{"id":"https://openalex.org/W2566495809","doi":"https://doi.org/10.1109/tro.2016.2626479","title":"Adaptive Human\u2013Robot Interaction Control for Robots Driven by Series Elastic Actuators","display_name":"Adaptive Human\u2013Robot Interaction Control for Robots Driven by Series Elastic Actuators","publication_year":2016,"publication_date":"2016-12-13","ids":{"openalex":"https://openalex.org/W2566495809","doi":"https://doi.org/10.1109/tro.2016.2626479","mag":"2566495809"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2016.2626479","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2016.2626479","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"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 Robotics","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/A5100331032","display_name":"Xiang Li","orcid":"https://orcid.org/0000-0002-0699-1904"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Xiang Li","raw_affiliation_strings":["Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015092734","display_name":"Yongping Pan","orcid":"https://orcid.org/0000-0002-8587-6065"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Yongping Pan","raw_affiliation_strings":["Department of Biomedical Engineering, National University of Singapore, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030222911","display_name":"Chen Gong","orcid":"https://orcid.org/0000-0002-4092-9856"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Gong Chen","raw_affiliation_strings":["Department of Biomedical Engineering, National University of Singapore, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100383575","display_name":"Haoyong Yu","orcid":"https://orcid.org/0000-0002-9876-4863"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Haoyong Yu","raw_affiliation_strings":["Department of Biomedical Engineering, National University of Singapore, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":11.2584,"has_fulltext":false,"cited_by_count":197,"citation_normalized_percentile":{"value":0.98946254,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"33","issue":"1","first_page":"169","last_page":"182"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9998000264167786,"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"}},"topics":[{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9998000264167786,"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"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.977400004863739,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7364174127578735},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6397804021835327},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5449615120887756},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.48986145853996277},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4746423661708832},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.46418848633766174},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4482279121875763},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.44634127616882324},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.4424266517162323},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.43897730112075806},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.38961276412010193},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.34696751832962036},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3424506187438965},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.325087308883667},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.21792450547218323},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08761531114578247}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7364174127578735},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6397804021835327},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5449615120887756},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.48986145853996277},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4746423661708832},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.46418848633766174},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4482279121875763},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.44634127616882324},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.4424266517162323},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.43897730112075806},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.38961276412010193},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.34696751832962036},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3424506187438965},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.325087308883667},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.21792450547218323},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08761531114578247},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2016.2626479","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2016.2626479","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"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 Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","score":0.8299999833106995,"display_name":"Life below water"}],"awards":[{"id":"https://openalex.org/G6136003318","display_name":null,"funder_award_id":"R-261-503-002-133","funder_id":"https://openalex.org/F4320320698","funder_display_name":"National