{"id":"https://openalex.org/W4220725553","doi":"https://doi.org/10.1145/3526106","title":"Ergodic Shared Control: Closing the Loop on pHRI Based on Information Encoded in Motion","display_name":"Ergodic Shared Control: Closing the Loop on pHRI Based on Information Encoded in Motion","publication_year":2022,"publication_date":"2022-03-26","ids":{"openalex":"https://openalex.org/W4220725553","doi":"https://doi.org/10.1145/3526106"},"language":"en","primary_location":{"id":"doi:10.1145/3526106","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3526106","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3526106","source":{"id":"https://openalex.org/S4210193251","display_name":"ACM Transactions on Human-Robot Interaction","issn_l":"2573-9522","issn":["2573-9522"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319798","host_organization_name":"Association for Computing Machinery","host_organization_lineage":["https://openalex.org/P4310319798"],"host_organization_lineage_names":["Association for Computing Machinery"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ACM Transactions on Human-Robot Interaction","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"bronze","oa_url":"https://dl.acm.org/doi/pdf/10.1145/3526106","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5013008646","display_name":"Kathleen Fitzsimons","orcid":"https://orcid.org/0000-0002-9752-9925"},"institutions":[{"id":"https://openalex.org/I130769515","display_name":"Pennsylvania State University","ror":"https://ror.org/04p491231","country_code":"US","type":"education","lineage":["https://openalex.org/I130769515"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Kathleen Fitzsimons","raw_affiliation_strings":["Department of Mechanical Engineering, Pennsylvania State University, University Park, PA, USA"],"raw_orcid":"https://orcid.org/0000-0002-9752-9925","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Pennsylvania State University, University Park, PA, USA","institution_ids":["https://openalex.org/I130769515"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067725461","display_name":"Todd D. Murphey","orcid":"https://orcid.org/0000-0003-2262-8176"},"institutions":[{"id":"https://openalex.org/I111979921","display_name":"Northwestern University","ror":"https://ror.org/000e0be47","country_code":"US","type":"education","lineage":["https://openalex.org/I111979921"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Todd D. Murphey","raw_affiliation_strings":["Department of Mechanical Engineering, Northwestern University, Evanston, IL, USA"],"raw_orcid":"https://orcid.org/0000-0003-2262-8176","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Northwestern University, Evanston, IL, USA","institution_ids":["https://openalex.org/I111979921"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5013008646"],"corresponding_institution_ids":["https://openalex.org/I130769515"],"apc_list":null,"apc_paid":null,"fwci":0.2453,"has_fulltext":true,"cited_by_count":3,"citation_normalized_percentile":{"value":0.45396082,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"11","issue":"4","first_page":"1","last_page":"20"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.9984999895095825,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9984999895095825,"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/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9979000091552734,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9959999918937683,"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/computer-science","display_name":"Computer science","score":0.6679749488830566},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6623343825340271},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5952467322349548},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5565097332000732},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.5358114838600159},{"id":"https://openalex.org/keywords/ergodic-theory","display_name":"Ergodic theory","score":0.5278636813163757},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.48617643117904663},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4762685000896454},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.4579961895942688},{"id":"https://openalex.org/keywords/exoskeleton","display_name":"Exoskeleton","score":0.4482179880142212},{"id":"https://openalex.org/keywords/motor-learning","display_name":"Motor learning","score":0.4287009537220001},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4267151355743408},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.42297428846359253},{"id":"https://openalex.org/keywords/human-in-the-loop","display_name":"Human-in-the-loop","score":0.4110843241214752},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3221524655818939},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3118464946746826},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.12786760926246643},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.12440726161003113},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09462592005729675}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6679749488830566},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6623343825340271},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5952467322349548},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5565097332000732},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5358114838600159},{"id":"https://openalex.org/C122044880","wikidata":"https://www.wikidata.org/wiki/Q5498822","display_name":"Ergodic theory","level":2,"score":0.5278636813163757},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.48617643117904663},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4762685000896454},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.4579961895942688},{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.4482179880142212},{"id":"https://openalex.org/C107690735","wikidata":"https://www.wikidata.org/wiki/Q852461","display_name":"Motor learning","level":2,"score":0.4287009537220001},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4267151355743408},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.42297428846359253},{"id":"https://openalex.org/C2780626000","wikidata":"https://www.wikidata.org/wiki/Q5936775","display_name":"Human-in-the-loop","level":2,"score":0.4110843241214752},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3221524655818939},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3118464946746826},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.12786760926246643},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.12440726161003113},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09462592005729675},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","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:10.1145/3526106","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3526106","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3526106","source":{"id":"https://openalex.org/S4210193251","display_name":"ACM