{"id":"https://openalex.org/W7160247268","doi":"https://doi.org/10.48550/arxiv.2605.02410","title":"Shared Autonomy Assisted by Impedance-Driven Anisotropic Guidance Field","display_name":"Shared Autonomy Assisted by Impedance-Driven Anisotropic Guidance Field","publication_year":2026,"publication_date":"2026-05-04","ids":{"openalex":"https://openalex.org/W7160247268","doi":"https://doi.org/10.48550/arxiv.2605.02410"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2605.02410","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.02410","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2605.02410","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5135295337","display_name":"Sihan Chen","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Chen, Sihan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5135356253","display_name":"Hang Xu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xu, Hang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108761970","display_name":"Yupu Lu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lu, Yupu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5135327766","display_name":"Chen Chia Wang","orcid":"https://orcid.org/0009-0008-5178-7743"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Chen","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5135359867","display_name":"Benfang Duan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Duan, Benfang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5135315322","display_name":"Ruixing Jia","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jia, Ruixing","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5135365228","display_name":"Jia Pan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Pan, Jia","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5135295337"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"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/T10709","display_name":"Social Robot Interaction and HRI","score":0.9092000126838684,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},"topics":[{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.9092000126838684,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T10525","display_name":"Human-Automation Interaction and Safety","score":0.02199999988079071,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T11431","display_name":"Action Observation and Synchronization","score":0.014999999664723873,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.8889999985694885},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6571999788284302},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.6134999990463257},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6105999946594238},{"id":"https://openalex.org/keywords/autonomy","display_name":"Autonomy","score":0.5748999714851379},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.5386999845504761},{"id":"https://openalex.org/keywords/telerobotics","display_name":"Telerobotics","score":0.3978999853134155},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.3547999858856201},{"id":"https://openalex.org/keywords/channel","display_name":"Channel (broadcasting)","score":0.34549999237060547}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.8889999985694885},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.7319999933242798},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6571999788284302},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.6134999990463257},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6105999946594238},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6055999994277954},{"id":"https://openalex.org/C65414064","wikidata":"https://www.wikidata.org/wiki/Q484105","display_name":"Autonomy","level":2,"score":0.5748999714851379},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.5386999845504761},{"id":"https://openalex.org/C196467688","wikidata":"https://www.wikidata.org/wiki/Q1851985","display_name":"Telerobotics","level":4,"score":0.3978999853134155},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.3547999858856201},{"id":"https://openalex.org/C127162648","wikidata":"https://www.wikidata.org/wiki/Q16858953","display_name":"Channel (broadcasting)","level":2,"score":0.34549999237060547},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3118000030517578},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.3003999888896942},{"id":"https://openalex.org/C2778000800","wikidata":"https://www.wikidata.org/wiki/Q830043","display_name":"Handshake","level":3,"score":0.2915000021457672},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.2831999957561493},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.28209999203681946},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.2802000045776367},{"id":"https://openalex.org/C158156997","wikidata":"https://www.wikidata.org/wiki/Q1416645","display_name":"Models of communication","level":2,"score":0.2718000113964081},{"id":"https://openalex.org/C100609095","wikidata":"https://www.wikidata.org/wiki/Q1335050","display_name":"Embodied cognition","level":2,"score":0.25600001215934753},{"id":"https://openalex.org/C2987082051","wikidata":"https://www.wikidata.org/wiki/Q223642","display_name":"Human interaction","level":2,"score":0.25600001215934753},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.25290000438690186},{"id":"https://openalex.org/C39743133","wikidata":"https://www.wikidata.org/wiki/Q3262595","display_name":"Signalling","level":2,"score":0.251800000667572},{"id":"https://openalex.org/C113843644","wikidata":"https://www.wikidata.org/wiki/Q901882","display_name":"Interface (matter)","level":4,"score":0.2515000104904175},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.25130000710487366},{"id":"https://openalex.org/C194995250","wikidata":"https://www.wikidata.org/wiki/Q531136","display_name":"Affordance","level":2,"score":0.25110000371932983}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2605.02410","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.02410","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2605.02410","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.02410","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Shared":[0,80],"autonomy":[1],"(SA)":[2],"enables":[3],"robots":[4],"to":[5,103],"infer":[6],"human":[7,104,116],"intent":[8,20,30,58,111],"and":[9,44,65,123,135,146],"assist":[10],"in":[11,31,67,142],"its":[12,140],"achievement.":[13],"While":[14],"most":[15],"research":[16],"focuses":[17],"on":[18],"improving":[19],"inference,":[21],"it":[22],"overlooks":[23],"whether":[24],"humans":[25],"can":[26],"understand":[27],"the":[28,56,99],"robot's":[29,100],"return.":[32],"Without":[33],"such":[34],"mutual":[35],"understanding,":[36],"collaboration":[37],"becomes":[38],"less":[39],"effective,":[40],"degrading":[41],"user":[42],"experience":[43],"task":[45,131],"performance.":[46],"To":[47],"address":[48],"this":[49],"gap,":[50],"previous":[51],"studies":[52,119],"have":[53],"explicitly":[54],"conveyed":[55],"robot":[57,110],"through":[59],"additional":[60],"interfaces,":[61],"which":[62],"remain":[63],"unintuitive":[64],"limited":[66],"expressiveness.":[68],"Inspired":[69],"by":[70],"impedance":[71],"control,":[72],"we":[73],"propose":[74],"Impedance-Driven":[75],"Anisotropic":[76],"Guidance":[77],"Field":[78],"Enhanced":[79],"Autonomy":[81],"(IAGF-SA),":[82],"a":[83],"novel":[84],"paradigm":[85],"that":[86,128],"extends":[87],"SA":[88],"with":[89],"an":[90],"embodied,":[91],"physically-grounded":[92,109],"communication":[93,112,145],"channel.":[94],"This":[95],"channel":[96],"adaptively":[97],"modulates":[98],"dynamic":[101],"response":[102],"input,":[105],"enabling":[106],"intuitive,":[107],"continuous,":[108],"while":[113],"naturally":[114],"guiding":[115],"actions.":[117],"User":[118],"across":[120],"three":[121],"scenarios":[122],"two":[124],"teleoperation":[125],"interfaces":[126],"indicate":[127],"IAGF-SA":[129],"improves":[130],"performance,":[132],"human-robot":[133,144],"agreement,":[134],"subjective":[136],"experience,":[137],"thus":[138],"demonstrating":[139],"effectiveness":[141],"enhancing":[143],"collaboration.":[147]},"counts_by_year":[],"updated_date":"2026-05-06T06:10:43.113611","created_date":"2026-05-06T00:00:00"}