{"id":"https://openalex.org/W3202358609","doi":"https://doi.org/10.1109/tcyb.2021.3107357","title":"Adaptive-Constrained Impedance Control for Human\u2013Robot Co-Transportation","display_name":"Adaptive-Constrained Impedance Control for Human\u2013Robot Co-Transportation","publication_year":2021,"publication_date":"2021-09-27","ids":{"openalex":"https://openalex.org/W3202358609","doi":"https://doi.org/10.1109/tcyb.2021.3107357","mag":"3202358609","pmid":"https://pubmed.ncbi.nlm.nih.gov/34570713"},"language":"en","primary_location":{"id":"doi:10.1109/tcyb.2021.3107357","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcyb.2021.3107357","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/A5021537732","display_name":"Xinbo Yu","orcid":"https://orcid.org/0000-0003-0958-6020"},"institutions":[{"id":"https://openalex.org/I92403157","display_name":"University of Science and Technology Beijing","ror":"https://ror.org/02egmk993","country_code":"CN","type":"education","lineage":["https://openalex.org/I92403157"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xinbo Yu","raw_affiliation_strings":["Institute of Artificial Intelligence, University of Science and Technology Beijing, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-0958-6020","affiliations":[{"raw_affiliation_string":"Institute of Artificial Intelligence, University of Science and Technology Beijing, Beijing, China","institution_ids":["https://openalex.org/I92403157"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100365257","display_name":"Bin Li","orcid":"https://orcid.org/0000-0003-1684-8869"},"institutions":[{"id":"https://openalex.org/I92403157","display_name":"University of Science and Technology Beijing","ror":"https://ror.org/02egmk993","country_code":"CN","type":"education","lineage":["https://openalex.org/I92403157"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bin Li","raw_affiliation_strings":["Institute of Artificial Intelligence and the School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Artificial Intelligence and the School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing, China","institution_ids":["https://openalex.org/I92403157"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022113595","display_name":"Wei He","orcid":"https://orcid.org/0000-0002-8944-9861"},"institutions":[{"id":"https://openalex.org/I92403157","display_name":"University of Science and Technology Beijing","ror":"https://ror.org/02egmk993","country_code":"CN","type":"education","lineage":["https://openalex.org/I92403157"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei He","raw_affiliation_strings":["Institute of Artificial Intelligence and the School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-8944-9861","affiliations":[{"raw_affiliation_string":"Institute of Artificial Intelligence and the School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing, China","institution_ids":["https://openalex.org/I92403157"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081897060","display_name":"Yanghe Feng","orcid":"https://orcid.org/0000-0003-1608-8695"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanghe Feng","raw_affiliation_strings":["College of Systems Engineering, National University of Defense Technology, Changsha, China"],"raw_orcid":"https://orcid.org/0000-0003-1608-8695","affiliations":[{"raw_affiliation_string":"College of Systems Engineering, National University of Defense Technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]}]},{"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/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]},{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Long Cheng","raw_affiliation_strings":["State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","School of Artificial Intelligence, University of the Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-7565-8788","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210094879","https://openalex.org/I19820366"]},{"raw_affiliation_string":"School of Artificial Intelligence, University of the Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210100255","https://openalex.org/I19820366"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5035107160","display_name":"Carlos Silvestre","orcid":"https://orcid.org/0000-0002-5096-5527"},"institutions":[{"id":"https://openalex.org/I204512498","display_name":"University of Macau","ror":"https://ror.org/01r4q9n85","country_code":"MO","type":"education","lineage":["https://openalex.org/I204512498"]}],"countries":["MO"],"is_corresponding":false,"raw_author_name":"Carlos Silvestre","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Faculty of Science and Technology, University of Macau, Macau, China"],"raw_orcid":"https://orcid.org/0000-0002-5096-5527","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Faculty of Science and Technology, University of