{"id":"https://openalex.org/W2888380943","doi":"https://doi.org/10.1109/urai.2018.8441800","title":"Fuzzy Impedance Control for Enhancing Capabilities of Humans in Onerous Tasks Execution","display_name":"Fuzzy Impedance Control for Enhancing Capabilities of Humans in Onerous Tasks Execution","publication_year":2018,"publication_date":"2018-06-01","ids":{"openalex":"https://openalex.org/W2888380943","doi":"https://doi.org/10.1109/urai.2018.8441800","mag":"2888380943"},"language":"en","primary_location":{"id":"doi:10.1109/urai.2018.8441800","is_oa":false,"landing_page_url":"https://doi.org/10.1109/urai.2018.8441800","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 15th International Conference on Ubiquitous Robots (UR)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://zenodo.org/record/3888611","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5086291668","display_name":"Loris Roveda","orcid":"https://orcid.org/0000-0002-4427-536X"},"institutions":[{"id":"https://openalex.org/I4210155236","display_name":"National Research Council","ror":"https://ror.org/04zaypm56","country_code":"IT","type":"nonprofit","lineage":["https://openalex.org/I4210155236"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Loris Roveda","raw_affiliation_strings":["Automation of the National Council of Research (ITIA-CNR), IRAS group of the Institute of Industrial Technologies, via Corti 12.20133., Milano, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Automation of the National Council of Research (ITIA-CNR), IRAS group of the Institute of Industrial Technologies, via Corti 12.20133., Milano, Italy","institution_ids":["https://openalex.org/I4210155236"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082641837","display_name":"Shaghavezh Haghshenas","orcid":null},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Shaghavezh Haghshenas","raw_affiliation_strings":["Department of Mechanical Engineering, Politecnico of Milano, via La Masa 1. 20158, Milano, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Politecnico of Milano, via La Masa 1. 20158, Milano, Italy","institution_ids":["https://openalex.org/I93860229"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027930048","display_name":"Alessio Prini","orcid":"https://orcid.org/0000-0002-9088-0229"},"institutions":[{"id":"https://openalex.org/I4210155236","display_name":"National Research Council","ror":"https://ror.org/04zaypm56","country_code":"IT","type":"nonprofit","lineage":["https://openalex.org/I4210155236"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Alessio Prini","raw_affiliation_strings":["Automation of the National Council of Research (ITIA-CNR), IRAS group of the Institute of Industrial Technologies, via Corti 12.20133., Milano, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Automation of the National Council of Research (ITIA-CNR), IRAS group of the Institute of Industrial Technologies, via Corti 12.20133., Milano, Italy","institution_ids":["https://openalex.org/I4210155236"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056433993","display_name":"Tito Dinon","orcid":"https://orcid.org/0000-0002-2309-9280"},"institutions":[{"id":"https://openalex.org/I4210155236","display_name":"National Research Council","ror":"https://ror.org/04zaypm56","country_code":"IT","type":"nonprofit","lineage":["https://openalex.org/I4210155236"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Tito Dinon","raw_affiliation_strings":["Automation of the National Council of Research (ITIA-CNR), IRAS group of the Institute of Industrial Technologies, via Corti 12.20133., Milano, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Automation of the National Council of Research (ITIA-CNR), IRAS group of the Institute of Industrial Technologies, via Corti 12.20133., Milano, Italy","institution_ids":["https://openalex.org/I4210155236"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090332923","display_name":"Nicola Pedrocchi","orcid":"https://orcid.org/0000-0002-1610-001X"},"institutions":[{"id":"https://openalex.org/I4210155236","display_name":"National Research Council","ror":"https://ror.org/04zaypm56","country_code":"IT","type":"nonprofit","lineage":["https://openalex.org/I4210155236"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Nicola Pedrocchi","raw_affiliation_strings":["Automation of the National Council of Research (ITIA-CNR), IRAS group of the Institute of Industrial Technologies, via Corti 12.20133., Milano, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Automation of the National Council of Research (ITIA-CNR), IRAS group of the Institute of Industrial Technologies, via Corti 12.20133., Milano, Italy","institution_ids":["https://openalex.org/I4210155236"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050750282","display_name":"Francesco Braghin","orcid":"https://orcid.org/0000-0002-0476-4118"},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Francesco Braghin","raw_affiliation_strings":["Department of Mechanical Engineering, Politecnico of Milano, via La Masa 1. 