{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,27]],"date-time":"2026-02-27T15:18:15Z","timestamp":1772205495929,"version":"3.50.1"},"reference-count":42,"publisher":"Springer Science and Business Media LLC","issue":"5","license":[{"start":{"date-parts":[[2017,11,23]],"date-time":"2017-11-23T00:00:00Z","timestamp":1511395200000},"content-version":"unspecified","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"funder":[{"name":"Digiteo"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Auton Robot"],"published-print":{"date-parts":[[2018,6]]},"DOI":"10.1007\/s10514-017-9680-7","type":"journal-article","created":{"date-parts":[[2017,11,23]],"date-time":"2017-11-23T03:37:35Z","timestamp":1511408255000},"page":"1037-1051","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":31,"title":["Co-manipulation with a library of virtual guiding fixtures"],"prefix":"10.1007","volume":"42","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-1481-1106","authenticated-orcid":false,"given":"Gennaro","family":"Raiola","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Susana Sanchez","family":"Restrepo","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Pauline","family":"Chevalier","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Pedro","family":"Rodriguez-Ayerbe","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xavier","family":"Lamy","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Sami","family":"Tliba","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Freek","family":"Stulp","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2017,11,23]]},"reference":[{"key":"9680_CR1","unstructured":"Aarno, D., Ekvall, S., & Kragic, D. (2005). Adaptive virtual fixtures for machine-assisted teleoperation tasks. In ICRA (pp. 897\u2013903)."},{"key":"9680_CR2","unstructured":"Abbott, J. J. (2005). Virtual fixtures for bilateral telemanipulation. Ph.D. thesis, Johns Hopkins University."},{"key":"9680_CR3","unstructured":"Abdi, H., & Williams, L. J. (2010). Tukeys honestly significant difference (hsd) test. In N. J. Salkind (Ed.), Encyclopedia of research design (pp. 1\u20135). Thousand Oaks, CA: Sage."},{"key":"9680_CR4","doi-asserted-by":"crossref","unstructured":"Amor, H. B., Neumann, G., Kamthe, S., Kroemer, O., & Peters, J. (2014). Interaction primitives for human\u2013robot cooperation tasks. In 2014 IEEE international conference on robotics and automation (ICRA) (pp. 2831\u20132837). IEEE.","DOI":"10.1109\/ICRA.2014.6907265"},{"issue":"3","key":"9680_CR5","doi-asserted-by":"crossref","first-page":"674","DOI":"10.1109\/TRO.2013.2239552","volume":"29","author":"BC Becker","year":"2013","unstructured":"Becker, B. C., Maclachlan, R. A., Lobes, L. A., Hager, G. D., & Riviere, C. N. (2013). Vision-based control of a handheld surgical micromanipulator with virtual fixtures. IEEE Transactions on Robotics, 29(3), 674\u2013683.","journal-title":"IEEE Transactions on Robotics"},{"key":"9680_CR6","doi-asserted-by":"crossref","unstructured":"Bettini, A., Marayong, P., Member, S., Lang, S., Okamura, A. M., & Hager, G. D. (2004). Vision assisted control for manipulation using virtual fixtures. In International conference on intelligent robots and systems (IROS) (pp. 1171\u20131176).","DOI":"10.1109\/TRO.2004.829483"},{"key":"9680_CR7","doi-asserted-by":"publisher","unstructured":"Bowyer, S. A., & y Baena F. R. (2013). Dynamic frictional constraints for robot assisted surgery. In World haptics conference (WHC), 2013 (pp. 319\u2013324). https:\/\/doi.org\/10.1109\/WHC.2013.6548428 .","DOI":"10.1109\/WHC.2013.6548428"},{"issue":"1","key":"9680_CR8","doi-asserted-by":"publisher","first-page":"138","DOI":"10.1109\/TRO.2013.2283410","volume":"30","author":"SA Bowyer","year":"2014","unstructured":"Bowyer, S. A., Davies, B. L., & y Baena, F. R. (2014). Active constraints\/virtual fixtures: A survey. IEEE Transactions on Robotics, 30(1), 138\u2013157. https:\/\/doi.org\/10.1109\/TRO.2013.2283410 .","journal-title":"IEEE Transactions on Robotics"},{"issue":"2","key":"9680_CR9","doi-asserted-by":"crossref","first-page":"245","DOI":"10.1109\/TRO.2006.889488","volume":"23","author":"ES Boy","year":"2007","unstructured":"Boy, E. S., Burdet, E., Teo, C. L., & Colgate, J. E. (2007). Investigation