{"id":"https://openalex.org/W4403446657","doi":"https://doi.org/10.1109/tcds.2024.3480854","title":"Simultaneous Estimation of Human Motion Intention and Time-Varying Arm Stiffness for Enhanced Human\u2013Robot Interaction","display_name":"Simultaneous Estimation of Human Motion Intention and Time-Varying Arm Stiffness for Enhanced Human\u2013Robot Interaction","publication_year":2024,"publication_date":"2024-10-16","ids":{"openalex":"https://openalex.org/W4403446657","doi":"https://doi.org/10.1109/tcds.2024.3480854"},"language":"en","primary_location":{"id":"doi:10.1109/tcds.2024.3480854","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcds.2024.3480854","pdf_url":null,"source":{"id":"https://openalex.org/S2488537894","display_name":"IEEE Transactions on Cognitive and Developmental Systems","issn_l":"2379-8920","issn":["2379-8920","2379-8939"],"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 Cognitive and Developmental Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":null,"any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5027518980","display_name":"Huayang Wu","orcid":null},"institutions":[{"id":"https://openalex.org/I162608824","display_name":"University of Sussex","ror":"https://ror.org/00ayhx656","country_code":"GB","type":"education","lineage":["https://openalex.org/I162608824"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Huayang Wu","raw_affiliation_strings":["Department of Engineering and Design, University of Sussex, Brighton, U.K"],"raw_orcid":"https://orcid.org/0009-0000-8111-0241","affiliations":[{"raw_affiliation_string":"Department of Engineering and Design, University of Sussex, Brighton, U.K","institution_ids":["https://openalex.org/I162608824"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101818744","display_name":"Chengzhi Zhu","orcid":"https://orcid.org/0000-0002-4520-9348"},"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":"Chengzhi Zhu","raw_affiliation_strings":["Key Laboratory of Autonomous Systems and Networked Control, College of Automation Science and Engineering, South China University of Technology, Guangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-4520-9348","affiliations":[{"raw_affiliation_string":"Key Laboratory of Autonomous Systems and Networked Control, College of Automation Science and Engineering, South China University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I90610280"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108401200","display_name":"Long Cheng","orcid":"https://orcid.org/0000-0001-7565-8788"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Long Cheng","raw_affiliation_strings":["State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-7565-8788","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210112150","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Chenguang Yang","orcid":"https://orcid.org/0000-0001-5255-5559"},"institutions":[{"id":"https://openalex.org/I146655781","display_name":"University of Liverpool","ror":"https://ror.org/04xs57h96","country_code":"GB","type":"education","lineage":["https://openalex.org/I146655781"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Chenguang Yang","raw_affiliation_strings":["Department of Computer Science, University of Liverpool, Liverpool, U.K"],"raw_orcid":"https://orcid.org/0000-0001-5255-5559","affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Liverpool, Liverpool, U.K","institution_ids":["https://openalex.org/I146655781"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5082520195","display_name":"Yanan Li","orcid":"https://orcid.org/0000-0002-1443-2547"},"institutions":[{"id":"https://openalex.org/I162608824","display_name":"University of Sussex","ror":"https://ror.org/00ayhx656","country_code":"GB","type":"education","lineage":["https://openalex.org/I162608824"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Yanan Li","raw_affiliation_strings":["Department of Engineering and Design, University of Sussex, Brighton, U.K"],"raw_orcid":"https://orcid.org/0000-0002-1443-2547","affiliations":[{"raw_affiliation_string":"Department of Engineering and Design, University of Sussex, Brighton, U.K","institution_ids":["https://openalex.org/I162608824"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5027518980"],"corresponding_institution_ids":["https://openalex.org/I162608824"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.2276374,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"17","issue":"3","first_page":"510","last_page":"524"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12006","display_name":"Ergonomics and Musculoskeletal