{"id":"https://openalex.org/W3022270612","doi":"https://doi.org/10.1109/tase.2020.2997094","title":"An Online Robot Collision Detection and Identification Scheme by Supervised Learning and Bayesian Decision Theory","display_name":"An Online Robot Collision Detection and Identification Scheme by Supervised Learning and Bayesian Decision Theory","publication_year":2020,"publication_date":"2020-06-05","ids":{"openalex":"https://openalex.org/W3022270612","doi":"https://doi.org/10.1109/tase.2020.2997094","mag":"3022270612"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2020.2997094","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2020.2997094","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://mediatum.ub.tum.de/1547678","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101743605","display_name":"Zengjie Zhang","orcid":"https://orcid.org/0000-0003-1875-1032"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Zengjie Zhang","raw_affiliation_strings":["Chair of Automatic Control Engineering, Technical University of Munich, Munich, Germany"],"raw_orcid":"https://orcid.org/0000-0003-1875-1032","affiliations":[{"raw_affiliation_string":"Chair of Automatic Control Engineering, Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032971738","display_name":"Kun Qian","orcid":"https://orcid.org/0000-0002-1918-6453"},"institutions":[{"id":"https://openalex.org/I3125079907","display_name":"Japan Graduate School of Education University","ror":"https://ror.org/03a6vay74","country_code":"JP","type":"education","lineage":["https://openalex.org/I3125079907"]},{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kun Qian","raw_affiliation_strings":["Educational Physiology Laboratory, Graduate School of Education, The University of Tokyo, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0000-0002-1918-6453","affiliations":[{"raw_affiliation_string":"Educational Physiology Laboratory, Graduate School of Education, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I3125079907","https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043060302","display_name":"Bj\u00f6rn W. Schuller","orcid":"https://orcid.org/0000-0002-6478-8699"},"institutions":[{"id":"https://openalex.org/I179225836","display_name":"University of Augsburg","ror":"https://ror.org/03p14d497","country_code":"DE","type":"education","lineage":["https://openalex.org/I179225836"]},{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["DE","GB"],"is_corresponding":false,"raw_author_name":"Bjorn W. Schuller","raw_affiliation_strings":["Group on Language, Audio and Music (GLAM), Imperial College London, London, U.K","ZD.B Chair of Embedded Intelligence for Health Care and Wellbeing, Universit\u00e4t Augsburg, Augsburg, Germany"],"raw_orcid":"https://orcid.org/0000-0002-6478-8699","affiliations":[{"raw_affiliation_string":"Group on Language, Audio and Music (GLAM), Imperial College London, London, U.K","institution_ids":["https://openalex.org/I47508984"]},{"raw_affiliation_string":"ZD.B Chair of Embedded Intelligence for Health Care and Wellbeing, Universit\u00e4t Augsburg, Augsburg, Germany","institution_ids":["https://openalex.org/I179225836"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5061769472","display_name":"Dirk Wollherr","orcid":"https://orcid.org/0000-0003-2810-6790"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Dirk Wollherr","raw_affiliation_strings":["Chair of Automatic Control Engineering, Technical University of Munich, Munich, Germany"],"raw_orcid":"https://orcid.org/0000-0003-2810-6790","affiliations":[{"raw_affiliation_string":"Chair of Automatic Control Engineering, Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":4.9541,"has_fulltext":false,"cited_by_count":68,"citation_normalized_percentile":{"value":0.95737716,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":"18","issue":"3","first_page":"1144","last_page":"1156"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10876","display_name":"Fault Detection and Control Systems","score":0.9994000196456909,"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/T10876","display_name":"Fault Detection and Control Systems","score":0.9994000196456909,"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/T11357","display_name":"Risk and Safety Analysis","score":0.9954000115394592,"subfield":{"id":"https://openalex.org/subfields/1804","display_name":"Statistics, Probability and Uncertainty"},"field":{"id":"https://openalex.org/fields/18","display_name":"Decision Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T11512","display_name":"Anomaly Detection Techniques and Applications","score":0.9937999844551086,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7427598834037781},{"id":"https://openalex.org/keywords/classifier","display_name":"Classifier (UML)","score":0.6704456210136414},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6346766352653503},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.631718099117279},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.5428465008735657},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.5330827236175537},{"id":"https://openalex.org/keywords/bayesian-probability","display_name":"Bayesian probability","score":0.5022099018096924},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.4550451338291168},{"id":"https://openalex.org/keywords/supervised-learning","display_name":"Supervised