{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,6]],"date-time":"2026-04-06T12:11:46Z","timestamp":1775477506045,"version":"3.50.1"},"reference-count":56,"publisher":"Springer Science and Business Media LLC","issue":"9","license":[{"start":{"date-parts":[[2019,8,29]],"date-time":"2019-08-29T00:00:00Z","timestamp":1567036800000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"},{"start":{"date-parts":[[2019,8,29]],"date-time":"2019-08-29T00:00:00Z","timestamp":1567036800000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"funder":[{"name":"Abdel-Nasser Sharkawy is funded by the \u201cEgyptian Cultural Affairs & Missions Sector\u201d and \u201cHellenic Ministry of Foreign Affairs Scholarship\u201d for Ph.D. study in Greece.","award":["Abdel-Nasser Sharkawy is funded by the \u201cEgyptian Cultural Affairs & Missions Sector\u201d"],"award-info":[{"award-number":["Abdel-Nasser Sharkawy is funded by the \u201cEgyptian Cultural Affairs & Missions Sector\u201d"]}]},{"name":"Abdel-Nasser Sharkawy is funded by the \u201cEgyptian Cultural Affairs & Missions Sector\u201d and \u201cHellenic Ministry of Foreign Affairs Scholarship\u201d for Ph.D. study in Greece.","award":["\u201cHellenic Ministry of Foreign Affairs Scholarship\u201d for Ph.D. study in Greece."],"award-info":[{"award-number":["\u201cHellenic Ministry of Foreign Affairs Scholarship\u201d for Ph.D. study in Greece."]}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Soft Comput"],"published-print":{"date-parts":[[2020,5]]},"DOI":"10.1007\/s00500-019-04306-7","type":"journal-article","created":{"date-parts":[[2019,8,29]],"date-time":"2019-08-29T20:03:14Z","timestamp":1567108994000},"page":"6687-6719","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":81,"title":["Human\u2013robot collisions detection for safe human\u2013robot interaction using one multi-input\u2013output neural network"],"prefix":"10.1007","volume":"24","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-9733-221X","authenticated-orcid":false,"given":"Abdel-Nasser","family":"Sharkawy","sequence":"first","affiliation":[]},{"given":"Panagiotis N.","family":"Koustoumpardis","sequence":"additional","affiliation":[]},{"given":"Nikos","family":"Aspragathos","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2019,8,29]]},"reference":[{"key":"4306_CR1","doi-asserted-by":"publisher","first-page":"376","DOI":"10.1108\/01439910710774386","volume":"34","author":"A Albu-Schaffer","year":"2007","unstructured":"Albu-Schaffer A, Haddadin S, Ott C, Stemmer A, Wimbock T, Hirzinger G (2007) The DLR lightweight robot: design and control concepts for robots in human environments. Ind Robot Int J 34:376\u2013385. \nhttps:\/\/doi.org\/10.1108\/01439910710774386","journal-title":"Ind Robot Int J"},{"key":"4306_CR2","doi-asserted-by":"publisher","unstructured":"Anton FD, Anton S, Borangiu T (2013) Human\u2013robot natural interaction with collision avoidance in manufacturing operations. In: Service orientation in Holonic and multi agent manufacturing and robotics. Springer, Berlin, pp 375\u2013388. \nhttps:\/\/doi.org\/10.1007\/978-3-642-35852-4","DOI":"10.1007\/978-3-642-35852-4"},{"key":"4306_CR3","doi-asserted-by":"publisher","first-page":"659","DOI":"10.1111\/j.1540-5915.1999.tb00902.x","volume":"30","author":"VL Berardi","year":"1999","unstructured":"Berardi VL, Zhang GP (1999) The effect of misclassification costs on neural network classifiers. Decis Sci 30:659\u2013682. \nhttps:\/\/doi.org\/10.1111\/j.1540-5915.1999.tb00902.x","journal-title":"Decis Sci"},{"key":"4306_CR4","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1177\/1687814017740710","volume":"10","author":"S Chen","year":"2018","unstructured":"Chen S, Luo M, He F (2018) A