Disorders","score":0.9829000234603882,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},"topics":[{"id":"https://openalex.org/T12006","display_name":"Ergonomics and Musculoskeletal Disorders","score":0.9829000234603882,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.9799000024795532,"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"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9372000098228455,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7969505190849304},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.699700653553009},{"id":"https://openalex.org/keywords/human-arm","display_name":"Human arm","score":0.6467323899269104},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5663211941719055},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5491474270820618},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.4978456497192383},{"id":"https://openalex.org/keywords/motion-estimation","display_name":"Motion estimation","score":0.4977438747882843},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.49432969093322754},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4639285206794739},{"id":"https://openalex.org/keywords/human-motion","display_name":"Human motion","score":0.43401941657066345},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.43203669786453247},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07224589586257935}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7969505190849304},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.699700653553009},{"id":"https://openalex.org/C2988484212","wikidata":"https://www.wikidata.org/wiki/Q43471","display_name":"Human arm","level":2,"score":0.6467323899269104},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5663211941719055},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5491474270820618},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.4978456497192383},{"id":"https://openalex.org/C10161872","wikidata":"https://www.wikidata.org/wiki/Q557891","display_name":"Motion estimation","level":2,"score":0.4977438747882843},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.49432969093322754},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4639285206794739},{"id":"https://openalex.org/C2986578859","wikidata":"https://www.wikidata.org/wiki/Q657632","display_name":"Human motion","level":3,"score":0.43401941657066345},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.43203669786453247},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07224589586257935},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tcds.2024.3480854","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcds.2024.3480854","pdf_url":null,"source":{"id":"https://openalex.org/S2488537894","display_name":"IEEE Transactions on Cognitive and Developmental Systems","issn_l":"2379-8920","issn":["2379-8920","2379-8939"],"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 Cognitive and Developmental Systems","raw_type":"journal-article"},{"id":"pmh:oai:figshare.com:article/27188280","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4377196282","display_name":"Figshare","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210132348","host_organization_name":"Figshare (United Kingdom)","host_organization_lineage":["https://openalex.org/I4210132348"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"}],"best_oa_location":{"id":"pmh:oai:figshare.com:article/27188280","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4377196282","display_name":"Figshare","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210132348","host_organization_name":"Figshare (United Kingdom)","host_organization_lineage":["https://openalex.org/I4210132348"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},"sustainable_development_goals":[{"display_name":"Climate action","score":0.6600000262260437,"id":"https://metadata.un.org/sdg/13"}],"awards":[{"id":"https://openalex.org/G2790833367","display_name":null,"funder_award_id":"62311530097","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3882188835","display_name":null,"funder_award_id":"62025307","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5486795170","display_name":null,"funder_award_id":"202208330031","funder_id":"https://openalex.org/F4320335564","funder_display_name":"Chinese Government Scholarship"},{"id":"https://openalex.org/G6686779602","display_name":null,"funder_award_id":"62333023","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7673193426","display_name":null,"funder_award_id":"IEC\\NSFC\\223108","funder_id":"https://openalex.org/F4320320006","funder_display_name":"Royal Society"}],"funders":[{"id":"https://openalex.org/F4320320006","display_name":"Royal