20158, Milano, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Politecnico of Milano, via La Masa 1. 20158, Milano, Italy","institution_ids":["https://openalex.org/I93860229"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5009851535","display_name":"Lorenzo Molinari Tosatti","orcid":"https://orcid.org/0000-0002-8541-3546"},"institutions":[{"id":"https://openalex.org/I4210155236","display_name":"National Research Council","ror":"https://ror.org/04zaypm56","country_code":"IT","type":"nonprofit","lineage":["https://openalex.org/I4210155236"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Lorenzo Molinari Tosatti","raw_affiliation_strings":["Automation of the National Council of Research (ITIA-CNR), IRAS group of the Institute of Industrial Technologies, via Corti 12.20133., Milano, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Automation of the National Council of Research (ITIA-CNR), IRAS group of the Institute of Industrial Technologies, via Corti 12.20133., Milano, Italy","institution_ids":["https://openalex.org/I4210155236"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":23,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9988999962806702,"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":0.9988999962806702,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9944000244140625,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9944000244140625,"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/impedance-control","display_name":"Impedance control","score":0.6674557328224182},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6036927103996277},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5933400392532349},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5540758371353149},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5521697402000427},{"id":"https://openalex.org/keywords/fuzzy-logic","display_name":"Fuzzy logic","score":0.5370786190032959},{"id":"https://openalex.org/keywords/fuzzy-control-system","display_name":"Fuzzy control system","score":0.5343742966651917},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.527306079864502},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.520179033279419},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5171481966972351},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.49829983711242676},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.46128836274147034},{"id":"https://openalex.org/keywords/industrial-robot","display_name":"Industrial robot","score":0.4550406336784363},{"id":"https://openalex.org/keywords/wearable-computer","display_name":"Wearable computer","score":0.4531756043434143},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.42381617426872253},{"id":"https://openalex.org/keywords/operator","display_name":"Operator (biology)","score":0.41978779435157776},{"id":"https://openalex.org/keywords/fuzzy-set","display_name":"Fuzzy set","score":0.4163840711116791},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2554584741592407},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.21016919612884521},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.12525439262390137}],"concepts":[{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.6674557328224182},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6036927103996277},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5933400392532349},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5540758371353149},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5521697402000427},{"id":"https://openalex.org/C58166","wikidata":"https://www.wikidata.org/wiki/Q224821","display_name":"Fuzzy logic","level":2,"score":0.5370786190032959},{"id":"https://openalex.org/C195975749","wikidata":"https://www.wikidata.org/wiki/Q1475705","display_name":"Fuzzy control system","level":3,"score":0.5343742966651917},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.527306079864502},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.520179033279419},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5171481966972351},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.49829983711242676},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.46128836274147034},{"id":"https://openalex.org/C2776126113","wikidata":"https://www.wikidata.org/wiki/Q1128980","display_name":"Industrial robot","level":3,"score":0.4550406336784363},{"id":"https://openalex.org/C150594956","wikidata":"https://www.wikidata.org/wiki/Q1334829","display_name":"Wearable computer","level":2,"score":0.4531756043434143},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.42381617426872253},{"id":"https://openalex.org/C17020691","wikidata":"https://www.wikidata.org/wiki/Q139677","display_name":"Operator (biology)","level":5,"score":0.41978779435157776},{"id":"https://openalex.org/C42011625","wikidata":"https://www.wikidata.org/wiki/Q1055058","display_name":"Fuzzy