universal algorithm for sensorless collision detection of robot actuator faults. Adv Mech Eng 10:1\u201310. \nhttps:\/\/doi.org\/10.1177\/1687814017740710","journal-title":"Adv Mech Eng"},{"key":"4306_CR5","doi-asserted-by":"publisher","first-page":"1197","DOI":"10.1007\/s12206-012-0230-0","volume":"26","author":"C Cho","year":"2012","unstructured":"Cho C, Kim J, Lee S, Song J (2012a) Collision detection and reaction on 7 DOF service robot arm using residual observer. J Mech Sci Technol 26:1197\u20131203. \nhttps:\/\/doi.org\/10.1007\/s12206-012-0230-0","journal-title":"J Mech Sci Technol"},{"key":"4306_CR6","doi-asserted-by":"publisher","first-page":"1825","DOI":"10.1080\/01691864.2012.685259","volume":"26","author":"C Cho","year":"2012","unstructured":"Cho C, Kim J, Kim Y, Song J-B, Kyung J-H (2012b) Collision detection algorithm to distinguish between intended contact and unexpected collision. Adv Robot 26:1825\u20131840. \nhttps:\/\/doi.org\/10.1080\/01691864.2012.685259","journal-title":"Adv Robot"},{"key":"4306_CR7","doi-asserted-by":"publisher","unstructured":"De Luca A, Albu-Schaffer A, Haddadin S, Hirzinger G (2006) Collision detection and safe reaction with the DLR-III lightweight manipulator arm. In: 2006 IEEE\/RSJ international conference on intelligent robots and systems. IEEE, Beijing, China, pp 1623\u20131630. \nhttps:\/\/doi.org\/10.1109\/iros.2006.282053","DOI":"10.1109\/iros.2006.282053"},{"key":"4306_CR8","volume-title":"Pattern recognition: a statistical approach, Englewood cliffs","author":"PA Devijver","year":"1982","unstructured":"Devijver PA, Kittler J (1982) Pattern recognition: a statistical approach, Englewood cliffs. Prentice-Hall, Upper Saddle River"},{"key":"4306_CR9","unstructured":"Dimeas F, Avenda LD, Nasiopoulou E, Aspragathos N (2013) Robot collision detection based on fuzzy identification and time series modelling. In: Proceedings of the RAAD 2013. 22nd international workshop on robotics in Alpe-Adria-Danube Region, Slovenia"},{"key":"4306_CR10","doi-asserted-by":"publisher","DOI":"10.1017\/s0263574714001143","author":"F Dimeas","year":"2014","unstructured":"Dimeas F, Avendano-valencia LD, Aspragathos N (2014) Human\u2014robot collision detection and identification based on fuzzy and time series modelling. Robotica. \nhttps:\/\/doi.org\/10.1017\/s0263574714001143","journal-title":"Robotica"},{"key":"4306_CR11","volume-title":"Neural networks in a softcomputing framework","author":"K-L Du","year":"2006","unstructured":"Du K-L, Swamy MNS (2006) Neural networks in a softcomputing framework. Springer, London"},{"key":"4306_CR12","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4471-5571-3","volume-title":"Neural networks and statistical learning","author":"K Du","year":"2014","unstructured":"Du K, Swamy MNS (2014) Neural networks and statistical learning. Springer, Berlin. \nhttps:\/\/doi.org\/10.1007\/978-1-4471-5571-3"},{"key":"4306_CR13","doi-asserted-by":"publisher","first-page":"24","DOI":"10.1109\/TNN.2004.836233","volume":"16","author":"S Ferrari","year":"2005","unstructured":"Ferrari S, Stengel RF (2005) Smooth function approximation using neural networks. IEEE Trans Neural Netw 16:24\u201338","journal-title":"IEEE Trans Neural Netw"},{"key":"4306_CR14","doi-asserted-by":"crossref","unstructured":"Flacco F, Kroger T, De Luca A, Khatib O (2012) A depth space approach to human\u2013robot collision avoidance. In: 2012 IEEE international conference on robotics and automation, RiverCentre, Saint Paul, Minnesota, USA, 2012, pp 338\u2013345","DOI":"10.1109\/ICRA.2012.6225245"},{"key":"4306_CR15","doi-asserted-by":"publisher","first-page":"7","DOI":"10.1007\/s10846-014-0146-2","volume":"80","author":"F Flacco","year":"2014","unstructured":"Flacco