{"id":"https://openalex.org/W4309675221","doi":"https://doi.org/10.1109/smc53654.2022.9945532","title":"Multimodal sensor-based human-robot collaboration in assembly tasks","display_name":"Multimodal sensor-based human-robot collaboration in assembly tasks","publication_year":2022,"publication_date":"2022-10-09","ids":{"openalex":"https://openalex.org/W4309675221","doi":"https://doi.org/10.1109/smc53654.2022.9945532"},"language":"en","primary_location":{"id":"doi:10.1109/smc53654.2022.9945532","is_oa":false,"landing_page_url":"https://doi.org/10.1109/smc53654.2022.9945532","pdf_url":null,"source":{"id":"https://openalex.org/S4363607746","display_name":"2022 IEEE International Conference on Systems, Man, and Cybernetics (SMC)","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 IEEE International Conference on Systems, Man, and Cybernetics (SMC)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://researchportal.bath.ac.uk/files/272313272/SMC22_0534_FI.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5041146434","display_name":"James Male","orcid":"https://orcid.org/0000-0003-3587-7593"},"institutions":[{"id":"https://openalex.org/I51601045","display_name":"University of Bath","ror":"https://ror.org/002h8g185","country_code":"GB","type":"education","lineage":["https://openalex.org/I51601045"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"James Male","raw_affiliation_strings":["University of Bath,Bath,UK","University of Bath, Bath, UK"],"affiliations":[{"raw_affiliation_string":"University of Bath,Bath,UK","institution_ids":["https://openalex.org/I51601045"]},{"raw_affiliation_string":"University of Bath, Bath, UK","institution_ids":["https://openalex.org/I51601045"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055334780","display_name":"Gorkem Anil Al","orcid":"https://orcid.org/0000-0003-4098-6065"},"institutions":[{"id":"https://openalex.org/I51601045","display_name":"University of Bath","ror":"https://ror.org/002h8g185","country_code":"GB","type":"education","lineage":["https://openalex.org/I51601045"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Gorkem Anil Al","raw_affiliation_strings":["University of Bath,Bath,UK","University of Bath, Bath, UK"],"affiliations":[{"raw_affiliation_string":"University of Bath,Bath,UK","institution_ids":["https://openalex.org/I51601045"]},{"raw_affiliation_string":"University of Bath, Bath, UK","institution_ids":["https://openalex.org/I51601045"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044782421","display_name":"Arya Shabani","orcid":"https://orcid.org/0000-0001-5851-079X"},"institutions":[{"id":"https://openalex.org/I51601045","display_name":"University of Bath","ror":"https://ror.org/002h8g185","country_code":"GB","type":"education","lineage":["https://openalex.org/I51601045"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Arya Shabani","raw_affiliation_strings":["University of Bath,Bath,UK","University of Bath, Bath, UK"],"affiliations":[{"raw_affiliation_string":"University of Bath,Bath,UK","institution_ids":["https://openalex.org/I51601045"]},{"raw_affiliation_string":"University of Bath, Bath, UK","institution_ids":["https://openalex.org/I51601045"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5083737600","display_name":"Uriel Mart\u00ednez-Hern\u00e1ndez","orcid":"https://orcid.org/0000-0002-9922-7912"},"institutions":[{"id":"https://openalex.org/I51601045","display_name":"University of Bath","ror":"https://ror.org/002h8g185","country_code":"GB","type":"education","lineage":["https://openalex.org/I51601045"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Uriel Martinez-Hernandez","raw_affiliation_strings":["University of Bath,Bath,UK","University of Bath, Bath, UK"],"affiliations":[{"raw_affiliation_string":"University of Bath,Bath,UK","institution_ids":["https://openalex.org/I51601045"]},{"raw_affiliation_string":"University of Bath, Bath, UK","institution_ids":["https://openalex.org/I51601045"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5041146434"],"corresponding_institution_ids":["https://openalex.org/I51601045"],"apc_list":null,"apc_paid":null,"fwci":3.1878,"has_fulltext":true,"cited_by_count":10,"citation_normalized_percentile":{"value":0.94364641,"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":"1266","last_page":"1271"},"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":0.9984999895095825,"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/T10914","display_name":"Tactile and Sensory Interactions","score":0.9914000034332275,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6749037504196167},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6704293489456177},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6657609939575195},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.6611893773078918},{"id":"https://openalex.org/keywords/wearable-computer","display_name":"Wearable