Society","ror":"https://ror.org/03wnrjx87"},{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320335564","display_name":"Chinese Government Scholarship","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":62,"referenced_works":["https://openalex.org/W1599420468","https://openalex.org/W1682895868","https://openalex.org/W1856925845","https://openalex.org/W1922715780","https://openalex.org/W1967043237","https://openalex.org/W1967904302","https://openalex.org/W1969976050","https://openalex.org/W1970194256","https://openalex.org/W1979780394","https://openalex.org/W2002078422","https://openalex.org/W2007993205","https://openalex.org/W2013039735","https://openalex.org/W2031580264","https://openalex.org/W2048315518","https://openalex.org/W2056240245","https://openalex.org/W2056536535","https://openalex.org/W2064173399","https://openalex.org/W2065483954","https://openalex.org/W2077177611","https://openalex.org/W2080487795","https://openalex.org/W2111705205","https://openalex.org/W2112474089","https://openalex.org/W2116005591","https://openalex.org/W2123038316","https://openalex.org/W2130281033","https://openalex.org/W2151073730","https://openalex.org/W2154358910","https://openalex.org/W2164833559","https://openalex.org/W2197436471","https://openalex.org/W2280792794","https://openalex.org/W2331138946","https://openalex.org/W2558721844","https://openalex.org/W2593425479","https://openalex.org/W2606499982","https://openalex.org/W2612089457","https://openalex.org/W2736573057","https://openalex.org/W2754133402","https://openalex.org/W2791542133","https://openalex.org/W2793264449","https://openalex.org/W2800836803","https://openalex.org/W2884696611","https://openalex.org/W2887687214","https://openalex.org/W2963507484","https://openalex.org/W2968786418","https://openalex.org/W2983424251","https://openalex.org/W3003030569","https://openalex.org/W3006160346","https://openalex.org/W3032210229","https://openalex.org/W3087797277","https://openalex.org/W3108250615","https://openalex.org/W3115566240","https://openalex.org/W3125674422","https://openalex.org/W3126511094","https://openalex.org/W3141422575","https://openalex.org/W3199851934","https://openalex.org/W4205483739","https://openalex.org/W4206106108","https://openalex.org/W4211008118","https://openalex.org/W4252655862","https://openalex.org/W4285590860","https://openalex.org/W4317745857","https://openalex.org/W4389689615"],"related_works":["https://openalex.org/W2196801576","https://openalex.org/W3034881631","https://openalex.org/W4381737315","https://openalex.org/W80236471","https://openalex.org/W2788434134","https://openalex.org/W2699559358","https://openalex.org/W2067149939","https://openalex.org/W4402911998","https://openalex.org/W2742674498","https://openalex.org/W4391855104"],"abstract_inverted_index":{"Recent":[0],"advances":[1],"in":[2,27,95,147],"physiological":[3],"human":[4,10,51,102,131,156],"motor":[5],"control":[6],"research":[7],"indicate":[8],"that":[9,124],"endpoint":[11],"stiffness":[12,40,53,77,104,136],"magnitude":[13],"increases":[14],"linearly":[15],"with":[16,38,109],"grasp":[17,44],"force.":[18],"Based":[19],"on":[20,67],"these":[21,68],"findings,":[22],"a":[23,87],"scheme":[24],"was":[25,64,111],"proposed":[26,76,126,143],"this":[28],"article":[29],"to":[30,113,139],"integrate":[31],"the":[32,39,50,99,125,142],"linear":[33],"quadratic":[34],"estimation":[35,80,107],"(LQE)":[36],"filter":[37],"model":[41,78],"inferred":[42],"from":[43],"force,":[45],"which":[46],"can":[47,128],"simultaneously":[48],"estimate":[49,130],"arm's":[52],"and":[54,79,105,116,134,154],"motion":[55,132],"intention.":[56],"Then,":[57],"an":[58],"online":[59],"variable":[60],"impedance":[61],"controller":[62],"(VIC)":[63],"designed":[65],"based":[66],"estimations":[69],"for":[70],"physical":[71],"human\u2013robot":[72],"interaction":[73],"(pHRI).":[74],"The":[75,120],"method":[81,127],"were":[82],"validated":[83],"through":[84],"experiments":[85],"using":[86],"planar":[88],"robotic":[89],"interface.":[90],"To":[91],"assess":[92],"its":[93],"performance":[94],"practical":[96],"pHRI":[97,146],"tasks,":[98],"implementation":[100],"of":[101,149],"arm":[103,135],"intention":[106,133],"combining":[108],"VIC":[110,144],"extended":[112],"teleoperation":[114],"peg-in-hole":[115],"robot-assisted":[117],"rehabilitation":[118],"tasks.":[119],"experimental":[121],"results":[122],"demonstrate":[123],"effectively":[129],"simultaneously.":[137],"Compared":[138],"existing":[140],"methods,":[141],"enhances":[145],"terms":[148],"increased":[150],"flexibility,":[151],"effective":[152],"guidance,":[153],"reduced":[155],"effort.":[157]},"counts_by_year":[],"updated_date":"2025-12-22T23:10:17.713674","created_date":"2025-10-10T00:00:00"}