F, Kroeger T, De Luca A, Khatib O (2014) A depth space approach for evaluating distance to objects. J Intell Robot Syst 80:7\u201322. \nhttps:\/\/doi.org\/10.1007\/s10846-014-0146-2","journal-title":"J Intell Robot Syst"},{"key":"4306_CR16","unstructured":"FRANKA EMIKA, Infanteriestra\u00dfe 19 80797 Munich, Germany (n.d.) \nhttp:\/\/donar.messe.de\/exhibitor\/cebit\/2017\/G679739\/broschuere-ger-499315.pdf"},{"key":"4306_CR17","doi-asserted-by":"publisher","unstructured":"Fumagalli M, Gijsberts A, Ivaldi S, Jamone L, Metta G, Natale L, Nori F, Sandini G (2010) Learning to exploit proximal force sensing: a comparison approach. In: Sigaud O, Peters J (eds) From motor learning to interaction learning in robots. Studies in computational intelligence. Springer, Berlin, pp 149\u2013167. \nhttps:\/\/doi.org\/10.1007\/978-3-642-05181-4_7","DOI":"10.1007\/978-3-642-05181-4_7"},{"key":"4306_CR18","doi-asserted-by":"publisher","unstructured":"Gandhi D, Cervera E (2003) Sensor covering of a robot arm for collision avoidance. In: SMC\u201903 conference proceedings. 2003 IEEE international conference on systems, man and cybernetics. Conference theme\u2014system security and assurance (Cat. No. 03CH37483). IEEE, Washington, DC, USA, 2003, pp 4951\u20134955. \nhttps:\/\/doi.org\/10.1109\/icsmc.2003.1245767","DOI":"10.1109\/icsmc.2003.1245767"},{"key":"4306_CR19","volume-title":"Using a neural network to learn the dynamics of the CMU direct-drive arm II","author":"KY Goldberg","year":"1988","unstructured":"Goldberg KY, Pearlmutter BA (1988) Using a neural network to learn the dynamics of the CMU direct-drive arm II. Carnegie Mellon University, Pittsburgh"},{"key":"4306_CR20","unstructured":"HC10 collaborative robot\u2014Yaskawa Motoman (n.d.). \nhttps:\/\/www.motoman.com\/collaborative\/products"},{"key":"4306_CR21","doi-asserted-by":"crossref","unstructured":"Haddadin S, Albu-sch A, De Luca A, Hirzinger G (2008) Collision detection and reaction: a contribution to safe physical human\u2013robot interaction. In: 2008 IEEE\/RSJ international conference on intelligent robots and systems, IEEE, Nice, France, pp 3356\u20133363","DOI":"10.1109\/IROS.2008.4650764"},{"key":"4306_CR22","doi-asserted-by":"publisher","first-page":"2","DOI":"10.1109\/72.329697","volume":"5","author":"MT Hagan","year":"1994","unstructured":"Hagan MT, Menhaj MB (1994) Training feedforward networks with the Marquardt algorithm. IEEE Trans Neural Netw 5:2\u20136","journal-title":"IEEE Trans Neural Netw"},{"key":"4306_CR23","volume-title":"Neural networks and learning machines","author":"S Haykin","year":"2009","unstructured":"Haykin S (2009) Neural networks and learning machines, 3rd edn. Pearson, London","edition":"3"},{"key":"4306_CR24","doi-asserted-by":"publisher","first-page":"551","DOI":"10.1016\/0893-6080(90)90005-6","volume":"3","author":"K Hornik","year":"1990","unstructured":"Hornik K, Stinchcombe M, White H (1990) Universal approximation of an unknown mapping and its derivatives using multilayer feedforward networks. Neural Netw 3:551\u2013560","journal-title":"Neural Netw"},{"key":"4306_CR25","doi-asserted-by":"publisher","first-page":"1","DOI":"10.3390\/s17051148","volume":"17","author":"M Indri","year":"2017","unstructured":"Indri M, Trapani S, Lazzero I (2017) Development of a virtual collision sensor for industrial robots. Sensors 17:1\u201323. \nhttps:\/\/doi.org\/10.3390\/s17051148","journal-title":"Sensors"},{"key":"4306_CR26","unstructured":"ISO 10218-1 (2011a) Robots and robotic devices\u2014safety requirements for industrial robots\u2014part 1: robots"},{"key":"4306_CR27","unstructured":"ISO 10218-2 (2011b) Robots and robotic devices\u2014safety requirements for industrial