{"id":"https://openalex.org/W3089670934","doi":"https://doi.org/10.1109/icra40945.2020.9197094","title":"Human Interface for Teleoperated Object Manipulation with a Soft Growing Robot","display_name":"Human Interface for Teleoperated Object Manipulation with a Soft Growing Robot","publication_year":2020,"publication_date":"2020-05-01","ids":{"openalex":"https://openalex.org/W3089670934","doi":"https://doi.org/10.1109/icra40945.2020.9197094","mag":"3089670934"},"language":"en","primary_location":{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197094","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},"type":"article","type_crossref":"proceedings-article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1910.12998","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5054512048","display_name":"Fabio Stroppa","orcid":"https://orcid.org/0000-0003-2644-2029"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"funder","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Fabio Stroppa","raw_affiliation_strings":["Mechanical Engineering Department, Stanford University, Stanford, CA, USA"],"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101499106","display_name":"Ming Luo","orcid":"https://orcid.org/0000-0001-7916-7062"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"funder","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ming Luo","raw_affiliation_strings":["Mechanical Engineering Department, Stanford University, Stanford, CA, USA"],"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029066624","display_name":"Kyle T. Yoshida","orcid":"https://orcid.org/0000-0001-6579-8752"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"funder","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kyle Yoshida","raw_affiliation_strings":["Mechanical Engineering Department, Stanford University, Stanford, CA, USA"],"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062756806","display_name":"Margaret M. Coad","orcid":"https://orcid.org/0000-0002-2272-6086"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"funder","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Margaret M. Coad","raw_affiliation_strings":["Mechanical Engineering Department, Stanford University, Stanford, CA, USA"],"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034706353","display_name":"Laura H. Blumenschein","orcid":"https://orcid.org/0000-0003-0658-5364"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"funder","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Laura H. Blumenschein","raw_affiliation_strings":["Mechanical Engineering Department, Stanford University, Stanford, CA, USA"],"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067958710","display_name":"Allison M. Okamura","orcid":"https://orcid.org/0000-0002-6912-1666"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"funder","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Allison M. Okamura","raw_affiliation_strings":["Mechanical Engineering Department, Stanford University, Stanford, CA, USA"],"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]}]}],"institution_assertions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":6.306,"has_fulltext":false,"cited_by_count":24,"citation_normalized_percentile":{"value":0.999783,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":93,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"726","last_page":"732"},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9999,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9999,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9987,"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"}},{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":0.9934,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.73840576},{"id":"https://openalex.org/keywords/interface","display_name":"Interface (matter)","score":0.7215359},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.4317213}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.73840576},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.73472667},{"id":"https://openalex.org/C113843644","wikidata":"https://www.wikidata.org/wiki/Q901882","display_name":"Interface (matter)","level":4,"score":0.7215359},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.72108907},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.64896077},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.6318967},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.52068174},{"id":"https://openalex.org/C89505385","wikidata":"https://www.wikidata.org/wiki/Q47146","display_name":"User interface","level":2,"score":0.44350156},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.4317213},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.37730426},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.37076834},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.15776244},{"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/C157915830","wikidata":"https://www.wikidata.org/wiki/Q2928001","display_name":"Bubble","level":2,"score":0.0},{"id":"https://openalex.org/C129307140","wikidata":"https://www.wikidata.org/wiki/Q6795880","display_name":"Maximum bubble pressure method","level":3,"score":0.0},{"id":"https://openalex.org/C173608175","wikidata":"https://www.wikidata.org/wiki/Q232661","display_name":"Parallel computing","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197094","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},{"is_oa":true,"landing_page_url":"https://arxiv.org/abs/1910.12998","pdf_url":"https://arxiv.org/pdf/1910.12998","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_indexed_in_scopus":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":["Cornell University"],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false}],"best_oa_location":{"is_oa":true,"landing_page_url":"https://arxiv.org/abs/1910.12998","pdf_url":"https://arxiv.org/pdf/1910.12998","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_indexed_in_scopus":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":["Cornell University"],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false},"sustainable_development_goals":[{"display_name":"Climate action","score":0.7,"id":"https://metadata.un.org/sdg/13"}],"grants":[],"datasets":[],"versions":[],"referenced_works_count":22,"referenced_works":["https://openalex.org/W1515749184","https://openalex.org/W1966141623","https://openalex.org/W2007924815","https://openalex.org/W2008124924","https://openalex.org/W2077937377","https://openalex.org/W2083692125","https://openalex.org/W2101667962","https://openalex.org/W2124992704","https://openalex.org/W2156218502","https://openalex.org/W2157289187","https://openalex.org/W2166585449","https://openalex.org/W2409703994","https://openalex.org/W2462654948","https://openalex.org/W2737491236","https://openalex.org/W2807566679","https://openalex.org/W2890132254","https://openalex.org/W2911021453","https://openalex.org/W2919013143","https://openalex.org/W2946871295","https://openalex.org/W2971351593","https://openalex.org/W3106042088","https://openalex.org/W4251181231"],"related_works":["https://openalex.org/W4366547574","https://openalex.org/W3205513966","https://openalex.org/W3200191727","https://openalex.org/W3195608031","https://openalex.org/W3120459843","https://openalex.org/W2160982102","https://openalex.org/W2052971528","https://openalex.org/W2048862765","https://openalex.org/W1923069992","https://openalex.org/W1649706580"],"abstract_inverted_index":{"Soft":[0],"growing":[1,61,132],"robots":[2,33],"are":[3],"proposed":[4],"for":[5,63,127],"use":[6],"in":[7,16],"applications":[8],"such":[9],"as":[10],"complex":[11],"manipulation":[12,64,90],"tasks":[13,65],"or":[14],"navigation":[15],"disaster":[17],"scenarios.":[18],"Safe":[19],"interaction":[20],"and":[21,80,107],"ease":[22],"of":[23,28,44,77,83,104,129],"production":[24],"promote":[25],"the":[26,75,78,81,101,105],"usage":[27],"this":[29,47],"technology,":[30],"but":[31],"soft":[32,60,85,131],"can":[34],"be":[35],"challenging":[36],"to":[37,40,57,73,99],"teleoperate":[38,58],"due":[39],"their":[41],"unique":[42],"degrees":[43],"freedom.":[45],"In":[46],"paper,":[48],"we":[49],"propose":[50],"a":[51,59,88,130],"human-centered":[52],"interface":[53,79,122],"that":[54,95,119],"allows":[55],"users":[56,96],"robot":[62,133],"using":[66],"arm":[67],"movements.":[68],"A":[69],"study":[70],"was":[71],"conducted":[72],"assess":[74],"intuitiveness":[76],"performance":[82],"our":[84,120],"robot,":[86],"involving":[87],"pick-and-place":[89],"task.":[91],"The":[92],"results":[93,117],"show":[94],"were":[97],"able":[98],"complete":[100],"task":[102],"97%":[103],"time":[106],"achieve":[108],"placement":[109],"errors":[110],"below":[111],"2":[112],"cm":[113],"on":[114],"average.":[115],"These":[116],"demonstrate":[118],"body-movement-based":[121],"is":[123],"an":[124],"effective":[125],"method":[126],"control":[128],"manipulator.":[134]},"abstract_inverted_index_v3":null,"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W3089670934","counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1}],"updated_date":"2025-04-19T06:00:15.218821","created_date":"2020-10-08"}