{"id":"https://openalex.org/W3205840220","doi":"https://doi.org/10.1109/tcyb.2021.3106543","title":"Hybrid Recurrent Neural Network Architecture-Based Intention Recognition for Human\u2013Robot Collaboration","display_name":"Hybrid Recurrent Neural Network Architecture-Based Intention Recognition for Human\u2013Robot Collaboration","publication_year":2021,"publication_date":"2021-10-13","ids":{"openalex":"https://openalex.org/W3205840220","doi":"https://doi.org/10.1109/tcyb.2021.3106543","mag":"3205840220","pmid":"https://pubmed.ncbi.nlm.nih.gov/34637387"},"language":"en","primary_location":{"id":"doi:10.1109/tcyb.2021.3106543","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcyb.2021.3106543","pdf_url":null,"source":{"id":"https://openalex.org/S4210191041","display_name":"IEEE Transactions on Cybernetics","issn_l":"2168-2267","issn":["2168-2267","2168-2275"],"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 Cybernetics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","pubmed"],"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/A5044392810","display_name":"Xiaoshan Gao","orcid":"https://orcid.org/0000-0003-2057-3386"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xiaoshan Gao","raw_affiliation_strings":["School of Automation Science and Electrical Engineering, Beihang University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Automation Science and Electrical Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100772253","display_name":"Liang Yan","orcid":"https://orcid.org/0000-0001-9099-240X"},"institutions":[{"id":"https://openalex.org/I159389169","display_name":"Ningbo University of Technology","ror":"https://ror.org/037dym702","country_code":"CN","type":"education","lineage":["https://openalex.org/I159389169"]},{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Liang Yan","raw_affiliation_strings":["School of Automation Science and Electrical Engineering, Science and Technology on Aircraft Control Laboratory, Research Institute for Frontier Science, Beihang University, Beijing, China","Ningbo Institute of Technology, Beihang University, Ningbo, China"],"affiliations":[{"raw_affiliation_string":"School of Automation Science and Electrical Engineering, Science and Technology on Aircraft Control Laboratory, Research Institute for Frontier Science, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"Ningbo Institute of Technology, Beihang University, Ningbo, China","institution_ids":["https://openalex.org/I159389169","https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100367290","display_name":"Gang Wang","orcid":"https://orcid.org/0000-0001-5377-2547"},"institutions":[{"id":"https://openalex.org/I139759216","display_name":"Beijing University of Posts and Telecommunications","ror":"https://ror.org/04w9fbh59","country_code":"CN","type":"education","lineage":["https://openalex.org/I139759216"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Gang Wang","raw_affiliation_strings":["School of Automation, Beijing University of Posts and Telecommunications, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Automation, Beijing University of Posts and Telecommunications, Beijing, China","institution_ids":["https://openalex.org/I139759216"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5108166814","display_name":"Chris Gerada","orcid":"https://orcid.org/0000-0003-4707-4480"},"institutions":[{"id":"https://openalex.org/I142263535","display_name":"University of Nottingham","ror":"https://ror.org/01ee9ar58","country_code":"GB","type":"education","lineage":["https://openalex.org/I142263535"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Chris Gerada","raw_affiliation_strings":["Power Electronics, Machines and Control Group, University of Nottingham, Nottingham, U.K"],"affiliations":[{"raw_affiliation_string":"Power Electronics, Machines and Control Group, University of Nottingham, Nottingham, U.K","institution_ids":["https://openalex.org/I142263535"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5044392810"],"corresponding_institution_ids":["https://openalex.org/I82880672"],"apc_list":null,"apc_paid":null,"fwci":2.904,"has_fulltext":false,"cited_by_count":46,"citation_normalized_percentile":{"value":0.91019734,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"53","issue":"3","first_page":"1578","last_page":"1586"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9972000122070312,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9972000122070312,"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/T10812","display_name":"Human Pose and Action Recognition","score":0.9854000210762024,"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"}},{"id":"https://openalex.org/T10525","display_name":"Human-Automation Interaction and Safety","score":0.9710000157356262,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7736959457397461},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6729385852813721},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.5487105846405029},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.5089883804321289},{"id":"https://openalex.org/keywords/recurrent-neural-network","display_name":"Recurrent neural network","score":0.5037679076194763},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.4399879574775696},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.43286460638046265},{"id":"https://openalex.org/keywords/network-architecture","display_name":"Network architecture","score":0.42222219705581665},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.42130953073501587},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.42077159881591797},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.41685622930526733}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7736959457397461},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6729385852813721},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.5487105846405029},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.5089883804321289},{"id":"https://openalex.org/C147168706","wikidata":"https://www.wikidata.org/wiki/Q1457734","display_name":"Recurrent neural network","level":3,"score":0.5037679076194763},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.4399879574775696},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.43286460638046265},{"id":"https://openalex.org/C193415008","wikidata":"https://www.wikidata.org/wiki/Q639681","display_name":"Network