robots\u2014part 2: robot systems and integration"},{"key":"4306_CR28","unstructured":"ISO\/TS 15066 (2016) Robots and robotic devices\u2014collaborative robots"},{"key":"4306_CR29","doi-asserted-by":"crossref","unstructured":"Jung B, Choi HR, Koo JC, Moon H (2012) Collision detection using band designed disturbance observer. In: 8th IEEE international conference on automation science and engineering, Korea, 2012, pp 1080\u20131085","DOI":"10.1109\/CoASE.2012.6386389"},{"key":"4306_CR30","doi-asserted-by":"publisher","first-page":"4389","DOI":"10.1007\/s12206-014-1006-5","volume":"28","author":"B Jung","year":"2014","unstructured":"Jung B, Koo JC, Choi HR, Moon H (2014) Human\u2013robot collision detection under modeling uncertainty using frequency boundary of manipulator dynamics. J Mech Sci Technol 28:4389\u20134395. \nhttps:\/\/doi.org\/10.1007\/s12206-014-1006-5","journal-title":"J Mech Sci Technol"},{"key":"4306_CR31","unstructured":"KUKA Roboter GmbH, Lightweight Robot 4+, Specification, D-86165 Augsburg, Germany, 2010"},{"key":"4306_CR32","doi-asserted-by":"publisher","unstructured":"Kitaoka M, Yamashita A, Kaneko T (2010) Obstacle avoidance and path planning using color information for a biped robot equipped with a stereo camera system. In: Proceedings of the 4th Asia international symposium mechatronics, pp 38\u201343. \nhttps:\/\/doi.org\/10.3850\/978-981-08-7723-1_p134","DOI":"10.3850\/978-981-08-7723-1_p134"},{"key":"4306_CR33","unstructured":"KUKA.FastResearchInterface 1.0, KUKA System Technology (KST), D-86165 Augsburg, Germany, 2011"},{"key":"4306_CR34","doi-asserted-by":"crossref","unstructured":"Lam TL, Yip HW, Qian H, Xu Y (2012) Collision avoidance of industrial robot arms using an invisible sensitive skin. In: 2012 IEEE\/RSJ international conference on intelligent robots and systems, Algarve, Portugal, pp 4542\u20134543","DOI":"10.1109\/IROS.2012.6386294"},{"key":"4306_CR35","first-page":"1","volume-title":"The handbook of brain theory and neural networks","author":"Y LeCun","year":"1995","unstructured":"LeCun Y, Bengio Y (1995) Pattern recognition and neural networks. In: Arbib MA (ed) The handbook of brain theory and neural networks. MIT Press, Cambridge, pp 1\u201322"},{"key":"4306_CR36","doi-asserted-by":"publisher","unstructured":"Lenser S, Veloso M (2003) Visual sonar: fast obstacle avoidance using monocular vision. In: Proceedings of the IEEE\/RSJ international conference on intelligent robots and systems (IROS 2003). \nhttps:\/\/doi.org\/10.1109\/iros.2003.1250741","DOI":"10.1109\/iros.2003.1250741"},{"key":"4306_CR37","doi-asserted-by":"publisher","first-page":"156","DOI":"10.1007\/s11633-017-1104-9","volume":"15","author":"Z Li","year":"2018","unstructured":"Li Z, Wu H, Yang J, Wang M, Ye J (2018) A position and torque switching control method for robot collision safety. Int J Autom Comput 15:156\u2013168. \nhttps:\/\/doi.org\/10.1007\/s11633-017-1104-9","journal-title":"Int J Autom Comput"},{"key":"4306_CR38","unstructured":"Lu S, Chung JH, Velinsky SA (2005) Human\u2013robot collision detection and identification based on wrist and base force\/torque sensors. In: Proceedings of 2005 IEEE international conference on robotics and automation, Spain, pp 796\u2013801"},{"key":"4306_CR39","doi-asserted-by":"publisher","first-page":"431","DOI":"10.1137\/0111030","volume":"11","author":"DW Marquardt","year":"1963","unstructured":"Marquardt DW (1963) An algorithm for least-squares estimation of nonlinear parameters. J Soc Ind Appl Math 11:431\u2013441","journal-title":"J Soc Ind Appl Math"},{"key":"4306_CR40","unstructured":"Mihelj M, Munih M (2010) Open architecture xPC target based robot controllers for industrial and research manipulators. In: IEEE