{"id":"https://openalex.org/W2043761005","doi":"https://doi.org/10.1109/romoco.2013.6614619","title":"Safe physical human-robot interaction with industrial dual-arm robots","display_name":"Safe physical human-robot interaction with industrial dual-arm robots","publication_year":2013,"publication_date":"2013-07-01","ids":{"openalex":"https://openalex.org/W2043761005","doi":"https://doi.org/10.1109/romoco.2013.6614619","mag":"2043761005"},"language":"en","primary_location":{"id":"doi:10.1109/romoco.2013.6614619","is_oa":false,"landing_page_url":"https://doi.org/10.1109/romoco.2013.6614619","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"9th International Workshop on Robot Motion and Control","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/A5036993060","display_name":"Axel Vick","orcid":"https://orcid.org/0000-0002-0606-1037"},"institutions":[{"id":"https://openalex.org/I4210148503","display_name":"Fraunhofer Institute for Production Systems and Design Technology","ror":"https://ror.org/045eg9c12","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210148503","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"A. Vick","raw_affiliation_strings":["Fraunhofer Institute for Production Systems and Design Technology IPK-Berlin, Department Automation and Robotics, Pascalstr. 8-9, 10587, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Fraunhofer Institute for Production Systems and Design Technology IPK-Berlin, Department Automation and Robotics, Pascalstr. 8-9, 10587, Germany","institution_ids":["https://openalex.org/I4210148503"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111659518","display_name":"Dragoljub \u0160urdilovi\u0107","orcid":null},"institutions":[{"id":"https://openalex.org/I4210148503","display_name":"Fraunhofer Institute for Production Systems and Design Technology","ror":"https://ror.org/045eg9c12","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210148503","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"D. Surdilovic","raw_affiliation_strings":["Fraunhofer Institute for Production Systems and Design Technology IPK-Berlin, Department Automation and Robotics, Pascalstr. 8-9, 10587, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Fraunhofer Institute for Production Systems and Design Technology IPK-Berlin, Department Automation and Robotics, Pascalstr. 8-9, 10587, Germany","institution_ids":["https://openalex.org/I4210148503"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5065074078","display_name":"J\u00f6rg Kr\u00fcger","orcid":"https://orcid.org/0000-0001-5138-0793"},"institutions":[{"id":"https://openalex.org/I4210148503","display_name":"Fraunhofer Institute for Production Systems and Design Technology","ror":"https://ror.org/045eg9c12","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210148503","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"J. Kruger","raw_affiliation_strings":["Fraunhofer Institute for Production Systems and Design Technology IPK-Berlin, Department Automation and Robotics, Pascalstr. 8-9, 10587, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Fraunhofer Institute for Production Systems and Design Technology IPK-Berlin, Department Automation and Robotics, Pascalstr. 8-9, 10587, Germany","institution_ids":["https://openalex.org/I4210148503"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":7.1263,"has_fulltext":false,"cited_by_count":36,"citation_normalized_percentile":{"value":0.96802058,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"264","last_page":"269"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9972000122070312,"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":0.9972000122070312,"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":0.9884999990463257,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9793999791145325,"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":0.6923213005065918},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6391573548316956},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.5481869578361511},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5453831553459167},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5350521802902222},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.4994697570800781},{"id":"https://openalex.org/keywords/arm-solution","display_name":"Arm solution","score":0.48672083020210266},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.48342788219451904},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4820500314235687},{"id":"https://openalex.org/keywords/industrial-robot","display_name":"Industrial robot","score":0.4779374897480011},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4587216377258301},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.42213329672813416},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3212229013442993},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2412988841533661},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.23622757196426392}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6923213005065918},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6391573548316956},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.5481869578361511},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5453831553459167},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5350521802902222},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.4994697570800781},{"id":"https://openalex.org/C25592040","wikidata":"https://www.wikidata.org/wiki/Q3562730","display_name":"Arm solution","level":5,"score":0.48672083020210266},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.48342788219451904},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4820500314235687},{"id":"https://openalex.org/C2776126113","wikidata":"https://www.wikidata.org/wiki/Q1128980","display_name":"Industrial robot","level":3,"score":0.4779374897480011},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4587216377258301},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.42213329672813416},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3212229013442993},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2412988841533661},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.23622757196426392},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/romoco.2013.6614619","is_oa":false,"landing_page_url":"https://doi.org/10.1109/romoco.2013.6614619","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"9th International Workshop on Robot Motion and Control","raw_type":"proceedings-article"},{"id":"pmh:oai:publica.fraunhofer.de:publica/382940","is_oa":false,"landing_page_url":"https://publica.fraunhofer.de/handle/publica/382940","pdf_url":null,"source":{"id":"https://openalex.org/S4306400318","display_name":"Fraunhofer-Publica (Fraunhofer-Gesellschaft)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4923324","host_organization_name":"Fraunhofer-Gesellschaft","host_organization_lineage":["https://openalex.org/I4923324"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"conference paper"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1496777766","https://openalex.org/W1501589002","https://openalex.org/W1713596508","https://openalex.org/W2014450203","https://openalex.org/W2015016121","https://openalex.org/W2020262982","https://openalex.org/W2050835671","https://openalex.org/W2068577042","https://openalex.org/W2115282423","https://openalex.org/W2116139612","https://openalex.org/W2132005662","https://openalex.org/W2158110577","https://openalex.org/W2229157728","https://openalex.org/W2523578332","https://openalex.org/W4243216834","https://openalex.org/W4285719527","https://openalex.org/W6727386193"],"related_works":["https://openalex.org/W2108575589","https://openalex.org/W1505290414","https://openalex.org/W2465714433","https://openalex.org/W2093410414","https://openalex.org/W2148067284","https://openalex.org/W2320707241","https://openalex.org/W2034073473","https://openalex.org/W106826886","https://openalex.org/W2990389574","https://openalex.org/W2117027500"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"methodologies":[3],"and":[4,16,35,59,66,72,112],"tests":[5],"for":[6],"the":[7,43,80,93,99,104,115],"safe":[8,97],"physical":[9],"human-robot":[10],"interaction":[11],"in":[12,98],"conventional":[13],"position":[14,56],"controlled":[15],"non-back":[17],"driveable":[18],"industrial":[19],"robotic":[20],"systems.":[21],"The":[22],"developed":[23,116],"algorithms":[24],"are":[25],"based":[26],"on":[27],"a":[28],"simplified":[29],"sensor-less":[30],"estimation":[31],"of":[32,37,114],"external":[33,45],"forces":[34,46],"saturation":[36,54],"joint":[38],"control":[39,57,74],"torques":[40],"to":[41,68,78],"keep":[42],"effective":[44],"under":[47],"safety":[48],"level.":[49],"To":[50],"cope":[51],"with":[52,103],"non-linear":[53],"phenomena,":[55],"compensators":[58],"path":[60],"error":[61],"governor":[62],"have":[63],"been":[64],"implemented":[65],"designed":[67],"ensure":[69],"smooth":[70],"behaviour":[71],"preserved":[73],"performance.":[75],"Being":[76],"able":[77],"stop":[79],"robot":[81,100,108],"arm":[82],"motion":[83],"when":[84],"applying":[85],"risky":[86],"forces,":[87],"as":[88],"recommended":[89],"by":[90],"ISO":[91],"10218,":[92],"human":[94],"feels":[95],"subjective":[96],"vicinity.":[101],"Experiments":[102],"PISA":[105],"Workerbot":[106],"dual-arm":[107],"system":[109],"illustrate":[110],"feasibility":[111],"robustness":[113],"algorithms.":[117]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":5},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":7}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
