{"id":"https://openalex.org/W4406612410","doi":"https://doi.org/10.1109/smc54092.2024.10831061","title":"Human Multi-dimensional Stiffness Skills Transfer for Robot Teleoperation System","display_name":"Human Multi-dimensional Stiffness Skills Transfer for Robot Teleoperation System","publication_year":2024,"publication_date":"2024-10-06","ids":{"openalex":"https://openalex.org/W4406612410","doi":"https://doi.org/10.1109/smc54092.2024.10831061"},"language":"en","primary_location":{"id":"doi:10.1109/smc54092.2024.10831061","is_oa":false,"landing_page_url":"https://doi.org/10.1109/smc54092.2024.10831061","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Systems, Man, and Cybernetics (SMC)","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/A5114345938","display_name":"Liwen Situ","orcid":null},"institutions":[{"id":"https://openalex.org/I90610280","display_name":"South China University of Technology","ror":"https://ror.org/0530pts50","country_code":"CN","type":"education","lineage":["https://openalex.org/I90610280"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Liwen Situ","raw_affiliation_strings":["College of Automation Science and Engineering, South China University of Technology,Guangzhou,China,510640"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Automation Science and Engineering, South China University of Technology,Guangzhou,China,510640","institution_ids":["https://openalex.org/I90610280"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057911864","display_name":"Zhenyu Lu","orcid":"https://orcid.org/0000-0002-5446-7285"},"institutions":[{"id":"https://openalex.org/I178535277","display_name":"University of the West of England","ror":"https://ror.org/02nwg5t34","country_code":"GB","type":"education","lineage":["https://openalex.org/I178535277"]},{"id":"https://openalex.org/I4210161128","display_name":"Bristol Robotics Laboratory","ror":"https://ror.org/056sbyc67","country_code":"GB","type":"facility","lineage":["https://openalex.org/I4210161128"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Zhenyu Lu","raw_affiliation_strings":["University of the West of England,Bristol Robotics Laboratory,Bristol,UK,BS16 1QY"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of the West of England,Bristol Robotics Laboratory,Bristol,UK,BS16 1QY","institution_ids":["https://openalex.org/I4210161128","https://openalex.org/I178535277"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002861905","display_name":"Weiyong Si","orcid":"https://orcid.org/0000-0003-4531-2596"},"institutions":[{"id":"https://openalex.org/I178535277","display_name":"University of the West of England","ror":"https://ror.org/02nwg5t34","country_code":"GB","type":"education","lineage":["https://openalex.org/I178535277"]},{"id":"https://openalex.org/I4210161128","display_name":"Bristol Robotics Laboratory","ror":"https://ror.org/056sbyc67","country_code":"GB","type":"facility","lineage":["https://openalex.org/I4210161128"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Weiyong Si","raw_affiliation_strings":["University of the West of England,Bristol Robotics Laboratory,Bristol,UK,BS16 1QY"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of the West of England,Bristol Robotics Laboratory,Bristol,UK,BS16 1QY","institution_ids":["https://openalex.org/I4210161128","https://openalex.org/I178535277"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101533929","display_name":"Chenguang Yang","orcid":"https://orcid.org/0000-0001-7218-2040"},"institutions":[{"id":"https://openalex.org/I178535277","display_name":"University of the West of England","ror":"https://ror.org/02nwg5t34","country_code":"GB","type":"education","lineage":["https://openalex.org/I178535277"]},{"id":"https://openalex.org/I4210161128","display_name":"Bristol Robotics Laboratory","ror":"https://ror.org/056sbyc67","country_code":"GB","type":"facility","lineage":["https://openalex.org/I4210161128"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Chenguang Yang","raw_affiliation_strings":["University of the West of England,Bristol Robotics Laboratory,Bristol,UK,BS161QY"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of the West of England,Bristol Robotics Laboratory,Bristol,UK,BS161QY","institution_ids":["https://openalex.org/I4210161128","https://openalex.org/I178535277"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"321","last_page":"327"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.972599983215332,"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"}},"topics":[{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.972599983215332,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9151999950408936,"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/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9150999784469604,"subfield":{"id":"https://openalex.org/subfields/2742","display_name":"Rehabilitation"},"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/teleoperation","display_name":"Teleoperation","score":0.9012753963470459},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.573125958442688},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.5691523551940918},