workshop on innovative robot control architectures for demanding (research) applications how to modify and enhance commercial controllers (ICRA 2010), Anchorage, pp 54\u201361"},{"key":"4306_CR41","doi-asserted-by":"publisher","first-page":"1","DOI":"10.3390\/s19051080","volume":"19","author":"F Min","year":"2019","unstructured":"Min F, Wang G, Liu N (2019) Collision detection and identification on robot manipulators based on vibration analysis. Sensors 19:1\u201317. \nhttps:\/\/doi.org\/10.3390\/s19051080","journal-title":"Sensors"},{"key":"4306_CR42","doi-asserted-by":"crossref","unstructured":"Morinaga S, Kosuge K (2003) Collision detection system for manipulator based on adaptive impedance control law. In: Proceedings of 2003 IEEE international conference on robotics and automation, Tsirno, pp 1080\u20131085","DOI":"10.1109\/ROBOT.2003.1241736"},{"key":"4306_CR43","unstructured":"Most T (2005) Approximation of complex nonlinear functions by means of neural networks. In: 2nd Weimar optimization and stochastic days 2005, Grand Hotel Russischer Hof, Weimar, Germany"},{"key":"4306_CR44","volume-title":"A mathematical introduction to robotic manipulation","author":"RM Murray","year":"1994","unstructured":"Murray RM, Li Z, Sastry SS (1994) A mathematical introduction to robotic manipulation. CRC Press, Boca Raton"},{"key":"4306_CR45","unstructured":"Nielsen MA (2015) Neural networks and deep learning. Determination Press"},{"key":"4306_CR46","doi-asserted-by":"publisher","first-page":"343","DOI":"10.1109\/72.991420","volume":"13","author":"HD Pati\u00f1o","year":"2002","unstructured":"Pati\u00f1o HD, Carelli R, Kuchen BR (2002) Neural networks for advanced control of robot manipulators. IEEE Trans Neural Netw 13:343\u2013354. \nhttps:\/\/doi.org\/10.1109\/72.991420","journal-title":"IEEE Trans Neural Netw"},{"key":"4306_CR47","doi-asserted-by":"publisher","unstructured":"Peasley B, Birchfield S (2013) Real-time obstacle detection and avoidance in the presence of specular surfaces using an active 3D sensor. In: 2013 IEEE workshop on robot vision, Clearwater Beach, FL, USA, pp 197\u2013202. \nhttps:\/\/doi.org\/10.1109\/worv.2013.6521938","DOI":"10.1109\/worv.2013.6521938"},{"key":"4306_CR48","doi-asserted-by":"publisher","first-page":"85","DOI":"10.1016\/j.neunet.2014.09.003","volume":"61","author":"J Schmidhuber","year":"2015","unstructured":"Schmidhuber J (2015) Deep learning in neural networks: an overview. Neural Netw 61:85\u2013117. \nhttps:\/\/doi.org\/10.1016\/j.neunet.2014.09.003","journal-title":"Neural Netw"},{"key":"4306_CR49","doi-asserted-by":"publisher","unstructured":"Schmidt B, Wang L (2013) Contact-less and programming-less human\u2013robot collaboration. In: Forty sixth CIRP conference on manufacturing systems 2013. Elsevier, pp 545\u2013550. \nhttps:\/\/doi.org\/10.1016\/j.procir.2013.06.030","DOI":"10.1016\/j.procir.2013.06.030"},{"key":"4306_CR50","unstructured":"Schreiber G, Stemmer A, Bischoff R (2010) The fast research interface for the KUKA lightweight robot. In: IEEE workshop on innovative robot control architectures for demanding (research) applications how to modify and enhance commercial controllers (ICRA 2010), Anchorage, pp 15\u201321"},{"key":"4306_CR51","doi-asserted-by":"publisher","first-page":"150","DOI":"10.18178\/ijmerr.7.2.150-157","volume":"7","author":"A-N Sharkawy","year":"2018","unstructured":"Sharkawy A-N, Aspragathos N (2018) Human\u2013robot collision detection based on neural networks. Int J Mech Eng Robot Res 7:150\u2013157. \nhttps:\/\/doi.org\/10.18178\/ijmerr.7.2.150-157","journal-title":"Int J Mech Eng Robot Res"},{"key":"4306_CR52","volume-title":"Advances in service and industrial robotics. RAAD 2018. Mechanisms and