learning","score":0.4412626624107361},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.43057942390441895},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.38387563824653625},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.13308045268058777},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.0881628692150116}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7427598834037781},{"id":"https://openalex.org/C95623464","wikidata":"https://www.wikidata.org/wiki/Q1096149","display_name":"Classifier (UML)","level":2,"score":0.6704456210136414},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6346766352653503},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.631718099117279},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.5428465008735657},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.5330827236175537},{"id":"https://openalex.org/C107673813","wikidata":"https://www.wikidata.org/wiki/Q812534","display_name":"Bayesian probability","level":2,"score":0.5022099018096924},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.4550451338291168},{"id":"https://openalex.org/C136389625","wikidata":"https://www.wikidata.org/wiki/Q334384","display_name":"Supervised learning","level":3,"score":0.4412626624107361},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.43057942390441895},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.38387563824653625},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.13308045268058777},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0881628692150116},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/tase.2020.2997094","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2020.2997094","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-article"},{"id":"pmh:oai:mediatum.ub.tum.de:node/1547678","is_oa":true,"landing_page_url":"https://mediatum.ub.tum.de/1547678","pdf_url":null,"source":{"id":"https://openalex.org/S4306400453","display_name":"mediaTUM \u2013 the media and publications repository of the Technical University Munich (Technical University Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"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":"","raw_type":"article"},{"id":"pmh:oai:uni-augsburg.opus-bayern.de:88170","is_oa":false,"landing_page_url":"https://nbn-resolving.org/urn:nbn:de:bvb:384-opus4-881702","pdf_url":null,"source":{"id":"https://openalex.org/S4306400930","display_name":"OPUS (Augsburg University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I119916105","host_organization_name":"Augsburg University","host_organization_lineage":["https://openalex.org/I119916105"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"article"},{"id":"pmh:oai:zenodo.org:4729851","is_oa":true,"landing_page_url":"https://zenodo.org/record/4729851","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Transactions on Automation Science and Engineering 1 - 13","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:mediatum.ub.tum.de:node/1547678","is_oa":true,"landing_page_url":"https://mediatum.ub.tum.de/1547678","pdf_url":null,"source":{"id":"https://openalex.org/S4306400453","display_name":"mediaTUM \u2013 the media and publications repository of the Technical University Munich (Technical University Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"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":"","raw_type":"article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G429738825","display_name":"Hybrid Human-Robot RECYcling plant for electriCal and eLEctRonic equipment","funder_award_id":"820742","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G6568068420","display_name":null,"funder_award_id":"201506120029","funder_id":"https://openalex.org/F4320322725","funder_display_name":"China Scholarship Council"},{"id":"https://openalex.org/G7426172400","display_name":null,"funder_award_id":"P19081","funder_id":"https://openalex.org/F4320334764","funder_display_name":"Japan Society for the Promotion of Science"}],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320322725","display_name":"China Scholarship Council","ror":"https://ror.org/04atp4p48"},{"id":"https://openalex.org/F4320334764","display_name":"Japan Society for the Promotion of Science","ror":"https://ror.org/00hhkn466"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":52,"referenced_works":["https://openalex.org/W190437827","https://openalex.org/W1480904650","https://openalex.org/W1545302199","https://openalex.org/W1601495401","https://openalex.org/W1973026036","https://openalex.org/W2058983449","https://openalex.org/W2060304859","https://openalex.org/W2080426295","https://openalex.org/W2099915711","https://openalex.org/W2100470760","https://openalex.org/W2112465475","https://openalex.org/W2114808721","https://openalex.org/W2154777391","https://openalex.org/W2209845948","https://openalex.org/W2318055712","https://openalex.org/W2319175394","https://openalex.org/W2396415881","https://openalex.org/W2538918575","https://openalex.org/W2593136555","https://openalex.org/W2612919868","https://openalex.org/W2618852836","https://openalex.org/W2753876009","https://openalex.org/W2754051771","https://openalex.org/W2755288226","https://openalex.org/W2761083049","https://openalex.org/W2762248135","https://openalex.org/W2762841298","https://openalex.org/W2769634371","https://openalex.org/W2773548424","https://openalex.org/W2782774414","https://openalex.org/W2782833696","https://openalex.org/W2784065174","https://openalex.org/W2810388132","