set","level":3,"score":0.4163840711116791},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2554584741592407},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.21016919612884521},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.12525439262390137},{"id":"https://openalex.org/C158448853","wikidata":"https://www.wikidata.org/wiki/Q425218","display_name":"Repressor","level":4,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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/C86339819","wikidata":"https://www.wikidata.org/wiki/Q407384","display_name":"Transcription factor","level":3,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/urai.2018.8441800","is_oa":false,"landing_page_url":"https://doi.org/10.1109/urai.2018.8441800","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 15th International Conference on Ubiquitous Robots (UR)","raw_type":"proceedings-article"},{"id":"pmh:oai:re.public.polimi.it:11311/1128124","is_oa":false,"landing_page_url":"http://ieeexplore.ieee.org/xpl/mostRecentIssue.jsp?punumber=8424588","pdf_url":null,"source":{"id":"https://openalex.org/S4306400312","display_name":"Virtual Community of Pathological Anatomy (University of Castilla La Mancha)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79189158","host_organization_name":"University of Castilla-La Mancha","host_organization_lineage":["https://openalex.org/I79189158"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:oai:zenodo.org:3888611","is_oa":true,"landing_page_url":"https://zenodo.org/record/3888611","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferencePaper"}],"best_oa_location":{"id":"pmh:oai:zenodo.org:3888611","is_oa":true,"landing_page_url":"https://zenodo.org/record/3888611","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferencePaper"},"sustainable_development_goals":[{"score":0.5400000214576721,"id":"https://metadata.un.org/sdg/17","display_name":"Partnerships for the goals"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W584561062","https://openalex.org/W1482681976","https://openalex.org/W1500588313","https://openalex.org/W1517823811","https://openalex.org/W1885639605","https://openalex.org/W1980286604","https://openalex.org/W1981927411","https://openalex.org/W1992985704","https://openalex.org/W2001537057","https://openalex.org/W2032747145","https://openalex.org/W2043536379","https://openalex.org/W2087527234","https://openalex.org/W2090656762","https://openalex.org/W2101392974","https://openalex.org/W2108703536","https://openalex.org/W2111793945","https://openalex.org/W2124338051","https://openalex.org/W2126172323","https://openalex.org/W2127482115","https://openalex.org/W2150024155","https://openalex.org/W2169187067","https://openalex.org/W2196056879","https://openalex.org/W2288913380","https://openalex.org/W2504989182","https://openalex.org/W2578566497","https://openalex.org/W2579106746","https://openalex.org/W3108595843","https://openalex.org/W4205559380","https://openalex.org/W6732326494"],"related_works":["https://openalex.org/W2294565841","https://openalex.org/W2006668579","https://openalex.org/W3204276839","https://openalex.org/W4229671472","https://openalex.org/W2513792068","https://openalex.org/W1500588313","https://openalex.org/W3105789002","https://openalex.org/W2018444593","https://openalex.org/W2045554378","https://openalex.org/W2015515047"],"abstract_inverted_index":{"Human-robot":[0],"cooperation":[1],"is":[2,112],"increasingly":[3],"demanded":[4],"in":[5,56,66,119,130],"industrial":[6,33,58],"applications.":[7,59],"Many":[8],"tasks":[9,24],"require":[10],"the":[11,15,45,68,86,99,104,127],"robot":[12,93],"to":[13,21,39,64,97],"enhance":[14],"capabilities":[16],"of":[17,70,88,109],"humans,":[18],"allowing":[19,96],"them":[20],"execute":[22],"onerous":[23,57],"or":[25],"improving":[26],"their":[27],"functionalities.":[28],"Besides":[29],"wearable":[30],"robotics,":[31],"standard":[32],"manipulators":[34],"are":[35],"common":[36],"solutions":[37],"adopted":[38],"empower":[40],"humans.":[41],"With":[42],"this":[43],"aim,":[44],"paper":[46],"describes":[47],"a":[48,131],"fuzzy-impedance":[49],"control":[50],"approach":[51,111],"for":[52,103],"assisting":[53],"human":[54,75,105,124],"operator":[55],"The":[60,107],"developed":[61],"method":[62],"allows":[63],"set":[65],"realtime":[67],"set-point":[69],"impedance":[71],"controller":[72],"based":[73],"on":[74,85,114],"intentions.":[76],"Two":[77],"fuzzy":[78],"membership":[79],"functions":[80],"have":[81],"been":[82],"defined,":[83],"respectively,":[84],"basis":[87],"interaction":[89],"force":[90],"derivative":[91],"and":[92],"velocity":[94],"signals,":[95],"calculate":[98],"needed":[100],"assistance":[101],"level":[102],"operator.":[106],"effectiveness":[108],"proposed":[110],"verified":[113],"KUKA":[115],"iiwa":[116],"14":[117],"R820":[118],"an":[120],"experimental":[121],"procedure":[122],"where":[123],"subjects":[125],"evaluate":[126],"robot's":[128],"performance":[129],"collaborative":[132],"lifting":[133],"task.":[134]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