of motion guidance with scooter cobot and collaborative learning. IEEE Transactions on Robotics, 23(2), 245\u2013255.","journal-title":"IEEE Transactions on Robotics"},{"key":"9680_CR10","doi-asserted-by":"crossref","unstructured":"Calinon, S. (2007). Incremental learning of gestures by imitation in a humanoid robot. In Proceedings of the 2007 ACM\/IEEE international conference on human\u2013robot interaction (pp. 255\u2013262).","DOI":"10.1145\/1228716.1228751"},{"issue":"2","key":"9680_CR11","doi-asserted-by":"crossref","first-page":"286","DOI":"10.1109\/TSMCB.2006.886952","volume":"37","author":"S Calinon","year":"2007","unstructured":"Calinon, S., Guenter, F., & Billard, A. (2007). On learning, representing and generalizing a task in a humanoid robot. IEEE Transactions on Systems, Man and Cybernetics, 37(2), 286\u2013298. (Special issue on robot learning by observation, demonstration and imitation).","journal-title":"IEEE Transactions on Systems, Man and Cybernetics"},{"key":"9680_CR12","doi-asserted-by":"crossref","unstructured":"Calinon, S., Bruno, D., & Caldwell, D. G. (2014). A task-parameterized probabilistic model with minimal intervention control. In Proceedings of IEEE international conference on robotics and automation (ICRA), Hong Kong, China (pp. 3339\u20133344).","DOI":"10.1109\/ICRA.2014.6907339"},{"key":"9680_CR13","doi-asserted-by":"crossref","unstructured":"Colgate, J. E., Peshkin, M. A., & Klostermeyer, S. H. (2003). Intelligent assist devices in industrial applications: A review. In IROS (pp. 2516\u20132521).","DOI":"10.1109\/IROS.2003.1249248"},{"key":"9680_CR14","doi-asserted-by":"crossref","first-page":"63","DOI":"10.1016\/j.autcon.2014.03.020","volume":"44","author":"O David","year":"2014","unstructured":"David, O., Russotto, F. X., Simoes, M. D. S., & Measson, Y. (2014). Collision avoidance, virtual guides and advanced supervisory control teleoperation techniques for high-tech construction: Framework design. Automation in Construction, 44, 63\u201372.","journal-title":"Automation in Construction"},{"issue":"9","key":"9680_CR15","doi-asserted-by":"publisher","first-page":"1696","DOI":"10.1109\/JPROC.2006.880680","volume":"94","author":"B Davies","year":"2006","unstructured":"Davies, B., Jakopec, M., Harris, S. J., Baena, F. R. Y., Barrett, A., Evangelidis, A., et al. (2006). Active-constraint robotics for surgery. Proceedings of the IEEE, 94(9), 1696\u20131704. https:\/\/doi.org\/10.1109\/JPROC.2006.880680 .","journal-title":"Proceedings of the IEEE"},{"key":"9680_CR16","unstructured":"Dumora, J. (2014). Contribution \u00e0 linteraction physique homme-robot: application \u00e0 la comanipulation dobjets de grandes dimensions. Ph.D. thesis, Montpellier 2."},{"key":"9680_CR17","doi-asserted-by":"crossref","unstructured":"Ewerton, M., Maeda, G., Kollegger, G., Wiemeyer, J., & Peters, J. (2016). Incremental imitation learning of context-dependent motor skills. In 2016 IEEE-RAS 16th international conference on humanoid robots (Humanoids) (pp. 351\u2013358). IEEE.","DOI":"10.1109\/HUMANOIDS.2016.7803300"},{"key":"9680_CR18","doi-asserted-by":"crossref","DOI":"10.4135\/9781412983419","volume-title":"ANOVA: Repeated measures","author":"ER Girden","year":"1992","unstructured":"Girden, E. R. (1992). ANOVA: Repeated measures (Vol. 84). London: Sage."},{"key":"9680_CR19","volume-title":"Applied statistical inference: Likelihood and Bayes","author":"L Held","year":"2013","unstructured":"Held, L., & Bov, D. S. (2013). Applied statistical inference: Likelihood and Bayes. New York: Springer."},{"key":"9680_CR20","doi-asserted-by":"crossref","unstructured":"Hermann, M., Pentek, T., & Otto, B. (2016). Design principles for industrie 4.0 scenarios. In 2016 49th Hawaii international conference on system sciences (HICSS) (pp. 3928\u20133937). IEEE.","DOI":"10.1109\/HICSS.2016.488"},{"issue":"3","key":"9680_CR21","doi-asserted-by":"publisher","first-page":"292","DOI":"10.1109\/51.391774","volume":"14","author":"SC Ho","year":"1995","unstructured":"Ho, S. C., Hibberd, R. D., & Davies, B. L. (1995). Robot assisted knee surgery. IEEE Engineering in Medicine and Biology Magazine, 14(3), 292\u2013300. https:\/\/doi.org\/10.1109\/51.391774 .","journal-title":"IEEE Engineering in Medicine and Biology Magazine"},{"key":"9680_CR22","doi-asserted-by":"publisher","unstructured":"Joly, L., & Andriot, C. (1995). Imposing motion constraints to a force reflecting telerobot through real-time simulation of a virtual mechanism. In 1995 IEEE international conference on robotics and automation, 1995. Proceedings (Vol.