{"id":"https://openalex.org/W3203624975","doi":"https://doi.org/10.1109/thms.2021.3106865","title":"ArmSym: A Virtual Human\u2013Robot Interaction Laboratory for Assistive Robotics","display_name":"ArmSym: A Virtual Human\u2013Robot Interaction Laboratory for Assistive Robotics","publication_year":2021,"publication_date":"2021-09-24","ids":{"openalex":"https://openalex.org/W3203624975","doi":"https://doi.org/10.1109/thms.2021.3106865","mag":"3203624975"},"language":"en","primary_location":{"id":"doi:10.1109/thms.2021.3106865","is_oa":false,"landing_page_url":"https://doi.org/10.1109/thms.2021.3106865","pdf_url":null,"source":{"id":"https://openalex.org/S2476799526","display_name":"IEEE Transactions on Human-Machine Systems","issn_l":"2168-2291","issn":["2168-2291","2168-2305"],"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 Human-Machine Systems","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/A5101779594","display_name":"Samuel Bustamante","orcid":"https://orcid.org/0000-0002-7923-8307"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]},{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]},{"id":"https://openalex.org/I8087733","display_name":"University of T\u00fcbingen","ror":"https://ror.org/03a1kwz48","country_code":"DE","type":"education","lineage":["https://openalex.org/I8087733"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Samuel Bustamante","raw_affiliation_strings":["Centre for Robotics and Mechatronics, German Aeroespace Center, We\u00dfling, Germany","Empirical Inference Department of the Max Planck Institute for Intelligent Systems, T\u00fcbingen, Germany","Graduate School of Neural Information Processing, University of T\u00fcbingen, T\u00fcbingen, Germany"],"raw_orcid":"https://orcid.org/0000-0002-7923-8307","affiliations":[{"raw_affiliation_string":"Centre for Robotics and Mechatronics, German Aeroespace Center, We\u00dfling, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"Empirical Inference Department of the Max Planck Institute for Intelligent Systems, T\u00fcbingen, Germany","institution_ids":["https://openalex.org/I4210135521"]},{"raw_affiliation_string":"Graduate School of Neural Information Processing, University of T\u00fcbingen, T\u00fcbingen, Germany","institution_ids":["https://openalex.org/I8087733"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071367253","display_name":"Jan Peters","orcid":"https://orcid.org/0000-0002-5266-8091"},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technische Universit\u00e4t Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]},{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jan Peters","raw_affiliation_strings":["Computer Science Department, Technische Universit\u00e4t, Darmstadt, Germany","Empirical Inference Department of the Max Planck Institute for Intelligent Systems, T\u00fcbingen, Germany"],"raw_orcid":"https://orcid.org/0000-0002-5266-8091","affiliations":[{"raw_affiliation_string":"Computer Science Department, Technische Universit\u00e4t, Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]},{"raw_affiliation_string":"Empirical Inference Department of the Max Planck Institute for Intelligent Systems, T\u00fcbingen, Germany","institution_ids":["https://openalex.org/I4210135521"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044005697","display_name":"Bernhard Sch\u00f6lkopf","orcid":"https://orcid.org/0000-0002-8177-0925"},"institutions":[{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Bernhard Scholkopf","raw_affiliation_strings":["Empirical Inference Department of the Max Planck Institute for Intelligent Systems, T\u00fcbingen, Germany"],"raw_orcid":"https://orcid.org/0000-0002-8177-0925","affiliations":[{"raw_affiliation_string":"Empirical Inference Department of the Max Planck Institute for Intelligent Systems, T\u00fcbingen, Germany","institution_ids":["https://openalex.org/I4210135521"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040565095","display_name":"Moritz Grosse\u2010Wentrup","orcid":"https://orcid.org/0000-0001-9787-2291"},"institutions":[{"id":"https://openalex.org/I129774422","display_name":"University of Vienna","ror":"https://ror.org/03prydq77","country_code":"AT","type":"education","lineage":["https://openalex.org/I129774422"]},{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]}],"countries":["AT","DE"],"is_corresponding":false,"raw_author_name":"Moritz Grosse-Wentrup","raw_affiliation_strings":["Empirical Inference Department of the Max Planck Institute for Intelligent Systems, T\u00fcbingen, Germany","Faculty of Computer Science, University of Vienna, Vienna, Austria"],"raw_orcid":"https://orcid.org/0000-0001-9787-2291","affiliations":[{"raw_affiliation_string":"Empirical Inference Department of the Max Planck Institute for Intelligent