University of Singapore"}],"funders":[{"id":"https://openalex.org/F4320320698","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":43,"referenced_works":["https://openalex.org/W89510016","https://openalex.org/W1487127700","https://openalex.org/W1489427801","https://openalex.org/W1521257674","https://openalex.org/W1763775273","https://openalex.org/W1967377907","https://openalex.org/W1967904302","https://openalex.org/W1979755025","https://openalex.org/W1994958900","https://openalex.org/W2016958754","https://openalex.org/W2025467394","https://openalex.org/W2065676327","https://openalex.org/W2075335042","https://openalex.org/W2078046250","https://openalex.org/W2081590984","https://openalex.org/W2083483041","https://openalex.org/W2092060192","https://openalex.org/W2095189694","https://openalex.org/W2097467365","https://openalex.org/W2100720865","https://openalex.org/W2100970834","https://openalex.org/W2104181254","https://openalex.org/W2105984753","https://openalex.org/W2111253117","https://openalex.org/W2111898076","https://openalex.org/W2113556584","https://openalex.org/W2116767351","https://openalex.org/W2131920939","https://openalex.org/W2138300314","https://openalex.org/W2144781570","https://openalex.org/W2147288676","https://openalex.org/W2150024155","https://openalex.org/W2166869394","https://openalex.org/W2169187067","https://openalex.org/W2174039467","https://openalex.org/W2193981449","https://openalex.org/W2293200354","https://openalex.org/W2344210503","https://openalex.org/W2497095191","https://openalex.org/W2521727959","https://openalex.org/W4245991817","https://openalex.org/W6631331923","https://openalex.org/W6723262837"],"related_works":["https://openalex.org/W2762381663","https://openalex.org/W1886477626","https://openalex.org/W4385196987","https://openalex.org/W1540467731","https://openalex.org/W218732962","https://openalex.org/W2538037439","https://openalex.org/W4317826762","https://openalex.org/W2741909783","https://openalex.org/W1979383880","https://openalex.org/W3110580084"],"abstract_inverted_index":{"Series":[0],"elastic":[1],"actuators":[2,14],"(SEAs)":[3],"are":[4,168,236],"known":[5],"to":[6,27,53,130,150,190,238],"offer":[7],"a":[8,30,93,112,127,132,147,171],"range":[9],"of":[10,32,61,71,77,154,157,205,220,242],"advantages":[11],"over":[12],"stiff":[13],"for":[15,101,115],"human\u2013robot":[16,106,200],"interaction,":[17],"such":[18],"as":[19],"high":[20],"force/torque":[21],"fidelity,":[22],"low":[23],"impedance,":[24],"and":[25,37,59,67,82,135,161,174,182,196,227,233],"tolerance":[26],"shocks.":[28],"While":[29],"variety":[31],"SEAs":[33],"have":[34],"been":[35,87],"developed":[36],"implemented":[38],"in":[39,105,142,222],"initiatives":[40],"that":[41,73],"involve":[42],"physical":[43],"interactions":[44],"with":[45,55,217],"humans,":[46],"relatively":[47],"few":[48],"control":[49,97],"schemes":[50],"were":[51],"proposed":[52,100,109,186,244],"deal":[54],"the":[56,68,75,80,83,117,124,136,144,152,175,185,192,198,206,214,218,224,228,240,243],"dynamic":[57,203],"stability":[58,204],"uncertainties":[60,221],"robotic":[62],"systems":[63],"driven":[64],"by":[65,212],"SEAs,":[66],"open":[69],"issue":[70],"safety":[72],"resolves":[74],"conflicts":[76],"motion":[78,194],"between":[79,163,177],"human":[81,145,193],"robot":[84,125,225],"has":[85],"not":[86],"systematically":[88],"addressed.":[89],"In":[90],"this":[91],"paper,":[92],"novel":[94],"continuous":[95],"adaptive":[96],"method":[98,110],"is":[99,180,188,209],"SEA-driven":[102],"robots":[103],"used":[104],"interaction.":[107,201],"The":[108,202],"provides":[111],"unified":[113],"formulation":[114],"both":[116,165,223],"<italic":[118,137],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[119,138],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">robot-in-charge":[120],"</i>":[121,140],"mode,":[122,141],"where":[123],"plays":[126,146],"dominant":[128,148],"role":[129,149],"follow":[131],"desired":[133],"trajectory,":[134],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">human-in-charge":[139],"which":[143],"guide":[151],"movement":[153],"robot.":[155],"Instead":[156],"designing":[158],"multiple":[159],"controllers":[160],"switching":[162],"them,":[164],"typical":[166],"modes":[167,179],"integrated":[169],"into":[170],"single":[172],"controller,":[173],"transition":[176],"two":[178],"smooth":[181],"stable.":[183],"Therefore,":[184],"controller":[187],"able":[189],"detect":[191],"intention":[195],"guarantee":[197],"safe":[199],"closed-loop":[207],"system":[208],"theoretically":[210],"proven":[211],"using":[213],"Lyapunov":[215],"method,":[216],"consideration":[219],"dynamics":[226],"actuator":[229],"dynamics.":[230],"Both":[231],"simulation":[232],"experimental":[234],"results":[235],"presented":[237],"illustrate":[239],"performance":[241],"controller.":[245]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":18},{"year":2024,"cited_by_count":22},{"year":2023,"cited_by_count":16},{"year":2022,"cited_by_count":21},{"year":2021,"cited_by_count":30},{"year":2020,"cited_by_count":21},{"year":2019,"cited_by_count":31},{"year":2018,"cited_by_count":22},{"year":2017,"cited_by_count":13}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}