{"id":"https://openalex.org/W4408145537","doi":"https://doi.org/10.1109/thms.2025.3540123","title":"Adaptive Virtual Fixture Based on Learning Trajectory Distribution for Comanipulation Tasks","display_name":"Adaptive Virtual Fixture Based on Learning Trajectory Distribution for Comanipulation Tasks","publication_year":2025,"publication_date":"2025-03-04","ids":{"openalex":"https://openalex.org/W4408145537","doi":"https://doi.org/10.1109/thms.2025.3540123"},"language":"en","primary_location":{"id":"doi:10.1109/thms.2025.3540123","is_oa":false,"landing_page_url":"https://doi.org/10.1109/thms.2025.3540123","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/A5073597150","display_name":"Shaqi Luo","orcid":"https://orcid.org/0000-0003-0385-3538"},"institutions":[{"id":"https://openalex.org/I158842170","display_name":"Chongqing University","ror":"https://ror.org/023rhb549","country_code":"CN","type":"education","lineage":["https://openalex.org/I158842170"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Shaqi Luo","raw_affiliation_strings":["State Key Laboratory of Mechanical Transmission for Advanced Equipment and the College of Computer Science, Chongqing University, Chongqing, China"],"raw_orcid":"https://orcid.org/0000-0003-0385-3538","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Mechanical Transmission for Advanced Equipment and the College of Computer Science, Chongqing University, Chongqing, China","institution_ids":["https://openalex.org/I158842170"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041969609","display_name":"Min Cheng","orcid":"https://orcid.org/0000-0002-8345-6657"},"institutions":[{"id":"https://openalex.org/I158842170","display_name":"Chongqing University","ror":"https://ror.org/023rhb549","country_code":"CN","type":"education","lineage":["https://openalex.org/I158842170"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Min Cheng","raw_affiliation_strings":["State Key Laboratory of Mechanical Transmission for Advanced Equipment, Chongqing University, Chongqing, China"],"raw_orcid":"https://orcid.org/0000-0002-8345-6657","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Mechanical Transmission for Advanced Equipment, Chongqing University, Chongqing, China","institution_ids":["https://openalex.org/I158842170"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5003353921","display_name":"Ruqi Ding","orcid":"https://orcid.org/0000-0002-1688-3421"},"institutions":[{"id":"https://openalex.org/I13985625","display_name":"East China Jiaotong University","ror":"https://ror.org/05x2f1m38","country_code":"CN","type":"education","lineage":["https://openalex.org/I13985625"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ruqi Ding","raw_affiliation_strings":["Key Laboratory of Conveyance and Equipment, Ministry of Education, East China Jiaotong University, Nanchang, China"],"raw_orcid":"https://orcid.org/0000-0002-1688-3421","affiliations":[{"raw_affiliation_string":"Key Laboratory of Conveyance and Equipment, Ministry of Education, East China Jiaotong University, Nanchang, China","institution_ids":["https://openalex.org/I13985625"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5073597150"],"corresponding_institution_ids":["https://openalex.org/I158842170"],"apc_list":null,"apc_paid":null,"fwci":1.2684,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.75677992,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":98},"biblio":{"volume":"55","issue":"2","first_page":"165","last_page":"175"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9860000014305115,"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":0.9860000014305115,"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/T11159","display_name":"Manufacturing Process and Optimization","score":0.9581999778747559,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/T10648","display_name":"Virtual Reality Applications and Impacts","score":0.942799985408783,"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/trajectory","display_name":"Trajectory","score":0.6570524573326111},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6224214434623718},{"id":"https://openalex.org/keywords/fixture","display_name":"Fixture","score":0.6082680225372314},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.46455615758895874},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4568816125392914},{"id":"https://openalex.org/keywords/distribution","display_name":"Distribution (mathematics)","score":0.4319272041320801},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.38421133160591125},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.162783682346344},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.15549743175506592},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.08198714256286621},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.05914264917373657}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6570524573326111},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6224214434623718},{"id":"https://openalex.org/C2781122048","wikidata":"https://www.wikidata.org/wiki/Q15983064","display_name":"Fixture","level":2,"score":0.6082680225372314},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.46455615758895874},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4568816125392914},{"id":"https://openalex.org/C110121322","wikidata":"https://www.wikidata.org/wiki/Q865811","display_name":"Distribution (mathematics)","level":2,"score":0.4319272041320801},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.38421133160591125},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.162783682346344},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.15549743175506592},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.08198714256286621},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.05914264917373657},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/thms.2025.3540123","is_oa":false,"landing_page_url":"https://doi.org/10.1109/thms.2025.3540123","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2153076925","display_name":null,"funder_award_id":"52075055","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5706179810","display_name":null,"funder_award_id":"2024NSCQ-JQX0123","funder_id":"https://openalex.org/F4320323172","funder_display_name":"Natural Science Foundation of Chongqing"},{"id":"https://openalex.org/G895632620","display_name":null,"funder_award_id":"52322503","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/F4320323172","display_name":"Natural Science Foundation of Chongqing","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1974849157","https://openalex.org/W2002966689","https://openalex.org/W2053324916","https://openalex.org/W2057538835","https://openalex.org/W2063182199","https://openalex.org/W2063547487","https://openalex.org/W2089145243","https://openalex.org/W2100993276","https://openalex.org/W2118291463","https://openalex.org/W2124832378","https://openalex.org/W2134132039","https://openalex.org/W2157322677","https://openalex.org/W2167971611","https://openalex.org/W2169628183","https://openalex.org/W2471216432","https://openalex.org/W2606499982","https://openalex.org/W2736919575","https://openalex.org/W2768152608","https://openalex.org/W2791542133","https://openalex.org/W2808933219","https://openalex.org/W2885414200","https://openalex.org/W3093799842","https://openalex.org/W3113090691","https://openalex.org/W3115157241","https://openalex.org/W3118439359","https://openalex.org/W3186028265","https://openalex.org/W4205624346","https://openalex.org/W4206456103","https://openalex.org/W4221082623","https://openalex.org/W4225725655","https://openalex.org/W4393906135"],"related_works":["https://openalex.org/W2076018311","https://openalex.org/W4385900761","https://openalex.org/W2380777809","https://openalex.org/W390748187","https://openalex.org/W4385561830","https://openalex.org/W3132708226","https://openalex.org/W2353571477","https://openalex.org/W2357434554","https://openalex.org/W4248084012","https://openalex.org/W2376133079"],"abstract_inverted_index":{"Virtual":[0],"fixture":[1,43,114],"is":[2,104],"a":[3,142,179,184],"powerful":[4],"tool":[5],"to":[6,28,32,57,71,106],"improve":[7],"safety":[8],"and":[9,84,136,183],"efficiency":[10,133,181],"for":[11,23,141],"co-manipulation":[12],"tasks.":[13,34],"However,":[14],"traditional":[15,159],"virtual":[16,42,113,160],"fixtures":[17],"with":[18,115,123,146,164],"constant":[19],"stiffness":[20,86,117],"are":[21,88],"inadequate":[22],"scenarios":[24],"where":[25],"robots":[26],"need":[27],"leave":[29],"the":[30,46,53,58,67,72,80,96,112,120,126,156,165,172,175],"constraints":[31],"perform":[33],"To":[35,62],"address":[36],"this,":[37],"we":[38],"propose":[39],"an":[40],"adaptive":[41],"based":[44,94],"on":[45,95],"motion":[47],"refinement":[48,81],"tube,":[49],"which":[50],"dynamically":[51],"adjusts":[52],"guiding":[54],"force":[55],"according":[56],"distribution":[59],"of":[60,74,77,155,171],"trajectories.":[61],"prevent":[63],"tube":[64,82],"deformation":[65],"in":[66,90,131,187],"Cartesian":[68],"space":[69],"due":[70],"neglect":[73],"off-diagonal":[75,169],"elements":[76,170],"covariance":[78,98,173],"matrices,":[79],"radii":[83],"nonlinear":[85],"terms":[87],"computed":[89],"local":[91],"coordinate":[92],"systems":[93],"decomposed":[97],"matrix.":[99],"An":[100],"energy-tank-based":[101],"passivity":[102],"controller":[103],"designed":[105],"ensure":[107],"system":[108],"stability":[109],"when":[110],"employing":[111],"state-dependent":[116],"terms.":[118],"In":[119],"validation":[121],"tests":[122],"18":[124],"participants,":[125],"proposed":[127,176],"method":[128,166,177],"showed":[129],"improvements":[130],"task":[132,145],"(18.69%":[134],"increase)":[135],"collision":[137,188],"avoidance":[138],"(97.87%":[139],"reduction)":[140],"typical":[143],"pick-and-place":[144],"scattered":[147],"materials.":[148],"It":[149],"also":[150],"provided":[151],"better":[152],"subjective":[153],"experiences":[154],"users":[157],"than":[158],"fixtures.":[161],"Meanwhile,":[162],"compared":[163],"that":[167],"neglects":[168],"matrix,":[174],"exhibited":[178],"4.28%":[180],"improvement":[182],"40.42%":[185],"decrease":[186],"occurrences.":[189]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1}],"updated_date":"2025-12-28T23:10:05.387466","created_date":"2025-10-10T00:00:00"}