architecture","level":2,"score":0.42222219705581665},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.42130953073501587},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.42077159881591797},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.41685622930526733},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0}],"mesh":[{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D016571","descriptor_name":"Neural Networks, Computer","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D016571","descriptor_name":"Neural Networks, Computer","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D016571","descriptor_name":"Neural Networks, Computer","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D033182","descriptor_name":"Intention","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D033182","descriptor_name":"Intention","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D033182","descriptor_name":"Intention","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false}],"locations_count":2,"locations":[{"id":"doi:10.1109/tcyb.2021.3106543","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcyb.2021.3106543","pdf_url":null,"source":{"id":"https://openalex.org/S4210191041","display_name":"IEEE Transactions on Cybernetics","issn_l":"2168-2267","issn":["2168-2267","2168-2275"],"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 Cybernetics","raw_type":"journal-article"},{"id":"pmid:34637387","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/34637387","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE transactions on cybernetics","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.47999998927116394,"display_name":"Industry, innovation and infrastructure","id":"https://metadata.un.org/sdg/9"}],"awards":[{"id":"https://openalex.org/G2219393312","display_name":null,"funder_award_id":"52130505","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2397134587","display_name":null,"funder_award_id":"51875013","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3153661153","display_name":null,"funder_award_id":"2017YFB1300400","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program 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/F4320335777","display_name":"National Key Research and Development Program of China","ror":null},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W179875071","https://openalex.org/W1977941534","https://openalex.org/W2001534748","https://openalex.org/W2013637713","https://openalex.org/W2021756757","https://openalex.org/W2054661770","https://openalex.org/W2059569291","https://openalex.org/W2064675550","https://openalex.org/W2103496339","https://openalex.org/W2123885062","https://openalex.org/W2131774270","https://openalex.org/W2342468814","https://openalex.org/W2344359606","https://openalex.org/W2386974947","https://openalex.org/W2510027315","https://openalex.org/W2625945415","https://openalex.org/W2749915133","https://openalex.org/W2765421612","https://openalex.org/W2774716914","https://openalex.org/W2803620531","https://openalex.org/W2888838050","https://openalex.org/W2889505988","https://openalex.org/W2901630465","https://openalex.org/W2946514473","https://openalex.org/W2952587893","https://openalex.org/W2963670497","https://openalex.org/W2963757864","https://openalex.org/W2969816195","https://openalex.org/W2970514507","https://openalex.org/W2984594917","https://openalex.org/W6739739200"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2371519816","https://openalex.org/W2043154226","https://openalex.org/W2369529107","https://openalex.org/W2329043542","https://openalex.org/W2109948066","https://openalex.org/W1678858522","https://openalex.org/W3195090107","https://openalex.org/W1999333556","https://openalex.org/W3008584592"],"abstract_inverted_index":{"Human-robot-collaboration":[0],"requires":[1],"robot":[2,149],"to":[3,57,84,104,124,158,180,192],"proactively":[4],"and":[5,25,68,80,109,115,150,190,199],"intelligently":[6],"recognize":[7],"the":[8,30,41,59,64,86,92,96,100,106,116,120,126,135,146,160,163,170,183,187,194,206,211],"intention":[9,55,139],"of":[10,43,91,99,138,162,186,196,213],"human":[11,151,214],"operator.":[12],"Despite":[13],"deep":[14,225],"learning":[15,24,226],"approaches":[16],"have":[17],"achieved":[18],"certain":[19],"results":[20,203],"in":[21,95,119,175,218],"performing":[22],"feature":[23],"long-term":[26],"temporal":[27],"dependencies":[28],"modeling,":[29],"motion":[31,152,212],"prediction":[32,136],"is":[33,52,155,178],"still":[34],"not":[35],"desirable":[36],"enough,":[37],"which":[38],"unavoidably":[39],"compromises":[40],"accomplishment":[42],"tasks.":[44],"Therefore,":[45],"a":[46],"hybrid":[47,101,130,207],"recurrent":[48],"neural":[49],"network":[50,87,131,197,208],"architecture":[51,102,132],"proposed":[53,164],"for":[54],"recognition":[56,140],"conduct":[58],"assembly":[60],"tasks":[61],"cooperatively.":[62],"Specifically,":[63],"improved":[65,69],"LSTM":[66],"(ILSTM)":[67],"Bi-LSTM":[70],"(IBi-LSTM)":[71],"networks":[72],"are":[73],"first":[74,97],"explored":[75],"with":[76,145,182,222],"state":[77],"activation":[78,82],"function":[79,83],"gate":[81],"improve":[85,134,193],"performance.":[88],"The":[89,201],"employment":[90],"IBi-LSTM":[93],"unit":[94],"layers":[98],"helps":[103],"learn":[105],"features":[107],"effectively":[108],"fully":[110],"from":[111],"complex":[112],"sequential":[113],"data,":[114,189],"LSTM-based":[117],"cell":[118],"last":[121],"layer":[122],"contributes":[123],"capturing":[125],"forward":[127],"dependency.":[128],"This":[129],"can":[133,209],"performance":[137,161],"effectively.":[141],"One":[142,166],"experimental":[143,202],"platform":[144],"UR5":[147],"collaborative":[148,219],"capture":[153],"device":[154],"set":[156],"up":[157],"test":[159],"method.":[165],"filter,":[167],"that":[168,205],"is,":[169],"quartile-based":[171],"amplitude":[172],"limiting":[173],"algorithm":[174],"sliding":[176],"window,":[177],"designed":[179],"deal":[181],"abnormal":[184],"data":[185],"spatiotemporal":[188],"thus,":[191],"accuracy":[195],"training":[198],"testing.":[200],"show":[204],"predict":[210],"operator":[215],"more":[216],"precisely":[217],"workspace,":[220],"compared":[221],"some":[223],"representative":[224],"methods.":[227]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":22},{"year":2024,"cited_by_count":11},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":2}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}