subject-specific":[109],"adjusted":[110],"TES":[111],"while":[112,197],"wearing":[113],"reality":[116],"headset":[117],"asked":[120],"navigate":[122],"human":[125],"rider":[126],"ballbot":[129],"through":[130],"obstacle":[131],"courses":[132],"replicating":[133],"seven":[134],"indoor":[135],"environment":[136],"zones.":[137],"Repeated":[138],"measures":[139],"MANOVA":[140],"tests":[141],"assessed":[142],"metrics":[144],"representing":[145],"efficiency":[146],"number":[148],"collisions),":[150],"effectiveness":[151],"completion":[153],"time),":[154],"comfort":[155],"NASA":[157],"TLX":[158],"scores),":[159],"robustness":[161],"index":[163],"performance).":[165],"As":[166],"expected,":[167],"more":[168,178,190],"challenging":[169],"zones":[170],"took":[171],"longer":[172],"complete":[174],"resulted":[176],"collisions.":[179],"An":[180],"interaction":[181],"effect":[182],"observed":[184],"such":[185],"ABUs":[187],"had":[188,199],"significantly":[189],"collisions":[191],"using":[192,230],"JS":[193,217,241],"vs.":[194],"control,":[196,242],"little":[200],"difference":[201],"with":[202],"either":[203],"interface.":[204],"All":[205],"reported":[207],"greater":[208],"physical":[209],"demand":[210],"needed":[212],"for":[213],"than":[216],"control;":[218],"although,":[219],"no":[220],"visibly":[222],"showed":[223],"or":[224,227],"expressed":[225],"fatigue":[226],"exhaustion":[228],"when":[229],"control.":[232],"In":[233],"general,":[234],"performed":[237,245],"as":[238,240],"well":[239],"mWC\u2019s":[244],"similarly":[246],"ABUs.":[248]},"counts_by_year":[],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