computer","score":0.5671756267547607},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5564068555831909},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5381309390068054},{"id":"https://openalex.org/keywords/convolutional-neural-network","display_name":"Convolutional neural network","score":0.47354286909103394},{"id":"https://openalex.org/keywords/gesture","display_name":"Gesture","score":0.4611397683620453},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.4497902989387512},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4285092055797577},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.4187897741794586},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4132736623287201},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.23538807034492493},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20974048972129822}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6749037504196167},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6704293489456177},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6657609939575195},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.6611893773078918},{"id":"https://openalex.org/C150594956","wikidata":"https://www.wikidata.org/wiki/Q1334829","display_name":"Wearable computer","level":2,"score":0.5671756267547607},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5564068555831909},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5381309390068054},{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.47354286909103394},{"id":"https://openalex.org/C207347870","wikidata":"https://www.wikidata.org/wiki/Q371174","display_name":"Gesture","level":2,"score":0.4611397683620453},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.4497902989387512},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4285092055797577},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.4187897741794586},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4132736623287201},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.23538807034492493},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20974048972129822},{"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/smc53654.2022.9945532","is_oa":false,"landing_page_url":"https://doi.org/10.1109/smc53654.2022.9945532","pdf_url":null,"source":{"id":"https://openalex.org/S4363607746","display_name":"2022 IEEE International Conference on Systems, Man, and Cybernetics (SMC)","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 IEEE International Conference on Systems, Man, and Cybernetics (SMC)","raw_type":"proceedings-article"},{"id":"pmh:oai:purehost.bath.ac.uk:openaire/bc6080ca-15fd-44d8-92ea-686df8e5e47a","is_oa":true,"landing_page_url":"https://researchportal.bath.ac.uk/en/publications/bc6080ca-15fd-44d8-92ea-686df8e5e47a","pdf_url":"https://researchportal.bath.ac.uk/files/272313272/SMC22_0534_FI.pdf","source":{"id":"https://openalex.org/S4377196294","display_name":"Pure (University of Bath)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I51601045","host_organization_name":"University of Bath","host_organization_lineage":["https://openalex.org/I51601045"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Male, J, Al, G A, Shabani, A & Martinez-Hernandez, U 2022, Multimodal sensor-based human-robot collaboration in assembly tasks. in 2022 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2022 - Proceedings. Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics, vol. 2022-October, IEEE, U. S. A., pp. 1266-1271, 2022 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2022, Prague, Czech Republic, 9/10/22. https://doi.org/10.1109/SMC53654.2022.9945532","raw_type":"contributionToPeriodical"},{"id":"pmh:oai:purehost.bath.ac.uk:publications/bc6080ca-15fd-44d8-92ea-686df8e5e47a","is_oa":false,"landing_page_url":"http://www.scopus.com/inward/record.url?scp=85142728493&partnerID=8YFLogxK","pdf_url":null,"source":{"id":"https://openalex.org/S4377196294","display_name":"Pure (University of Bath)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I51601045","host_organization_name":"University of Bath","host_organization_lineage":["https://openalex.org/I51601045"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":""}],"best_oa_location":{"id":"pmh:oai:purehost.bath.ac.uk:openaire/bc6080ca-15fd-44d8-92ea-686df8e5e47a","is_oa":true,"landing_page_url":"https://researchportal.bath.ac.uk/en/publications/bc6080ca-15fd-44d8-92ea-686df8e5e47a","pdf_url":"https://researchportal.bath.ac.uk/files/272313272/SMC22_0534_FI.pdf","source":{"id":"https://openalex.org/S4377196294","display_name":"Pure (University of Bath)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I51601045","host_organization_name":"University of Bath","host_organization_lineage":["https://openalex.org/I51601045"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Male, J, Al, G A, Shabani, A & Martinez-Hernandez, U 2022, Multimodal sensor-based human-robot collaboration in assembly tasks. in 2022 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2022 - Proceedings. Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics, vol. 2022-October, IEEE, U. S. A., pp. 1266-1271, 2022 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2022, Prague, Czech Republic, 9/10/22. https://doi.org/10.1109/SMC53654.2022.9945532","raw_type":"contributionToPeriodical"},"sustainable_development_goals":[{"score":0.4399999976158142,"id":"https://metadata.un.org/sdg/17","display_name":"Partnerships for the goals"}],"awards":[{"id":"https://openalex.org/G8907540441","display_name":null,"funder_award_id":"2281852","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4309675221.pdf","grobid_xml":"https://content.openalex.org/works/W4309675221.grobid-xml"},"referenced_works_count":22,"referenced_works":["https://openalex.org/W308055142","https://openalex.org/W2097856935","https://openalex.org/W2585913172","https://openalex.org/W2772781455","https://openalex.org/W2789905221","https://openalex.org/W2899092266","https://openalex.org/W2901630465","https://openalex.org/W2922464707","https://openalex.org/W2990211973","https://openalex.org/W2999668386","https://openalex.org/W3024166792","https://openalex.org/W3027351386","https://openalex.org/W3035481896","https://openalex.org/W3084283133","https://openalex.org/W3103212359","https://openalex.org/W3169856610","https://openalex.org/W3172917672","https://openalex.org/W4226191150","https://openalex.org/W4226402609","https://openalex.org/W4242470988","https://openalex.org/W4250673624","https://openalex.org/W4255962240"],"related_works":["https://openalex.org/W2066003895","https://openalex.org/W2537963312","https://openalex.org/W2537762514","https://openalex.org/W2349788282","https://openalex.org/W577271088","https://openalex.org/W2120801881","https://openalex.org/W1974473538","https://openalex.org/W2020010749","https://openalex.org/W2164899521","https://openalex.org/W1982853263"],"abstract_inverted_index":{"This":[0],"work":[1,163],"presents":[2],"a":[3,81,121,138,154,158,165,170],"framework":[4,132],"for":[5,25,70,105,125,147],"Human-Robot":[6],"Collaboration":[7],"(HRC)":[8],"in":[9,108,120,135],"assembly":[10,37,110,128,215],"tasks":[11,216],"that":[12,186],"uses":[13,88],"multimodal":[14,113,202],"sensors,":[15],"perception":[16],"and":[17,39,50,62,103,115,156,161,193,204,209],"control":[18,123],"methods.":[19],"First,":[20],"vision":[21],"sensing":[22,192],"is":[23,60,74,133,180,189],"employed":[24],"user":[26,69,179],"identification":[27],"to":[28,33,55,67,95,143,162,207,213],"determine":[29],"the":[30,64,68,78,85,109,178,187,195,198],"collaborative":[31,127],"task":[32,167],"be":[34],"performed.":[35],"Second,":[36],"actions":[38,107],"hand":[40],"gestures":[41],"are":[42,118],"recognised":[43],"using":[44,137,201],"wearable":[45],"inertial":[46],"measurement":[47],"units":[48],"(IMUs)":[49],"convolutional":[51],"neural":[52],"networks":[53],"(CNN)":[54],"identify":[56],"when":[57,97,175],"robot":[58,79,86,188],"collaboration":[59,73,176],"needed":[61],"bring":[63],"next":[65],"object":[66,99],"assembly.":[71],"If":[72],"not":[75,181],"required,":[76],"then":[77],"performs":[80],"solo":[82,166],"task.":[83],"Third,":[84],"arm":[87,141],"time":[89],"domain":[90],"features":[91],"from":[92],"tactile":[93],"sensors":[94,114,203],"detect":[96],"an":[98],"has":[100],"been":[101],"touched":[102],"grasped":[104],"handover":[106],"process.":[111],"These":[112],"computational":[116,205],"modules":[117],"integrated":[119],"layered":[122],"architecture":[124],"HRC":[126],"tasks.":[129],"The":[130,183],"proposed":[131],"validated":[134],"real-time":[136],"Universal":[139],"Robot":[140],"(UR3)":[142],"collaborate":[144,210],"with":[145,177,211],"humans":[146,212],"assembling":[148],"two":[149],"types":[150],"of":[151,168,172,191,197],"objects":[152],"1)":[153],"box":[155],"2)":[157],"small":[159],"chair,":[160],"on":[164],"moving":[169],"stack":[171],"Lego":[173],"blocks":[174],"needed.":[182],"experiments":[184],"show":[185],"capable":[190],"perceiving":[194],"state":[196],"surrounding":[199],"environment":[200],"methods":[206],"act":[208],"complete":[214],"successfully.":[217]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2026-03-13T16:22:10.518609","created_date":"2025-10-10T00:00:00"}