Transactions on Human-Robot Interaction","issn_l":"2573-9522","issn":["2573-9522"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319798","host_organization_name":"Association for Computing Machinery","host_organization_lineage":["https://openalex.org/P4310319798"],"host_organization_lineage_names":["Association for Computing Machinery"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ACM Transactions on Human-Robot Interaction","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1145/3526106","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3526106","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3526106","source":{"id":"https://openalex.org/S4210193251","display_name":"ACM Transactions on Human-Robot Interaction","issn_l":"2573-9522","issn":["2573-9522"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319798","host_organization_name":"Association for Computing Machinery","host_organization_lineage":["https://openalex.org/P4310319798"],"host_organization_lineage_names":["Association for Computing Machinery"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ACM Transactions on Human-Robot Interaction","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G469533203","display_name":null,"funder_award_id":"1329891","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G5556092697","display_name":null,"funder_award_id":"1637764","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320333566","display_name":"National Defense Science and Engineering Graduate","ror":null}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4220725553.pdf","grobid_xml":"https://content.openalex.org/works/W4220725553.grobid-xml"},"referenced_works_count":58,"referenced_works":["https://openalex.org/W313823884","https://openalex.org/W361722444","https://openalex.org/W1555444101","https://openalex.org/W1576320723","https://openalex.org/W1584153482","https://openalex.org/W1654752245","https://openalex.org/W1965555277","https://openalex.org/W1966620545","https://openalex.org/W1966773602","https://openalex.org/W1966775428","https://openalex.org/W1971817567","https://openalex.org/W1983393109","https://openalex.org/W1986014385","https://openalex.org/W1987398044","https://openalex.org/W2003225665","https://openalex.org/W2016253352","https://openalex.org/W2020561769","https://openalex.org/W2030978043","https://openalex.org/W2041711014","https://openalex.org/W2075443182","https://openalex.org/W2076022612","https://openalex.org/W2083245347","https://openalex.org/W2083802878","https://openalex.org/W2089145243","https://openalex.org/W2098644279","https://openalex.org/W2102000567","https://openalex.org/W2102347640","https://openalex.org/W2104350951","https://openalex.org/W2106666697","https://openalex.org/W2109407178","https://openalex.org/W2113585314","https://openalex.org/W2120454280","https://openalex.org/W2123006794","https://openalex.org/W2125609926","https://openalex.org/W2133322641","https://openalex.org/W2138983889","https://openalex.org/W2140123501","https://openalex.org/W2142445568","https://openalex.org/W2147582248","https://openalex.org/W2151101862","https://openalex.org/W2157266565","https://openalex.org/W2161839080","https://openalex.org/W2164553222","https://openalex.org/W2283600647","https://openalex.org/W2312703239","https://openalex.org/W2322278952","https://openalex.org/W2494876311","https://openalex.org/W2509969228","https://openalex.org/W2937473021","https://openalex.org/W2971917910","https://openalex.org/W3011722025","https://openalex.org/W3036441542","https://openalex.org/W3120969902","https://openalex.org/W3176403011","https://openalex.org/W3205478157","https://openalex.org/W4205937065","https://openalex.org/W4242073862","https://openalex.org/W4300258114"],"related_works":["https://openalex.org/W4206135754","https://openalex.org/W2323122434","https://openalex.org/W2102384057","https://openalex.org/W2148892780","https://openalex.org/W3092193332","https://openalex.org/W4321496593","https://openalex.org/W2162746924","https://openalex.org/W2811244659","https://openalex.org/W4323637288","https://openalex.org/W4220725553"],"abstract_inverted_index":{"Advances":[0],"in":[1,18,129,142],"exoskeletons":[2],"and":[3,15,20,32,66,111,191],"robot":[4,44],"arms":[5],"have":[6],"given":[7],"us":[8],"increasing":[9],"opportunities":[10],"for":[11,40],"providing":[12],"physical":[13,56],"support":[14,29],"meaningful":[16],"feedback":[17],"training":[19,199],"rehabilitation":[21],"settings.":[22],"However,":[23],"the":[24,41,83,113,130,137],"chosen":[25],"control":[26,45],"strategies":[27],"must":[28],"motor":[30,74,153],"learning":[31],"provide":[33],"mathematical":[34],"task":[35,84,94,126],"definitions":[36],"that":[37,82,119,140,193],"are":[38,70],"actionable":[39],"actuation.":[42],"Typical":[43],"architectures":[46],"rely":[47],"on":[48,78,149,163],"measuring":[49],"error":[50],"from":[51],"a":[52,106,125,164,174,179],"reference":[53,79],"trajectory.":[54],"In":[55,101,178],"human-robot":[57,131],"interaction,":[58],"this":[59,102],"leads":[60,196],"to":[61,73,93,108,197],"low":[62],"engagement,":[63],"invariant":[64],"practice,":[65],"few":[67],"errors,":[68],"which":[69],"not":[71,91],"conducive":[72],"learning.":[75,154],"A":[76],"reliance":[77],"trajectories":[80],"means":[81],"definition":[85],"is":[86,127],"both":[87],"over-specified\u2014requiring":[88],"specific":[89],"timings":[90],"critical":[92],"success\u2014and":[95],"lacking":[96],"information":[97,123],"about":[98,124],"normal":[99],"variability.":[100],"article,":[103],"we":[104,184],"examine":[105],"way":[107],"define":[109],"tasks":[110],"close":[112],"loop":[114],"using":[115],"an":[116,157,170],"ergodic":[117,158,186,194],"measure":[118,134],"quantifies":[120],"how":[121],"much":[122],"encoded":[128],"motion.":[132],"This":[133],"can":[135],"capture":[136],"natural":[138],"variability":[139],"exists":[141],"typical":[143],"human":[144],"motion,":[145],"enabling":[146],"therapy":[147],"based":[148],"scientific":[150],"principles":[151],"of":[152,181],"We":[155],"implement":[156],"hybrid":[159],"shared":[160],"controller":[161],"(HSC)":[162],"robotic":[165],"arm":[166],"as":[167,169],"well":[168],"error-based":[171],"controller\u2014virtual":[172],"fixtures\u2014in":[173],"timed":[175],"drawing":[176],"task.":[177],"study":[180],"24":[182],"participants,":[183],"compare":[185],"HSC":[187,195],"with":[188],"virtual":[189],"fixtures":[190],"find":[192],"improved":[198],"outcomes.":[200]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2023,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}