Systems, T\u00fcbingen, Germany","institution_ids":["https://openalex.org/I4210135521"]},{"raw_affiliation_string":"Faculty of Computer Science, University of Vienna, Vienna, Austria","institution_ids":["https://openalex.org/I129774422"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5053860508","display_name":"Vinay Jayaram","orcid":"https://orcid.org/0000-0002-8581-4921"},"institutions":[{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Vinay Jayaram","raw_affiliation_strings":["Empirical Inference Department of the Max Planck Institute for Intelligent Systems, T\u00fcbingen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Empirical Inference Department of the Max Planck Institute for Intelligent Systems, T\u00fcbingen, Germany","institution_ids":["https://openalex.org/I4210135521"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5101779594"],"corresponding_institution_ids":["https://openalex.org/I2898391981","https://openalex.org/I4210135521","https://openalex.org/I8087733"],"apc_list":null,"apc_paid":null,"fwci":1.6133,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.8323827,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":"51","issue":"6","first_page":"568","last_page":"577"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10648","display_name":"Virtual Reality Applications and Impacts","score":0.9973000288009644,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10648","display_name":"Virtual Reality Applications and Impacts","score":0.9973000288009644,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"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/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9965000152587891,"subfield":{"id":"https://openalex.org/subfields/2742","display_name":"Rehabilitation"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T11707","display_name":"Gaze Tracking and Assistive Technology","score":0.9945999979972839,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"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/robotics","display_name":"Robotics","score":0.773820161819458},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.703795850276947},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6474404335021973},{"id":"https://openalex.org/keywords/testbed","display_name":"Testbed","score":0.614781379699707},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.562501072883606},{"id":"https://openalex.org/keywords/virtual-reality","display_name":"Virtual reality","score":0.5411161780357361},{"id":"https://openalex.org/keywords/wheelchair","display_name":"Wheelchair","score":0.5303381681442261},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5159311890602112},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.5029377341270447},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.4998338222503662},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.4388046860694885},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3987937271595001},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3345559239387512},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.09053057432174683}],"concepts":[{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.773820161819458},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.703795850276947},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6474404335021973},{"id":"https://openalex.org/C31395832","wikidata":"https://www.wikidata.org/wiki/Q1318674","display_name":"Testbed","level":2,"score":0.614781379699707},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.562501072883606},{"id":"https://openalex.org/C194969405","wikidata":"https://www.wikidata.org/wiki/Q170519","display_name":"Virtual reality","level":2,"score":0.5411161780357361},{"id":"https://openalex.org/C2781042323","wikidata":"https://www.wikidata.org/wiki/Q191931","display_name":"Wheelchair","level":2,"score":0.5303381681442261},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5159311890602112},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.5029377341270447},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.4998338222503662},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.4388046860694885},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3987937271595001},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3345559239387512},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.09053057432174683},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C136764020","wikidata":"https://www.wikidata.org/wiki/Q466","display_name":"World Wide Web","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/thms.2021.3106865","is_oa":false,"landing_page_url":"https://doi.org/10.1109/thms.2021.3106865","pdf_url":null,"source":{"id":"https://openalex.org/S2476799526","display_name":"IEEE Transactions on Human-Machine