https://openalex.org/W2893801338","https://openalex.org/W2896852352","https://openalex.org/W2920800903","https://openalex.org/W2925144242","https://openalex.org/W2937339402","https://openalex.org/W2963134305","https://openalex.org/W2968982948","https://openalex.org/W2980619526","https://openalex.org/W2982526735","https://openalex.org/W2995769513","https://openalex.org/W3000916453","https://openalex.org/W3103278764","https://openalex.org/W3158724210","https://openalex.org/W4229856339","https://openalex.org/W6607693206","https://openalex.org/W6744231629","https://openalex.org/W6755244336","https://openalex.org/W6755969744","https://openalex.org/W6771985342"],"related_works":["https://openalex.org/W3113932901","https://openalex.org/W650625605","https://openalex.org/W2801025257","https://openalex.org/W2551285827","https://openalex.org/W1919219501","https://openalex.org/W2027504272","https://openalex.org/W2069703662","https://openalex.org/W2372181157","https://openalex.org/W2759268906","https://openalex.org/W2347750628"],"abstract_inverted_index":{"This":[0,260],"article":[1,243,330,380],"is":[2,19,109,173,189,244,262],"dedicated":[3],"to":[4,61,96,138,197,232,240,246,264,306,342,355],"developing":[5],"an":[6,26,59,105,220,269],"online":[7,27,98,107,250],"collision":[8,122,202,251,271,293,325,348],"detection":[9],"and":[10,25,46,147,176,195,214,266,272,290,344,353,368],"identification":[11,123,326,359],"(CDI)":[12],"scheme":[13,18,144,188,231,254,261,327],"for":[14,255,315],"human-collaborative":[15],"robots.":[16,317],"The":[17,116,205,280,300,372],"composed":[20],"of":[21,34,41,89,134,155,223,229,378],"a":[22,42,51,63,121,127,156,160,179,192,198,248,292,297,310,347,357,362],"signal":[23,80],"classifier":[24,81,95],"diagnosor,":[28],"which":[29,130,172,225],"monitors":[30],"the":[31,35,39,55,68,79,83,87,94,97,112,132,135,139,142,152,184,186,210,227,230,276,283,320,323,335,376],"sensory":[32],"signals":[33,72,285],"robot":[36,193],"system,":[37],"detects":[38],"occurrence":[40],"physical":[43,70,157],"human\u2013robot":[44,181,278,387],"interaction,":[45],"identifies":[47],"its":[48,350,382],"type":[49],"within":[50,216,349],"short":[52],"period.":[53],"In":[54,183],"beginning,":[56],"we":[57,77],"conduct":[58],"experiment":[60],"construct":[62],"data":[64,84],"set":[65,85],"that":[66,209],"contains":[67],"segmented":[69],"interaction":[71],"with":[73,86,100,201,219,296],"ground":[74],"truth.":[75],"Then,":[76],"develop":[78],"on":[82,102,191,333],"paradigm":[88],"supervised":[90],"learning.":[91],"To":[92],"adapt":[93],"application":[99,384],"requirements":[101],"response":[103],"time,":[104],"auxiliary":[106],"diagnosor":[108,117],"designed":[110,263],"using":[111],"Bayesian":[113],"decision":[114],"theory.":[115],"provides":[118,291],"not":[119],"only":[120],"result":[124,295],"but":[125],"also":[126],"confidence":[128],"index":[129],"represents":[131],"reliability":[133,298],"result.":[136],"Compared":[137],"previous":[140],"works,":[141],"proposed":[143,187,324],"ensures":[145],"rapid":[146],"accurate":[148],"CDI":[149],"even":[150],"in":[151,235,257,328,339,361,386],"early":[153,351],"stage":[154],"interaction.":[158,279],"As":[159],"result,":[161],"safety":[162],"mechanisms":[163],"can":[164],"be":[165,307],"triggered":[166],"before":[167],"further":[168],"injuries":[169],"are":[170,212,370],"caused,":[171],"quite":[174],"valuable":[175],"important":[177],"toward":[178],"safe":[180],"collaboration.":[182,388],"end,":[185],"validated":[190],"manipulator":[194],"applied":[196],"demonstration":[199],"task":[200],"reaction":[203],"strategies.":[204],"experimental":[206,373],"results":[207],"reveal":[208],"collisions":[211],"detected":[213],"classified":[215],"20":[217],"ms":[218],"overall":[221],"accuracy":[222,360],"99.6%,":[224],"confirms":[226,381],"applicability":[228],"collaborative":[233,316],"robots":[234,256],"practice.":[236],"<italic":[237],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[238],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">Note":[239],"Practitioners</i>":[241],"\u2014This":[242],"intended":[245],"provide":[247],"novel":[249],"event":[252],"handling":[253],"industrial":[258],"environments.":[259],"quickly":[265],"accurately":[267,345],"detect":[268],"accidental":[270],"distinguish":[273],"it":[274,304],"from":[275,286,319],"intentional":[277],"method":[281],"takes":[282],"raw":[284],"external":[287],"torque":[288],"sensors":[289],"diagnosis":[294],"index.":[299],"simple":[301],"structure":[302],"makes":[303],"easy":[305],"implemented":[308],"as":[309],"regular":[311],"fault":[312],"monitoring":[313],"routine":[314],"Different":[318],"conventional":[321],"methods,":[322],"this":[329,379],"especially":[331],"focuses":[332],"overcoming":[334],"following":[336],"two":[337],"challenges":[338],"practice:":[340],"first,":[341],"timely":[343],"report":[346],"stage,":[352],"second,":[354],"ensure":[356],"high":[358],"complicated":[363],"environment,":[364],"where":[365],"ubiquitous":[366],"disturbance":[367],"noise":[369],"unneglectable.":[371],"validation":[374],"at":[375],"end":[377],"promising":[383],"value":[385]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":14},{"year":2024,"cited_by_count":16},{"year":2023,"cited_by_count":14},{"year":2022,"cited_by_count":12},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":1}],"updated_date":"2026-07-02T09:51:11.867554","created_date":"2025-10-10T00:00:00"}