machine science","author":"AN Sharkawy","year":"2019","unstructured":"Sharkawy AN, Koustoumpardis PN, Aspragathos NA (2019) Manipulator Collision Detection and Collided Link Identification Based on Neural Networks. In: Aspragathos N, Koustoumpardis P, Moulianitis V (eds) Advances in service and industrial robotics. RAAD 2018. Mechanisms and machine science, vol 67. Springer, Cham"},{"key":"4306_CR53","doi-asserted-by":"publisher","unstructured":"Smith AC, Hashtrudi-Zaad K (2005) Application of neural networks in inverse dynamics based contact force estimation. In: Proceedings of 2005 IEEE conference control application, IEEE, Toronto, Canada, pp 1021\u20131026. \nhttps:\/\/doi.org\/10.1109\/cca.2005.1507264","DOI":"10.1109\/cca.2005.1507264"},{"key":"4306_CR54","doi-asserted-by":"publisher","first-page":"1410","DOI":"10.1109\/72.641464","volume":"8","author":"AT Vemuri","year":"1997","unstructured":"Vemuri AT, Polycarpou MM (1997) Neural-network-based robust fault diagnosis in robotic systems. IEEE Trans Neural Netw 8:1410\u20131420","journal-title":"IEEE Trans Neural Netw"},{"key":"4306_CR55","doi-asserted-by":"publisher","first-page":"230","DOI":"10.1109\/3516.653047","volume":"2","author":"Y Yamada","year":"1997","unstructured":"Yamada Y, Hirasawa Y, Huang S, Umetani Y, Suita K (1997) Human\u2013robot contact in the safeguarding space. IEEE\/ASME Trans Mechatron 2:230\u2013236","journal-title":"IEEE\/ASME Trans Mechatron"},{"key":"4306_CR56","doi-asserted-by":"publisher","first-page":"451","DOI":"10.1109\/5326.897072","volume":"30","author":"GP Zhang","year":"2000","unstructured":"Zhang GP (2000) Neural networks for classification: a survey. IEEE Trans Syst MAN Cybern C Appl Rev 30:451\u2013462. \nhttps:\/\/doi.org\/10.1109\/5326.897072","journal-title":"IEEE Trans Syst MAN Cybern C Appl Rev"}],"container-title":["Soft Computing"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s00500-019-04306-7.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s00500-019-04306-7\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s00500-019-04306-7.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2020,8,27]],"date-time":"2020-08-27T23:34:52Z","timestamp":1598571292000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s00500-019-04306-7"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2019,8,29]]},"references-count":56,"journal-issue":{"issue":"9","published-print":{"date-parts":[[2020,5]]}},"alternative-id":["4306"],"URL":"https:\/\/doi.org\/10.1007\/s00500-019-04306-7","relation":{},"ISSN":["1432-7643","1433-7479"],"issn-type":[{"value":"1432-7643","type":"print"},{"value":"1433-7479","type":"electronic"}],"subject":[],"published":{"date-parts":[[2019,8,29]]},"assertion":[{"value":"29 August 2019","order":1,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Compliance with ethical standards"}},{"value":"The authors declare that they have no conflict of interest.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Conflict of interest"}},{"value":"All procedures performed in studies involving human participants were in accordance with the ethical standards of the institutional and\/or national research committee and with the 1964 Helsinki Declaration and its later amendments or comparable ethical standards.","order":3,"name":"Ethics","group":{"name":"EthicsHeading","label":"Ethical approval"}},{"value":"This article does not contain any studies with animals performed by any of the authors.","order":4,"name":"Ethics","group":{"name":"EthicsHeading","label":"Ethical approval"}},{"value":"Informed consent was obtained from all individual participants included in the study.","order":5,"name":"Ethics","group":{"name":"EthicsHeading","label":"Informed consent"}}]}}