{"id":"https://openalex.org/W2029539380","doi":"https://doi.org/10.1109/roman.2012.6343869","title":"Toward a task space framework for gesture commanded telemanipulation","display_name":"Toward a task space framework for gesture commanded telemanipulation","publication_year":2012,"publication_date":"2012-09-01","ids":{"openalex":"https://openalex.org/W2029539380","doi":"https://doi.org/10.1109/roman.2012.6343869","mag":"2029539380"},"language":"en","primary_location":{"id":"doi:10.1109/roman.2012.6343869","is_oa":false,"landing_page_url":"https://doi.org/10.1109/roman.2012.6343869","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE RO-MAN: The 21st IEEE International Symposium on Robot and Human Interactive Communication","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/A5005631229","display_name":"Neal Y. Lii","orcid":"https://orcid.org/0000-0002-0801-0823"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Neal Y. Lii","raw_affiliation_strings":["Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany","Institute of Robotics and Mechatronics, German Aerospace Center (DLR) , Wessling , Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center (DLR) , Wessling , Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101705037","display_name":"Zhaopeng Chen","orcid":"https://orcid.org/0000-0003-0375-9146"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Zhaopeng Chen","raw_affiliation_strings":["Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany","Institute of Robotics and Mechatronics, German Aerospace Center (DLR) , Wessling , Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center (DLR) , Wessling , Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048087019","display_name":"M\u00e1ximo A. Roa","orcid":"https://orcid.org/0000-0003-1708-4223"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Maximo A. Roa","raw_affiliation_strings":["Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany","Institute of Robotics and Mechatronics, German Aerospace Center (DLR) , Wessling , Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center (DLR) , Wessling , Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085688338","display_name":"Annika Maier","orcid":null},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Annika Maier","raw_affiliation_strings":["Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany","Institute of Robotics and Mechatronics, German Aerospace Center (DLR) , Wessling , Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center (DLR) , Wessling , Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080513400","display_name":"Benedikt Pleintinger","orcid":null},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Benedikt Pleintinger","raw_affiliation_strings":["Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany","Institute of Robotics and Mechatronics, German Aerospace Center (DLR) , Wessling , Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center (DLR) , Wessling , Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5110827678","display_name":"Christoph Borst","orcid":null},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Christoph Borst","raw_affiliation_strings":["Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany","Institute of Robotics and Mechatronics, German Aerospace Center (DLR) , Wessling , Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center (DLR) , Wessling , Germany","institution_ids":["https://openalex.org/I2898391981"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I2898391981"],"apc_list":null,"apc_paid":null,"fwci":6.0175,"has_fulltext":false,"cited_by_count":26,"citation_normalized_percentile":{"value":0.97103643,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"925","last_page":"932"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9997000098228455,"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":0.9997000098228455,"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":0.994700014591217,"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":0.984000027179718,"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/teleoperation","display_name":"Teleoperation","score":0.8911663293838501},{"id":"https://openalex.org/keywords/gesture","display_name":"Gesture","score":0.7902908325195312},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.7123111486434937},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.6815049052238464},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6186062693595886},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.5544306635856628},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5129013061523438},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.48551321029663086},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.47553396224975586},{"id":"https://openalex.org/keywords/channel","display_name":"Channel (broadcasting)","score":0.4507283866405487},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4438042938709259},{"id":"https://openalex.org/keywords/interface","display_name":"Interface (matter)","score":0.4217197299003601},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2638660669326782}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.8911663293838501},{"id":"https://openalex.org/C207347870","wikidata":"https://www.wikidata.org/wiki/Q371174","display_name":"Gesture","level":2,"score":0.7902908325195312},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.7123111486434937},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.6815049052238464},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6186062693595886},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5544306635856628},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5129013061523438},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.48551321029663086},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.47553396224975586},{"id":"https://openalex.org/C127162648","wikidata":"https://www.wikidata.org/wiki/Q16858953","display_name":"Channel (broadcasting)","level":2,"score":0.4507283866405487},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4438042938709259},{"id":"https://openalex.org/C113843644","wikidata":"https://www.wikidata.org/wiki/Q901882","display_name":"Interface (matter)","level":4,"score":0.4217197299003601},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2638660669326782},{"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/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"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/C157915830","wikidata":"https://www.wikidata.org/wiki/Q2928001","display_name":"Bubble","level":2,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/roman.2012.6343869","is_oa":false,"landing_page_url":"https://doi.org/10.1109/roman.2012.6343869","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE RO-MAN: The 21st IEEE International Symposium on Robot and Human Interactive Communication","raw_type":"proceedings-article"},{"id":"pmh:oai:elib.dlr.de:80480","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ROMAN.2012.6343869>.","pdf_url":null,"source":{"id":"https://openalex.org/S4377196266","display_name":"elib (German Aerospace Center)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2898391981","host_organization_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","host_organization_lineage":["https://openalex.org/I2898391981"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"Konferenzbeitrag"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Decent work and economic growth","score":0.4099999964237213,"id":"https://metadata.un.org/sdg/8"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1984237968","https://openalex.org/W2000395096","https://openalex.org/W2056652013","https://openalex.org/W2106215490","https://openalex.org/W2107281367","https://openalex.org/W2107320695","https://openalex.org/W2111976035","https://openalex.org/W2126971410","https://openalex.org/W2133296014","https://openalex.org/W2144573888","https://openalex.org/W2945943585","https://openalex.org/W3214483539","https://openalex.org/W6650281764","https://openalex.org/W6676229534","https://openalex.org/W6762733807","https://openalex.org/W6804005807"],"related_works":["https://openalex.org/W1923069992","https://openalex.org/W2160982102","https://openalex.org/W2048862765","https://openalex.org/W2163296013","https://openalex.org/W2770942502","https://openalex.org/W4281943815","https://openalex.org/W2364738582","https://openalex.org/W2743859443","https://openalex.org/W2160932924","https://openalex.org/W2082997813"],"abstract_inverted_index":{"This":[0],"paper":[1],"introduces":[2],"a":[3,19,76,111,124,153],"new":[4],"framework":[5],"for":[6,93,103],"task":[7,68,115,127,158],"space":[8,12,85,184],"telemanipulation.":[9],"The":[10,67,126],"TASK":[11],"grasping":[13,94],"and":[14,37,49,64,95,150,171,177],"MANipulation":[15,96],"(TaskMan)":[16],"concept":[17],"utilizes":[18],"library":[20,112],"of":[21,106,113,135,162],"tasks":[22],"based":[23],"on":[24,61,70],"gesture":[25,91],"commands,":[26],"which":[27,109],"replaces":[28],"the":[29,34,38,44,50,62,104,121,133,136,141],"conventional":[30,182],"mapping":[31],"required":[32],"between":[33,43],"human":[35,45],"hand":[36,107,156],"end":[39,52],"effector.":[40],"Task":[41],"communication":[42],"machine":[46],"interface":[47],"(HMI)":[48],"robot":[51,155],"effector":[53],"requires":[54],"two":[55,71],"symbiotic":[56],"but":[57],"nonidentical":[58],"state":[59,138],"machines":[60],"master":[63],"slave":[65],"side.":[66],"states":[69,134],"sides":[72],"are":[73,129],"synchronized":[74],"via":[75],"single":[77],"channel":[78],"communication,":[79],"as":[80],"opposed":[81],"to":[82,117,131,181],"multi-channel":[83],"joint":[84,183],"or":[86],"Cartesian":[87],"mapped":[88],"information.":[89],"HAND":[90],"command":[92,99],"(HandyMan)":[97],"HMI":[98],"algorithm":[100],"is":[101],"proposed":[102,142],"recognition":[105],"gestures,":[108],"incorporates":[110],"intuitive":[114],"gestures":[116,128],"be":[118],"used":[119,130],"by":[120],"teleoperator":[122],"wearing":[123],"CyberGlove.":[125],"drive":[132],"TaskMan":[137],"machines.":[139],"With":[140],"concepts,":[143],"this":[144],"work":[145],"has":[146],"realized":[147],"teleoperated":[148],"grasp":[149,169],"manipulation":[151,164],"with":[152,167],"15-DoF":[154],"in":[157],"space.":[159],"Full":[160],"6-DoF":[161],"object":[163],"was":[165],"achieved":[166],"different":[168],"combinations,":[170],"demonstrated":[172],"higher":[173],"repeatability,":[174],"success":[175],"rate":[176],"easier":[178],"operation":[179],"compared":[180],"teleoperation":[185],"methods.":[186]},"counts_by_year":[{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":5},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":3}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}