Macau, Macau, China","institution_ids":["https://openalex.org/I204512498"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":16.8019,"has_fulltext":false,"cited_by_count":173,"citation_normalized_percentile":{"value":0.9959863,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"52","issue":"12","first_page":"13237","last_page":"13249"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9990000128746033,"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":0.9990000128746033,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9983999729156494,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9972000122070312,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.749086320400238},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.6678541898727417},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6646478772163391},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5784528255462646},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.5043009519577026},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.501920223236084},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.48997679352760315},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47674334049224854},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4491526782512665},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.38490694761276245},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3777710795402527},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.36971479654312134},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3330599069595337},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.28640055656433105}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.749086320400238},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.6678541898727417},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6646478772163391},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5784528255462646},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.5043009519577026},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.501920223236084},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.48997679352760315},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47674334049224854},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4491526782512665},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.38490694761276245},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3777710795402527},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.36971479654312134},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3330599069595337},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.28640055656433105},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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":"Q000379","qualifier_name":"methods","is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true},{"descriptor_ui":"D017097","descriptor_name":"Electric Impedance","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D017097","descriptor_name":"Electric Impedance","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D017097","descriptor_name":"Electric Impedance","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false}],"locations_count":2,"locations":[{"id":"doi:10.1109/tcyb.2021.3107357","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcyb.2021.3107357","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:34570713","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/34570713","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":[],"awards":[{"id":"https://openalex.org/G1844495039","display_name":null,"funder_award_id":"FDCT/0031/2020/AFJ","funder_id":"https://openalex.org/F4320323893","funder_display_name":"Fundo para o Desenvolvimento das Ci\u00eancias e da Tecnologia"},{"id":"https://openalex.org/G2873358808","display_name":null,"funder_award_id":"2020B1515120071","funder_id":"https://openalex.org/F4320337111","funder_display_name":"Basic and Applied Basic Research Foundation of Guangdong Province"},{"id":"https://openalex.org/G3663357362","display_name":"Laboratory of Robotics and Engineering Systems","funder_award_id":"UIDB/50009/2020","funder_id":"https://openalex.org/F4320334779","funder_display_name":"Funda\u00e7\u00e3o para a Ci\u00eancia e a Tecnologia"},{"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/G4208912088","display_name":null,"funder_award_id":"62061160371","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4216655758","display_name":null,"funder_award_id":"2020TQ0031","funder_id":"https://openalex.org/F4320321543","funder_display_name":"China Postdoctoral Science Foundation"},{"id":"https://openalex.org/G564569672","display_name":null,"funder_award_id":"62073031","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7317794377","display_name":null,"funder_award_id":"2021M690358","funder_id":"https://openalex.org/F4320321543","funder_display_name":"China Postdoctoral Science Foundation"},{"id":"https://openalex.org/G7579702299","display_name":null,"funder_award_id":"62003032","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8236317252","display_name":null,"funder_award_id":"U1913209","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/F4320321543","display_name":"China Postdoctoral Science Foundation","ror":"https://ror.org/0426zh255"},{"id":"https://openalex.org/F4320323893","display_name":"Fundo para o Desenvolvimento das Ci\u00eancias e da Tecnologia","ror":"https://ror.org/05vna4324"},{"id":"https://openalex.org/F4320334779","display_name":"Funda\u00e7\u00e3o