Systems","issn_l":"2168-2291","issn":["2168-2291","2168-2305"],"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 Human-Machine Systems","raw_type":"journal-article"},{"id":"pmh:oai:elib.dlr.de:147359","is_oa":false,"landing_page_url":"https://doi.org/10.1109/THMS.2021.3106865>.","pdf_url":null,"source":{"id":"https://openalex.org/S4377196266","display_name":"elib (German Aerospace Center)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2898391981","host_organization_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","host_organization_lineage":["https://openalex.org/I2898391981"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"PeerReviewed"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W1567659650","https://openalex.org/W1950864686","https://openalex.org/W1971494941","https://openalex.org/W1977086599","https://openalex.org/W1978446844","https://openalex.org/W2008334250","https://openalex.org/W2033144847","https://openalex.org/W2041818467","https://openalex.org/W2068994059","https://openalex.org/W2099442165","https://openalex.org/W2109938769","https://openalex.org/W2121264480","https://openalex.org/W2121529660","https://openalex.org/W2145517458","https://openalex.org/W2148108509","https://openalex.org/W2156341082","https://openalex.org/W2166060802","https://openalex.org/W2166435243","https://openalex.org/W2166982098","https://openalex.org/W2585060827","https://openalex.org/W2592007507","https://openalex.org/W2614661492","https://openalex.org/W2615297659","https://openalex.org/W2619062526","https://openalex.org/W2786015985","https://openalex.org/W2921164544","https://openalex.org/W2962936820","https://openalex.org/W2963669336","https://openalex.org/W2969050523","https://openalex.org/W3010371178","https://openalex.org/W3024621029","https://openalex.org/W6732976086","https://openalex.org/W6738298374","https://openalex.org/W6755243447","https://openalex.org/W6777527940"],"related_works":["https://openalex.org/W2883256816","https://openalex.org/W4378364071","https://openalex.org/W2171408034","https://openalex.org/W3003320923","https://openalex.org/W2399287283","https://openalex.org/W2106140982","https://openalex.org/W1998563140","https://openalex.org/W2152313554","https://openalex.org/W3048672182","https://openalex.org/W2606876718"],"abstract_inverted_index":{"Research":[0],"in":[1,31,85,147,157,200],"human\u2013robot":[2],"interaction":[3,130],"for":[4,12],"assistive":[5,41],"robotics":[6,42],"usually":[7],"presents":[8],"many":[9,74],"technical":[10,22],"challenges":[11],"experimenters,":[13],"forcing":[14],"researchers":[15],"to":[16,36,46,72,95,181,191],"split":[17],"their":[18],"time":[19],"between":[20,165,194],"solving":[21],"problems":[23],"and":[24,61,167,197],"conducting":[25],"experiments.":[26],"In":[27,44],"addition,":[28],"previous":[29,155],"work":[30],"virtual":[32,54],"reality":[33,55],"setups":[34],"tends":[35],"focus":[37],"on":[38,78],"a":[39,53,58,70,82,86,96,109,143],"single":[40],"application.":[43],"order":[45],"alleviate":[47],"these":[48],"problems,":[49],"we":[50,107,122],"present":[51],"ArmSym,":[52],"laboratory":[56],"with":[57,134],"fully":[59],"simulated":[60],"developer-friendly":[62],"robot":[63,136],"arm.":[64],"The":[65],"system":[66],"is":[67],"intended":[68],"as":[69],"testbed":[71],"run":[73],"sorts":[75,113],"of":[76,81,104,114,131,145,150,170],"experiments":[77],"human":[79],"control":[80,116,139,166],"robotic":[83,98],"arm":[84],"realistic":[87,151],"environment,":[88],"ranging":[89],"from":[90,184],"an":[91],"upper":[92],"limb":[93],"prosthesis":[94],"wheelchair-mounted":[97],"manipulator.":[99],"To":[100],"highlight":[101],"the":[102,129,132,135,148,158,189,201],"possibilities":[103],"this":[105],"system,":[106],"perform":[108],"study":[110,123],"comparing":[111],"different":[112,124,138],"prosthetic":[115],"types.":[117],"Looking":[118],"at":[119],"nonimpaired":[120],"subjects,":[121],"psychological":[125],"metrics":[126],"that":[127,176],"evaluate":[128],"user":[133],"under":[137],"conditions.":[140],"Subjects":[141],"report":[142],"perception":[144],"embodiment":[146],"absence":[149],"cutaneous":[152],"touch,":[153],"supporting":[154],"studies":[156],"topic.":[159],"We":[160],"also":[161],"find":[162],"interesting":[163],"correlations":[164],"perceived":[168],"ease":[169],"use.":[171],"Overall":[172],"our":[173],"results":[174],"confirm":[175],"ArmSym":[177],"can":[178],"be":[179],"used":[180],"gather":[182],"data":[183],"immersive":[185],"experiences":[186],"prosthetics,":[187],"opening":[188],"door":[190],"closer":[192],"collaboration":[193],"device":[195],"engineers":[196],"experience":[198],"designers":[199],"future.":[202]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":5}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2021-10-11T00:00:00"}