{"id":"https://openalex.org/W2342404624","doi":"https://doi.org/10.1109/tcst.2016.2514609","title":"Human-Guided Robotic Comanipulation: Two Illustrative Scenarios","display_name":"Human-Guided Robotic Comanipulation: Two Illustrative Scenarios","publication_year":2016,"publication_date":"2016-01-27","ids":{"openalex":"https://openalex.org/W2342404624","doi":"https://doi.org/10.1109/tcst.2016.2514609","mag":"2342404624"},"language":"en","primary_location":{"id":"doi:10.1109/tcst.2016.2514609","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2016.2514609","pdf_url":null,"source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"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 Control Systems Technology","raw_type":"journal-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/A5100331032","display_name":"Xiang Li","orcid":"https://orcid.org/0000-0002-0699-1904"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":true,"raw_author_name":"Xiang Li","raw_affiliation_strings":["Department of Biomedical Engineering, National University of Singapore, Singapore"],"affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006531502","display_name":"Guoyi Chi","orcid":null},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Guoyi Chi","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027553954","display_name":"Stephen Vidas","orcid":"https://orcid.org/0000-0002-5371-9866"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Stephen Vidas","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5080753188","display_name":"Chien Chern Cheah","orcid":"https://orcid.org/0000-0003-3728-9277"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Chien Chern Cheah","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5100331032"],"corresponding_institution_ids":["https://openalex.org/I165932596"],"apc_list":null,"apc_paid":null,"fwci":2.0513,"has_fulltext":false,"cited_by_count":38,"citation_normalized_percentile":{"value":0.85877802,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":"24","issue":"5","first_page":"1751","last_page":"1763"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9958000183105469,"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"}},"topics":[{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9958000183105469,"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":0.9930999875068665,"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":0.9886999726295471,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7854591608047485},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.6094794273376465},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.6010871529579163},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.5973337888717651},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5661270022392273},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5638099908828735},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5401259064674377},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5138090252876282},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5005085468292236},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.45798105001449585},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4199956953525543},{"id":"https://openalex.org/keywords/social-robot","display_name":"Social robot","score":0.4138812720775604},{"id":"https://openalex.org/keywords/robot-learning","display_name":"Robot learning","score":0.41205528378486633},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.352766215801239},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3310090899467468}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7854591608047485},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.6094794273376465},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.6010871529579163},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.5973337888717651},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5661270022392273},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5638099908828735},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5401259064674377},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5138090252876282},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5005085468292236},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.45798105001449585},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4199956953525543},{"id":"https://openalex.org/C162947575","wikidata":"https://www.wikidata.org/wiki/Q2005645","display_name":"Social robot","level":5,"score":0.4138812720775604},{"id":"https://openalex.org/C188888258","wikidata":"https://www.wikidata.org/wiki/Q7353390","display_name":"Robot learning","level":4,"score":0.41205528378486633},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.352766215801239},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3310090899467468},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tcst.2016.2514609","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2016.2514609","pdf_url":null,"source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"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 