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5338937044143677},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.4190836548805237},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3770981431007385},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24183371663093567},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23345640301704407},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.09517568349838257}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.9012753963470459},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.573125958442688},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.5691523551940918},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5338937044143677},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.4190836548805237},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3770981431007385},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24183371663093567},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23345640301704407},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.09517568349838257}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/smc54092.2024.10831061","is_oa":false,"landing_page_url":"https://doi.org/10.1109/smc54092.2024.10831061","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Systems, Man, and Cybernetics (SMC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W585133165","https://openalex.org/W1494098115","https://openalex.org/W1934600457","https://openalex.org/W1969976050","https://openalex.org/W1983496390","https://openalex.org/W1985690171","https://openalex.org/W2013011196","https://openalex.org/W2022658925","https://openalex.org/W2025252351","https://openalex.org/W2034004413","https://openalex.org/W2087309216","https://openalex.org/W2122104565","https://openalex.org/W2146892985","https://openalex.org/W2157669660","https://openalex.org/W2161636262","https://openalex.org/W2754133402","https://openalex.org/W2791542133","https://openalex.org/W2885414200","https://openalex.org/W3081176596","https://openalex.org/W3093799842","https://openalex.org/W3135758163","https://openalex.org/W4382047764","https://openalex.org/W6678476872"],"related_works":["https://openalex.org/W2978665606","https://openalex.org/W4287179229","https://openalex.org/W3205513966","https://openalex.org/W3120459843","https://openalex.org/W4366547574","https://openalex.org/W3200191727","https://openalex.org/W189465620","https://openalex.org/W4366818884","https://openalex.org/W2248308732","https://openalex.org/W4392651289"],"abstract_inverted_index":{"Neuroscience":[0],"research":[1],"has":[2],"demonstrated":[3],"the":[4,43,68,135,139,161,179],"sig-nificance":[5],"of":[6,70,163,184],"modulating":[7],"stiffness":[8,87,106,110,193],"during":[9],"human":[10,80,86,104],"task":[11,40,171],"performance.":[12],"Similarly,":[13],"endowing":[14],"robots":[15],"with":[16,120,155],"such":[17],"capability":[18],"is":[19,100,166,182,201],"expected.":[20],"However,":[21],"existing":[22],"methods":[23],"for":[24,54,133,198],"robot":[25,63,109,153],"teleoperation":[26,64,71,131],"require":[27],"operators":[28,146],"to":[29,89,102,147],"simultaneously":[30],"control":[31,148],"position":[32],"and":[33,39,72,107,118,124,138,172,192],"stiffness,":[34],"resulting":[35],"in":[36,203],"high":[37,189],"workload":[38],"inefficiency.":[41],"On":[42],"other":[44],"hand,":[45],"learning":[46],"from":[47],"demonstration":[48],"(LfD)":[49],"offers":[50],"a":[51,62,112,130,156,169,173],"feasible":[52],"approach":[53],"autonomously":[55],"generating":[56],"stiffness.":[57],"Therefore,":[58],"this":[59,199],"paper":[60,200],"proposes":[61],"system":[65,181],"that":[66,178,187],"combines":[67],"advantages":[69],"LfD.":[73],"Teleoperation":[74],"enables":[75],"precise":[76],"positioning":[77,190],"guided":[78],"by":[79],"operators,":[81],"while":[82],"LfD":[83],"can":[84],"transfer":[85],"skills":[88],"robots.":[90],"A":[91,195],"teleoperation-oriented":[92],"stiffness-adaptive":[93],"Gaussian":[94],"Mixture":[95,97],"Model/Gaussian":[96],"Regression":[98],"method":[99,165],"proposed":[101,180],"learn":[103],"multi-dimensional":[105],"reproduce":[108],"on":[111],"Riemannian":[113],"manifold.":[114],"To":[115],"enhance":[116],"generalization":[117],"cooperate":[119],"teleoperation,":[121],"reference":[122],"points":[123],"position-driven":[125],"output":[126],"are":[127,142],"introduced.":[128],"Furthermore,":[129],"strategy":[132],"both":[134],"single-leader-single-follower":[136],"configuration":[137,141],"single-leader-dual-follower":[140],"designed,":[143],"which":[144],"allows":[145],"either":[149],"one":[150],"or":[151],"two":[152],"arms":[154],"single":[157],"leader":[158],"device.":[159],"Finally,":[160],"effectiveness":[162],"our":[164],"verified":[167],"through":[168],"plugging-in":[170],"continuous":[174],"flipping":[175],"task,":[176],"demonstrating":[177],"capable":[183],"performing":[185],"tasks":[186],"demand":[188],"accuracy":[191],"adjustment.":[194],"supplementary":[196],"video":[197],"available":[202],"GitHub**https://github.com/setowenGit/TOSA-GMM-GMR-Video.":[204]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}