para a Ci\u00eancia e a Tecnologia","ror":"https://ror.org/00snfqn58"},{"id":"https://openalex.org/F4320337111","display_name":"Basic and Applied Basic Research Foundation of Guangdong Province","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":71,"referenced_works":["https://openalex.org/W1493190793","https://openalex.org/W1523815250","https://openalex.org/W1548528537","https://openalex.org/W1967904302","https://openalex.org/W1986024064","https://openalex.org/W1992171281","https://openalex.org/W2023172481","https://openalex.org/W2031217568","https://openalex.org/W2043536379","https://openalex.org/W2049933349","https://openalex.org/W2051671655","https://openalex.org/W2055478070","https://openalex.org/W2059114576","https://openalex.org/W2068577042","https://openalex.org/W2076024315","https://openalex.org/W2083483041","https://openalex.org/W2086493383","https://openalex.org/W2109151516","https://openalex.org/W2109590511","https://openalex.org/W2112065948","https://openalex.org/W2130180074","https://openalex.org/W2152106902","https://openalex.org/W2166869394","https://openalex.org/W2169513627","https://openalex.org/W2331138946","https://openalex.org/W2343835401","https://openalex.org/W2404015798","https://openalex.org/W2504989182","https://openalex.org/W2511957348","https://openalex.org/W2517377683","https://openalex.org/W2530175213","https://openalex.org/W2560370148","https://openalex.org/W2564917287","https://openalex.org/W2625976379","https://openalex.org/W2753943679","https://openalex.org/W2766253253","https://openalex.org/W2804158892","https://openalex.org/W2883839991","https://openalex.org/W2886298435","https://openalex.org/W2887687214","https://openalex.org/W2893568750","https://openalex.org/W2894270381","https://openalex.org/W2896906473","https://openalex.org/W2900048593","https://openalex.org/W2903617107","https://openalex.org/W2904176541","https://openalex.org/W2909507202","https://openalex.org/W2922358507","https://openalex.org/W2929647494","https://openalex.org/W2946514473","https://openalex.org/W2950651031","https://openalex.org/W2970007912","https://openalex.org/W2980511619","https://openalex.org/W3005426010","https://openalex.org/W3008959010","https://openalex.org/W3010689561","https://openalex.org/W3011116059","https://openalex.org/W3020096382","https://openalex.org/W3020557458","https://openalex.org/W3031520393","https://openalex.org/W3038828093","https://openalex.org/W3046740399","https://openalex.org/W3048047525","https://openalex.org/W3059965140","https://openalex.org/W3105789002","https://openalex.org/W3153964553","https://openalex.org/W3196571544","https://openalex.org/W4243290542","https://openalex.org/W4243385754","https://openalex.org/W6767308792","https://openalex.org/W6773519833"],"related_works":["https://openalex.org/W3165413239","https://openalex.org/W3205513966","https://openalex.org/W2052971528","https://openalex.org/W3120459843","https://openalex.org/W2171912896","https://openalex.org/W4366547574","https://openalex.org/W3200191727","https://openalex.org/W2785665096","https://openalex.org/W1500588313","https://openalex.org/W2021541810"],"abstract_inverted_index":{"Human-robot":[0],"co-transportation":[1,62,154,171],"allows":[2],"for":[3,60],"a":[4,7,17,25,103,133,144,170],"human":[5,78,89,113,138],"and":[6,30,70,81,90,122,139,142,157],"robot":[8,51,104,124,141],"to":[9,75,82,107,161],"perform":[10],"an":[11,56],"object":[12],"transportation":[13],"task":[14,67],"cooperatively":[15],"on":[16],"shared":[18],"environment.":[19],"This":[20],"range":[21],"of":[22,28,47,111,152,165],"applications":[23],"raises":[24],"great":[26],"number":[27],"theoretical":[29],"practical":[31],"challenges":[32],"arising":[33],"mainly":[34],"from":[35,44],"the":[36,45,50,77,84,88,91,94,109,112,137,140,149,153,163,166],"unknown":[37,119,123],"human-robot":[38,61],"interaction":[39,85,135],"model":[40,49],"as":[41,43],"well":[42],"difficulty":[46],"accurately":[48],"dynamics.":[52,125],"In":[53],"this":[54],"article,":[55],"adaptive":[57,128],"impedance":[58,129],"controller":[59,106],"is":[63],"put":[64],"forward":[65],"in":[66,97,169],"space.":[68],"Vision":[69],"force":[71,86],"sensing":[72],"are":[73,159],"employed":[74],"obtain":[76],"hand":[79],"position,":[80],"measure":[83],"between":[87,136],"robot.":[92],"Using":[93],"latest":[95],"developments":[96],"nonlinear":[98],"control":[99,130,146],"theory,":[100],"we":[101],"propose":[102],"end-effector":[105],"track":[108],"motion":[110],"partner":[114],"under":[115],"actuators'":[116],"input":[117],"constraints,":[118],"initial":[120],"conditions,":[121],"The":[126],"proposed":[127,167],"algorithm":[131],"offers":[132],"safe":[134],"achieves":[143],"smooth":[145],"behavior":[147],"along":[148],"different":[150],"phases":[151],"task.":[155,172],"Simulations":[156],"experiments":[158],"conducted":[160],"illustrate":[162],"performance":[164],"techniques":[168]},"counts_by_year":[{"year":2026,"cited_by_count":10},{"year":2025,"cited_by_count":42},{"year":2024,"cited_by_count":40},{"year":2023,"cited_by_count":62},{"year":2022,"cited_by_count":19}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}