Control Systems Technology","raw_type":"journal-article"},{"id":"pmh:oai:dr.ntu.edu.sg:10356/83845","is_oa":false,"landing_page_url":"http://hdl.handle.net/10220/41455","pdf_url":null,"source":{"id":"https://openalex.org/S4306402609","display_name":"DR-NTU (Nanyang Technological University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I172675005","host_organization_name":"Nanyang Technological University","host_organization_lineage":["https://openalex.org/I172675005"],"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":"Journal Article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3835831578","display_name":null,"funder_award_id":"1225100002","funder_id":"https://openalex.org/F4320320696","funder_display_name":"Agency for Science, Technology and Research"}],"funders":[{"id":"https://openalex.org/F4320320696","display_name":"Agency for Science, Technology and Research","ror":"https://ror.org/036wvzt09"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W59013988","https://openalex.org/W89510016","https://openalex.org/W1487127700","https://openalex.org/W1496777766","https://openalex.org/W1567054951","https://openalex.org/W1967377907","https://openalex.org/W1978595173","https://openalex.org/W2009654645","https://openalex.org/W2015982707","https://openalex.org/W2016958754","https://openalex.org/W2033850389","https://openalex.org/W2048603489","https://openalex.org/W2083483041","https://openalex.org/W2089421806","https://openalex.org/W2092060192","https://openalex.org/W2100970834","https://openalex.org/W2104181254","https://openalex.org/W2120633566","https://openalex.org/W2121991065","https://openalex.org/W2126171192","https://openalex.org/W2131404784","https://openalex.org/W2133668221","https://openalex.org/W2138300314","https://openalex.org/W2139704669","https://openalex.org/W2140280613","https://openalex.org/W2141377539","https://openalex.org/W2144781570","https://openalex.org/W2150024155","https://openalex.org/W2154777391","https://openalex.org/W2155992823","https://openalex.org/W2157593358","https://openalex.org/W2164780681","https://openalex.org/W2167501464","https://openalex.org/W2169187067","https://openalex.org/W2172156083","https://openalex.org/W2497095191","https://openalex.org/W4245991817","https://openalex.org/W6723262837"],"related_works":["https://openalex.org/W3133699834","https://openalex.org/W1989753795","https://openalex.org/W2918544916","https://openalex.org/W4312511060","https://openalex.org/W3181705171","https://openalex.org/W2134294860","https://openalex.org/W2724299411","https://openalex.org/W2493438666","https://openalex.org/W1965774354","https://openalex.org/W1806442025"],"abstract_inverted_index":{"Emerging":[0],"applications":[1],"of":[2,35,150,175,192],"robot":[3,17,76,80,111,129,142,164],"systems":[4],"that":[5],"involve":[6],"physical":[7],"interaction":[8],"with":[9,99],"humans":[10],"have":[11,23],"opened":[12],"up":[13],"new":[14],"challenges":[15],"in":[16,70,84,104],"control.":[18],"While":[19],"various":[20],"control":[21,95,130,134,139,143,195],"techniques":[22],"been":[24],"developed":[25,171],"for":[26],"human-robot":[27],"interaction,":[28],"existing":[29],"methods":[30],"do":[31],"not":[32],"take":[33,94,113,173],"advantages":[34,174],"both":[36,176],"human":[37,60,64,92,133,138,160,177],"knowledge":[38,178],"and":[39,52,74,107,132,141,162,179],"the":[40,63,71,79,85,91,105,110,114,117,148,159,163,180,190,193],"robot\u2019s":[41,181],"ability.":[42,182],"In":[43],"this":[44],"paper,":[45],"a":[46,59,66,75,155],"human-guided":[47,151],"manipulation":[48,72],"problem":[49],"is":[50,56,81,119,170],"formulated":[51],"solved.":[53],"The":[54,87,183],"workspace":[55],"divided":[57],"into":[58],"region,":[61,77,165],"where":[62,78,116],"plays":[65],"more":[67,82],"active":[68],"role":[69],"task,":[73],"dominant":[83],"manipulation.":[86],"proposed":[88,194],"formulation":[89],"allows":[90,109],"to":[93,97,112,146,172,188],"actions":[96],"deal":[98],"unforeseen":[100],"changes":[101],"or":[102,137],"uncertainty":[103],"environment,":[106],"also":[108],"lead":[115],"environment":[118],"exactly":[120],"known.":[121],"We":[122],"mainly":[123],"consider":[124],"two":[125],"basic":[126],"scenarios,":[127],"i.e.,":[128],"first":[131,140],"later":[135,144],"(R-H)":[136],"(H-R),":[145],"illustrate":[147,189],"concept":[149],"comanipulation.":[152],"Based":[153],"on":[154],"smooth":[156],"transition":[157],"between":[158],"region":[161],"an":[166],"adaptive":[167],"tracking":[168],"controller":[169],"experimental":[184],"results":[185],"are":[186],"presented":[187],"performance":[191],"method.":[196]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":8},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":4},{"year":2016,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}