{"id":"https://openalex.org/W4385859317","doi":"https://doi.org/10.1109/tcst.2023.3301675","title":"A Complementary Framework for Human\u2013Robot Collaboration With a Mixed AR\u2013Haptic Interface","display_name":"A Complementary Framework for Human\u2013Robot Collaboration With a Mixed AR\u2013Haptic Interface","publication_year":2023,"publication_date":"2023-08-16","ids":{"openalex":"https://openalex.org/W4385859317","doi":"https://doi.org/10.1109/tcst.2023.3301675"},"language":"en","primary_location":{"id":"doi:10.1109/tcst.2023.3301675","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2023.3301675","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/A5019990282","display_name":"Xiangjie Yan","orcid":"https://orcid.org/0000-0001-9713-5099"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xiangjie Yan","raw_affiliation_strings":["Department of Automation, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-9713-5099","affiliations":[{"raw_affiliation_string":"Department of Automation, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022002000","display_name":"Yongpeng Jiang","orcid":"https://orcid.org/0009-0002-1882-7623"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yongpeng Jiang","raw_affiliation_strings":["Department of Automation, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0009-0002-1882-7623","affiliations":[{"raw_affiliation_string":"Department of Automation, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102888345","display_name":"Chen Chen","orcid":"https://orcid.org/0000-0003-2588-7376"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chen Chen","raw_affiliation_strings":["Department of Automation, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-2588-7376","affiliations":[{"raw_affiliation_string":"Department of Automation, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014942795","display_name":"Leiliang Gong","orcid":null},"institutions":[{"id":"https://openalex.org/I17523332","display_name":"Hong Kong Productivity Council","ror":"https://ror.org/00p6ghq98","country_code":"HK","type":"other","lineage":["https://openalex.org/I17523332"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Leiliang Gong","raw_affiliation_strings":["Hong Kong Productivity Council (HKPC), Hong Kong, China"],"raw_orcid":"https://orcid.org/0000-0003-4302-1592","affiliations":[{"raw_affiliation_string":"Hong Kong Productivity Council (HKPC), Hong Kong, China","institution_ids":["https://openalex.org/I17523332"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100590943","display_name":"Ming Ge","orcid":null},"institutions":[{"id":"https://openalex.org/I17523332","display_name":"Hong Kong Productivity Council","ror":"https://ror.org/00p6ghq98","country_code":"HK","type":"other","lineage":["https://openalex.org/I17523332"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Ming Ge","raw_affiliation_strings":["Hong Kong Industrial Artificial Intelligence and Robotics Centre (FLAIR), Hong Kong Productivity Council (HKPC), Hong Kong, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hong Kong Industrial Artificial Intelligence and Robotics Centre (FLAIR), Hong Kong Productivity Council (HKPC), Hong Kong, China","institution_ids":["https://openalex.org/I17523332"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100375792","display_name":"Tao Zhang","orcid":"https://orcid.org/0000-0002-2980-6281"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tao Zhang","raw_affiliation_strings":["Department of Automation, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-2980-6281","affiliations":[{"raw_affiliation_string":"Department of Automation, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100331032","display_name":"Xiang Li","orcid":"https://orcid.org/0000-0002-0699-1904"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiang Li","raw_affiliation_strings":["Department of Automation, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-0699-1904","affiliations":[{"raw_affiliation_string":"Department of Automation, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5019990282"],"corresponding_institution_ids":["https://openalex.org/I99065089"],"apc_list":null,"apc_paid":null,"fwci":1.0128,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.7231021,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"32","issue":"1","first_page":"112","last_page":"127"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9965000152587891,"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":0.9965000152587891,"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":0.9908000230789185,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.906499981880188,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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":0.8058875799179077},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.5801745653152466},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.5768667459487915},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.5722944736480713},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5452686548233032},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5122062563896179},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4683144986629486},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.448752760887146},{"id":"https://openalex.org/keywords/interface","display_name":"Interface (matter)","score":0.437439501285553},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3604351878166199},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.35322731733322144},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3379427194595337},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.28472068905830383},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.08195081353187561}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.8058875799179077},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.5801745653152466},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5768667459487915},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.5722944736480713},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5452686548233032},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5122062563896179},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4683144986629486},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.448752760887146},{"id":"https://openalex.org/C113843644","wikidata":"https://www.wikidata.org/wiki/Q901882","display_name":"Interface (matter)","level":4,"score":0.437439501285553},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3604351878166199},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.35322731733322144},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3379427194595337},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.28472068905830383},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.08195081353187561},{"id":"https://openalex.org/C129307140","wikidata":"https://www.wikidata.org/wiki/Q6795880","display_name":"Maximum bubble pressure method","level":3,"score":0.0},{"id":"https://openalex.org/C173608175","wikidata":"https://www.wikidata.org/wiki/Q232661","display_name":"Parallel computing","level":1,"score":0.0},{"id":"https://openalex.org/C157915830","wikidata":"https://www.wikidata.org/wiki/Q2928001","display_name":"Bubble","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tcst.2023.3301675","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2023.3301675","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3362685983","display_name":null,"funder_award_id":"52075290","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6104443508","display_name":null,"funder_award_id":"20201880382","funder_id":"https://openalex.org/F4320329777","funder_display_name":"Beijing National Research Center For Information Science And Technology"},{"id":"https://openalex.org/G773164479","display_name":null,"funder_award_id":"U21A20517","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321920","display_name":"Innovation and Technology Commission","ror":"https://ror.org/04vf9tr09"},{"id":"https://openalex.org/F4320329777","display_name":"Beijing National Research Center For Information Science And Technology","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":44,"referenced_works":["https://openalex.org/W1487127700","https://openalex.org/W1582076359","https://openalex.org/W1986014385","https://openalex.org/W1986152369","https://openalex.org/W2009654645","https://openalex.org/W2056114668","https://openalex.org/W2078763164","https://openalex.org/W2135386771","https://openalex.org/W2137044675","https://openalex.org/W2139920892","https://openalex.org/W2174039467","https://openalex.org/W2294294776","https://openalex.org/W2321501099","https://openalex.org/W2342404624","https://openalex.org/W2504989182","https://openalex.org/W2593397865","https://openalex.org/W2601030147","https://openalex.org/W2605902560","https://openalex.org/W2772781455","https://openalex.org/W2903982116","https://openalex.org/W2927819804","https://openalex.org/W2945228227","https://openalex.org/W2947070151","https://openalex.org/W2955189310","https://openalex.org/W2994446013","https://openalex.org/W2998801444","https://openalex.org/W3004105558","https://openalex.org/W3093877783","https://openalex.org/W3096471888","https://openalex.org/W3164088261","https://openalex.org/W3186028265","https://openalex.org/W3187971485","https://openalex.org/W3188486176","https://openalex.org/W3207182429","https://openalex.org/W3216533807","https://openalex.org/W4200419179","https://openalex.org/W4285102354","https://openalex.org/W4285197720","https://openalex.org/W4287331155","https://openalex.org/W4388918482","https://openalex.org/W6756486208","https://openalex.org/W6763071527","https://openalex.org/W6784953566","https://openalex.org/W6790607543"],"related_works":["https://openalex.org/W156716224","https://openalex.org/W2111871955","https://openalex.org/W3175380930","https://openalex.org/W2122871747","https://openalex.org/W3114279067","https://openalex.org/W3205513966","https://openalex.org/W2052971528","https://openalex.org/W3120459843","https://openalex.org/W4366547574","https://openalex.org/W3200191727"],"abstract_inverted_index":{"There":[0],"is":[1,232],"invariably":[2],"a":[3,70,97,114,199,215],"tradeoff":[4],"between":[5],"safety":[6,79],"and":[7,28,63,82,101,135,185,198,204,210,223],"efficiency":[8,64,84],"for":[9,74],"collaborative":[10],"robots":[11,42],"(cobots)":[12],"in":[13,109,124,164,182,240],"human\u2013robot":[14],"collaborations":[15],"(HRCs).":[16],"Robots":[17],"that":[18,43,57,76],"interact":[19],"minimally":[20],"with":[21,25,46,106,121,189,235],"humans":[22,47,81],"can":[23,48,176],"work":[24,44],"high":[26],"speed":[27],"accuracy":[29],"but":[30,49],"cannot":[31],"adapt":[32],"to":[33,38,54,119,147,155,157,245],"new":[34,71],"tasks":[35,60,95],"or":[36],"respond":[37,156],"unforeseen":[39,158],"changes,":[40],"whereas":[41],"closely":[45],"only":[50],"by":[51,141],"becoming":[52],"passive":[53],"humans,":[55],"meaning":[56],"their":[58],"main":[59,170],"are":[61,202,212,243],"suspended":[62],"compromised.":[65],"Accordingly,":[66],"this":[67,88],"article":[68],"proposes":[69],"complementary":[72],"framework":[73],"HRC":[75],"balances":[77],"the":[78,83,90,102,107,110,117,145,149,152,168,174,179,229,247,250],"of":[80,85,132,151,228,249],"robots.":[86],"In":[87,172],"framework,":[89],"robot":[91,108,118,153,175],"carries":[92],"out":[93],"given":[94],"using":[96],"vision-based":[98],"adaptive":[99],"controller,":[100],"human":[103],"expert":[104,146],"collaborates":[105],"null":[111,136,186],"space.":[112],"Such":[113],"decoupling":[115],"drives":[116],"deal":[120],"existing":[122],"issues":[123],"task":[125,183],"space":[126,137,184,187],"[e.g.,":[127],"uncalibrated":[128],"camera,":[129],"limited":[130],"field":[131],"view":[133],"(FOV)]":[134],"(e.g.,":[138,160],"joint":[139],"limits)":[140],"itself":[142],"while":[143],"allowing":[144],"adjust":[148],"configuration":[150],"body":[154],"changes":[159],"sudden":[161],"invasion,":[162],"change":[163],"environment)":[165],"without":[166],"affecting":[167],"robot\u2019s":[169,200],"task.":[171],"addition,":[173],"simultaneously":[177],"learn":[178],"expert\u2019s":[180,196],"demonstration":[181,209],"beforehand":[188],"dynamic":[190],"movement":[191],"primitives":[192],"(DMPs).":[193],"Therefore,":[194],"an":[195],"knowledge":[197],"capability":[201],"explored":[203],"complement":[205],"each":[206],"other.":[207],"Human":[208],"involvement":[211],"enabled":[213],"via":[214],"mixed":[216],"interaction":[217],"interface,":[218],"i.e.,":[219],"augmented":[220],"reality":[221],"(AR)":[222],"haptic":[224],"devices.":[225],"The":[226],"stability":[227],"closed-loop":[230],"system":[231],"rigorously":[233],"proved":[234],"Lyapunov":[236],"methods.":[237],"Experimental":[238],"results":[239],"various":[241],"scenarios":[242],"presented":[244],"illustrate":[246],"performance":[248],"proposed":[251],"method.":[252]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}