{"id":"https://openalex.org/W2094114764","doi":"https://doi.org/10.1109/robot.2010.5509896","title":"Intuitive human skill reconstruction for compliance control","display_name":"Intuitive human skill reconstruction for compliance control","publication_year":2010,"publication_date":"2010-05-01","ids":{"openalex":"https://openalex.org/W2094114764","doi":"https://doi.org/10.1109/robot.2010.5509896","mag":"2094114764"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2010.5509896","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2010.5509896","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE International Conference on Robotics and Automation","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/A5048447605","display_name":"Samuel Okodi","orcid":null},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Samuel Okodi","raw_affiliation_strings":["Graduate School of Engineering, Tohoku University, Aoba-yama 6-6-01, 980-8579 Sendai City, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Engineering, Tohoku University, Aoba-yama 6-6-01, 980-8579 Sendai City, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101736840","display_name":"Xin Jiang","orcid":"https://orcid.org/0000-0002-6711-8172"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Xin Jiang","raw_affiliation_strings":["Graduate School of Engineering, Tohoku University, Aoba-yama 6-6-01, 980-8579 Sendai City, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Engineering, Tohoku University, Aoba-yama 6-6-01, 980-8579 Sendai City, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112303426","display_name":"Satoko Abiko","orcid":null},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Satoko Abiko","raw_affiliation_strings":["Graduate School of Engineering, Tohoku University, Aoba-yama 6-6-01, 980-8579 Sendai City, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Engineering, Tohoku University, Aoba-yama 6-6-01, 980-8579 Sendai City, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063403718","display_name":"Atsushi Konno","orcid":"https://orcid.org/0000-0003-3288-8844"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Atsushi Konno","raw_affiliation_strings":["Graduate School of Engineering, Tohoku University, Aoba-yama 6-6-01, 980-8579 Sendai City, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Engineering, Tohoku University, Aoba-yama 6-6-01, 980-8579 Sendai City, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5083473038","display_name":"Masaru Uchiyama","orcid":null},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masaru Uchiyama","raw_affiliation_strings":["Graduate School of Engineering, Tohoku University, Aoba-yama 6-6-01, 980-8579 Sendai City, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Engineering, Tohoku University, Aoba-yama 6-6-01, 980-8579 Sendai City, Japan","institution_ids":["https://openalex.org/I201537933"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.7292,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.78319344,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"5576","last_page":"5581"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"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":0.9998999834060669,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9988999962806702,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9977999925613403,"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/computer-science","display_name":"Computer science","score":0.7619242668151855},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.6717709302902222},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.640602707862854},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.5514124035835266},{"id":"https://openalex.org/keywords/interface","display_name":"Interface (matter)","score":0.5482384562492371},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5310008525848389},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4863029420375824},{"id":"https://openalex.org/keywords/crank","display_name":"Crank","score":0.4645395576953888},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.440122127532959},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.42555418610572815},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.41611921787261963},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3860871493816376},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3705979287624359},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.16826674342155457}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7619242668151855},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.6717709302902222},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.640602707862854},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.5514124035835266},{"id":"https://openalex.org/C113843644","wikidata":"https://www.wikidata.org/wiki/Q901882","display_name":"Interface (matter)","level":4,"score":0.5482384562492371},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5310008525848389},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4863029420375824},{"id":"https://openalex.org/C198994188","wikidata":"https://www.wikidata.org/wiki/Q857558","display_name":"Crank","level":3,"score":0.4645395576953888},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.440122127532959},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.42555418610572815},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.41611921787261963},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3860871493816376},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3705979287624359},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.16826674342155457},{"id":"https://openalex.org/C173608175","wikidata":"https://www.wikidata.org/wiki/Q232661","display_name":"Parallel computing","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C157915830","wikidata":"https://www.wikidata.org/wiki/Q2928001","display_name":"Bubble","level":2,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C129307140","wikidata":"https://www.wikidata.org/wiki/Q6795880","display_name":"Maximum bubble pressure method","level":3,"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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2010.5509896","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2010.5509896","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/4","display_name":"Quality Education","score":0.5199999809265137}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W1536498791","https://openalex.org/W1938885652","https://openalex.org/W1967043237","https://openalex.org/W2062809812","https://openalex.org/W2107855739","https://openalex.org/W2120591602","https://openalex.org/W2155748157","https://openalex.org/W2158346222","https://openalex.org/W2164136324","https://openalex.org/W2166042980","https://openalex.org/W2167978151","https://openalex.org/W2583909404"],"related_works":["https://openalex.org/W2745063183","https://openalex.org/W142251042","https://openalex.org/W1968062609","https://openalex.org/W2632090827","https://openalex.org/W2733539336","https://openalex.org/W2689112224","https://openalex.org/W2160792351","https://openalex.org/W1593091151","https://openalex.org/W1532965292","https://openalex.org/W2044900919"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,22],"robust":[4,82,106],"and":[5,34,39,53,65,81],"efficient":[6],"method":[7],"of":[8,44],"generating":[9],"manipulation":[10],"motion":[11,86,93,108],"skill":[12,55,110],"for":[13],"non-force-feedback":[14],"high":[15],"speed":[16],"constrained":[17,83,107],"compliant":[18,84],"robot":[19,85],"motion.":[20],"Using":[21],"non-structured":[23],"teaching":[24],"environment,":[25],"the":[26,30,90],"inherent":[27],"task":[28,61,98],"in":[29],"captured":[31],"demonstration":[32,56],"force":[33],"position":[35],"data":[36],"is":[37],"estimated":[38],"reconstructed":[40],"from":[41],"three":[42],"sets":[43],"complimentary":[45],"models,":[46],"including":[47],"analytical":[48,73],"mathematical":[49],"modelling,":[50],"empirical":[51],"modelling":[52],"human":[54],"modelling.":[57],"The":[58],"approach":[59,103],"addresses":[60],"specification":[62],"accuracy":[63],"deficiencies,":[64],"involves":[66],"outward":[67],"interface":[68],"simplifications,":[69],"with":[70,89,116],"embedded":[71],"rigorous":[72],"methodologies":[74],"that":[75],"enable":[76],"users":[77],"to":[78,104],"realise":[79],"complex":[80],"without":[87],"dealing":[88],"low":[91],"level":[92],"generation":[94],"aspects.":[95],"Function":[96],"based":[97],"representation":[99],"supports":[100],"an":[101],"intuitive":[102],"generate":[105],"by":[109,114],"superimposition,":[111],"as":[112],"exemplified":[113],"peg-in-hole":[115],"crank":[117],"turning.":[118]},"counts_by_year":[{"year":2020,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}