{"id":"https://openalex.org/W4399451823","doi":"https://doi.org/10.1109/tie.2024.3401185","title":"Dynamic Movement Primitives-Based Human Action Prediction and Shared Control for Bilateral Robot Teleoperation","display_name":"Dynamic Movement Primitives-Based Human Action Prediction and Shared Control for Bilateral Robot Teleoperation","publication_year":2024,"publication_date":"2024-06-05","ids":{"openalex":"https://openalex.org/W4399451823","doi":"https://doi.org/10.1109/tie.2024.3401185"},"language":"en","primary_location":{"id":"doi:10.1109/tie.2024.3401185","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2024.3401185","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"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 Industrial Electronics","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/A5057911864","display_name":"Zhenyu Lu","orcid":"https://orcid.org/0000-0002-5446-7285"},"institutions":[{"id":"https://openalex.org/I178535277","display_name":"University of the West of England","ror":"https://ror.org/02nwg5t34","country_code":"GB","type":"education","lineage":["https://openalex.org/I178535277"]},{"id":"https://openalex.org/I4210161128","display_name":"Bristol Robotics Laboratory","ror":"https://ror.org/056sbyc67","country_code":"GB","type":"facility","lineage":["https://openalex.org/I4210161128"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Zhenyu Lu","raw_affiliation_strings":["Bristol Robotics Laboratory, University of the West of England, Bristol, U.K"],"raw_orcid":"https://orcid.org/0000-0002-5446-7285","affiliations":[{"raw_affiliation_string":"Bristol Robotics Laboratory, University of the West of England, Bristol, U.K","institution_ids":["https://openalex.org/I4210161128","https://openalex.org/I178535277"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002861905","display_name":"Weiyong Si","orcid":"https://orcid.org/0000-0003-4531-2596"},"institutions":[{"id":"https://openalex.org/I178535277","display_name":"University of the West of England","ror":"https://ror.org/02nwg5t34","country_code":"GB","type":"education","lineage":["https://openalex.org/I178535277"]},{"id":"https://openalex.org/I4210161128","display_name":"Bristol Robotics Laboratory","ror":"https://ror.org/056sbyc67","country_code":"GB","type":"facility","lineage":["https://openalex.org/I4210161128"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Weiyong Si","raw_affiliation_strings":["Bristol Robotics Laboratory, University of the West of England, Bristol, U.K"],"raw_orcid":"https://orcid.org/0000-0003-4531-2596","affiliations":[{"raw_affiliation_string":"Bristol Robotics Laboratory, University of the West of England, Bristol, U.K","institution_ids":["https://openalex.org/I4210161128","https://openalex.org/I178535277"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100387137","display_name":"Ning Wang","orcid":"https://orcid.org/0000-0002-3264-1852"},"institutions":[{"id":"https://openalex.org/I178535277","display_name":"University of the West of England","ror":"https://ror.org/02nwg5t34","country_code":"GB","type":"education","lineage":["https://openalex.org/I178535277"]},{"id":"https://openalex.org/I4210161128","display_name":"Bristol Robotics Laboratory","ror":"https://ror.org/056sbyc67","country_code":"GB","type":"facility","lineage":["https://openalex.org/I4210161128"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Ning Wang","raw_affiliation_strings":["Bristol Robotics Laboratory, University of the West of England, Bristol, U.K"],"raw_orcid":"https://orcid.org/0000-0002-3264-1852","affiliations":[{"raw_affiliation_string":"Bristol Robotics Laboratory, University of the West of England, Bristol, U.K","institution_ids":["https://openalex.org/I4210161128","https://openalex.org/I178535277"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5019906827","display_name":"Chenguang Yang","orcid":"https://orcid.org/0000-0001-5255-5559"},"institutions":[{"id":"https://openalex.org/I178535277","display_name":"University of the West of England","ror":"https://ror.org/02nwg5t34","country_code":"GB","type":"education","lineage":["https://openalex.org/I178535277"]},{"id":"https://openalex.org/I4210161128","display_name":"Bristol Robotics Laboratory","ror":"https://ror.org/056sbyc67","country_code":"GB","type":"facility","lineage":["https://openalex.org/I4210161128"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Chenguang Yang","raw_affiliation_strings":["Bristol Robotics Laboratory, University of the West of England, Bristol, U.K"],"raw_orcid":"https://orcid.org/0000-0001-5255-5559","affiliations":[{"raw_affiliation_string":"Bristol Robotics Laboratory, University of the West of England, Bristol, U.K","institution_ids":["https://openalex.org/I4210161128","https://openalex.org/I178535277"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.4685,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.92902555,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"71","issue":"12","first_page":"16654","last_page":"16663"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9846000075340271,"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"}},"topics":[{"id":"https://openalex.org/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9846000075340271,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9782999753952026,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.8429664373397827},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.6595283150672913},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6380810737609863},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6110923290252686},{"id":"https://openalex.org/keywords/movement-control","display_name":"Movement control","score":0.5517829656600952},{"id":"https://openalex.org/keywords/movement","display_name":"Movement (music)","score":0.543777346611023},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.5162879824638367},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.5013964176177979},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.476561576128006},{"id":"https://openalex.org/keywords/telerobotics","display_name":"Telerobotics","score":0.4660284221172333},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.45309901237487793},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4370741546154022},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.43583187460899353},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.36601150035858154},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3351784944534302},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3232177495956421},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2736957371234894},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.14679354429244995}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.8429664373397827},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.6595283150672913},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6380810737609863},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6110923290252686},{"id":"https://openalex.org/C3019108329","wikidata":"https://www.wikidata.org/wiki/Q1751327","display_name":"Movement control","level":2,"score":0.5517829656600952},{"id":"https://openalex.org/C2780226923","wikidata":"https://www.wikidata.org/wiki/Q929848","display_name":"Movement (music)","level":2,"score":0.543777346611023},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.5162879824638367},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.5013964176177979},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.476561576128006},{"id":"https://openalex.org/C196467688","wikidata":"https://www.wikidata.org/wiki/Q1851985","display_name":"Telerobotics","level":4,"score":0.4660284221172333},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.45309901237487793},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4370741546154022},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.43583187460899353},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.36601150035858154},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3351784944534302},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3232177495956421},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2736957371234894},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.14679354429244995},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C107038049","wikidata":"https://www.wikidata.org/wiki/Q35986","display_name":"Aesthetics","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tie.2024.3401185","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2024.3401185","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"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 Industrial Electronics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/10","score":0.4000000059604645,"display_name":"Reduced inequalities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W130216483","https://openalex.org/W1560270123","https://openalex.org/W2056296063","https://openalex.org/W2079399633","https://openalex.org/W2110237472","https://openalex.org/W2167804690","https://openalex.org/W2276118899","https://openalex.org/W2337290239","https://openalex.org/W2497232711","https://openalex.org/W2740584365","https://openalex.org/W2749412222","https://openalex.org/W2783006199","https://openalex.org/W2797679738","https://openalex.org/W2913639712","https://openalex.org/W2933443448","https://openalex.org/W2960422276","https://openalex.org/W2963238138","https://openalex.org/W2997671979","https://openalex.org/W2998137241","https://openalex.org/W3088634195","https://openalex.org/W3169652585","https://openalex.org/W3195113316","https://openalex.org/W4226366105","https://openalex.org/W4285235167","https://openalex.org/W4313703173","https://openalex.org/W4323644271","https://openalex.org/W4379520522"],"related_works":["https://openalex.org/W2046710269","https://openalex.org/W2097059456","https://openalex.org/W817518365","https://openalex.org/W2141648055","https://openalex.org/W2145103607","https://openalex.org/W4367662652","https://openalex.org/W2145960295","https://openalex.org/W2013463538","https://openalex.org/W2078176643","https://openalex.org/W2067221866"],"abstract_inverted_index":{"This":[0],"article":[1],"presents":[2],"a":[3,21,29],"novel":[4],"shared-control":[5],"teleoperation":[6,157],"framework":[7,188],"that":[8],"integrates":[9],"imitation":[10],"learning":[11,45],"and":[12,68,100,123,156,182,195],"bilateral":[13],"control":[14,116],"to":[15,35,50,81,118,175],"achieve":[16],"system":[17,158],"stability":[18,159],"based":[19,105],"on":[20,89,96,106],"new":[22],"dynamic":[23],"movement":[24],"primitives":[25],"(DMPs)":[26],"observer.":[27],"First,":[28],"DMPs-based":[30,62,150],"observer":[31,63,78,151],"is":[32,79],"first":[33],"created":[34],"capture":[36],"human":[37,42,52,65],"operational":[38,66],"skills":[39],"through":[40,140],"offline":[41],"demonstrations.":[43],"The":[44,112,134,143],"results":[46],"are":[47,103,160,173],"then":[48],"used":[49],"predict":[51,70],"action":[53],"intention":[54],"in":[55,86,121,189],"teleoperation.":[56],"Compared":[57],"with":[58,73,192],"other":[59,180],"observers,":[60],"the":[61,83,90,98,107,110,128,146,149,153,177,183,186],"incorporates":[64],"features":[67],"can":[69],"long-term":[71],"actions":[72],"minor":[74],"errors.":[75],"A":[76],"high-gain":[77],"established":[80],"monitor":[82],"robot's":[84],"status":[85],"real":[87],"time":[88,154,193],"leader":[91,101,132,135],"side.":[92],"Subsequently,":[93],"two":[94,164,168],"controllers":[95],"both":[97],"follower":[99,113],"sides":[102],"constructed":[104],"outputs":[108],"of":[109,127,145,148,170,185],"observers.":[111],"controller":[114,136],"shares":[115],"authorities":[117],"address":[119],"accidents":[120],"real-time":[122],"correct":[124],"prediction":[125,191],"errors":[126,139],"observation":[129],"using":[130],"delayed":[131],"commands.":[133],"minimizes":[137],"position-tracking":[138],"force":[141],"feedback.":[142],"convergence":[144],"predictions":[147],"under":[152],"delays":[155,194],"proved":[161],"by":[162],"building":[163],"Lyapunov":[165],"functions.":[166],"Finally,":[167],"groups":[169],"comparative":[171],"experiments":[172],"conducted":[174],"verify":[176],"advantages":[178],"over":[179],"methods":[181],"effectiveness":[184],"proposed":[187],"motion":[190],"obstacle":[196],"avoidance.":[197]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":3}],"updated_date":"2025-12-22T23:10:17.713674","created_date":"2025-10-10T00:00:00"}