\u00a01, pp. 357\u2013362). https:\/\/doi.org\/10.1109\/ROBOT.1995.525310 .","DOI":"10.1109\/ROBOT.1995.525310"},{"key":"9680_CR23","doi-asserted-by":"publisher","unstructured":"Kuang, A., Payandeh, S., Zheng, B., Henigman, F., & MacKenzie, C. (2004). Assembling virtual fixtures for guidance in training environments. In 12th International symposium on haptic interfaces for virtual environment and teleoperator systems, 2004. HAPTICS \u201904. Proceedings (pp. 367\u2013374). https:\/\/doi.org\/10.1109\/HAPTIC.2004.1287223 .","DOI":"10.1109\/HAPTIC.2004.1287223"},{"issue":"2\u20133","key":"9680_CR24","doi-asserted-by":"crossref","first-page":"115","DOI":"10.1007\/s10514-011-9234-3","volume":"31","author":"D Lee","year":"2011","unstructured":"Lee, D., & Ott, C. (2011). Incremental kinesthetic teaching of motion primitives using the motion refinement tube. Autonomous Robots, 31(2\u20133), 115\u2013131.","journal-title":"Autonomous Robots"},{"key":"9680_CR25","unstructured":"Li, M., & Okamura, A. M. (2003). Recognition of operator motions for real-time assistance using virtual fixtures. In Proceedings of 11th symposium on haptic interfaces for virtual environments and teleoperator systems (pp. 125\u2013131)."},{"key":"9680_CR26","doi-asserted-by":"crossref","unstructured":"Lin, H. C., Marayong, P., Mills, K., Karam, R., Kazanzides, P., Okamura, A. M., & Hager, G. D. (2006). Portability and applicability of virtual fixtures across medical and manufacturing tasks. In IEEE international conference on robotics and automation (pp. 225\u2013340).","DOI":"10.1109\/ROBOT.2006.1641188"},{"key":"9680_CR27","doi-asserted-by":"crossref","unstructured":"Marayong, P., Li, M., Okamura, A. M., & Hager, G. D. (2003). Spatial motion constraints: Theory and demonstrations for robot guidance using virtual fixtures. In ICRA (pp. 1954\u20131959). IEEE.","DOI":"10.1109\/ROBOT.2003.1241880"},{"key":"9680_CR28","doi-asserted-by":"crossref","unstructured":"Medina, J. R., Lee, D., & Hirche, S. (2012). Risk-sensitive optimal feedback control for haptic assistance. In 2012 IEEE international conference on robotics and automation (ICRA) (pp. 1025\u20131031). IEEE.","DOI":"10.1109\/ICRA.2012.6225085"},{"key":"9680_CR29","doi-asserted-by":"publisher","unstructured":"Mollard, Y., Munzer, T., Baisero, A., Toussaint, M., & Lopes, M. (2015). Robot programming from demonstration, feedback and transfer. In 2015 IEEE\/RSJ international conference on intelligent robots and systems (IROS) (pp. 1825\u20131831). https:\/\/doi.org\/10.1109\/IROS.2015.7353615 .","DOI":"10.1109\/IROS.2015.7353615"},{"key":"9680_CR30","doi-asserted-by":"crossref","unstructured":"Nolin, J. T., Stemniski, P. M., & Okamura, A. M. (2003). Activation cues and force scaling methods for virtual fixtures. In Proceedings of 11th international symposium on haptic interfaces for virtual environment and teleoperator systems (pp. 404\u2013409).","DOI":"10.1109\/HAPTIC.2003.1191325"},{"key":"9680_CR31","doi-asserted-by":"crossref","unstructured":"Pezzementi, Z., Hager, G. D., & Okamura, A. M. (2007). Dynamic guidance with pseudoadmittance virtual fixtures. In IEEE international conference on robotics and automation (pp. 1761\u20131767).","DOI":"10.1109\/ROBOT.2007.363577"},{"key":"9680_CR32","unstructured":"Raiola, G. (2017). Co-manipulation with a library of virtual guides. Ph.D. thesis, Universit\u00e9 Paris-Saclay."},{"key":"9680_CR33","doi-asserted-by":"crossref","unstructured":"Raiola, G., Lamy, X., & Stulp, F. (2015a). Co-manipulation with multiple probabilistic virtual guides. In 2015 IEEE\/RSJ international conference on intelligent robots and systems (IROS) (pp. 7\u201313). IEEE.","DOI":"10.1109\/IROS.2015.7353107"},{"key":"9680_CR34","doi-asserted-by":"crossref","unstructured":"Raiola, G., Rodriguez-Ayerbe, P., Lamy, X., Tliba, S., & Stulp, F. (2015b). Parallel guiding virtual fixtures: Control and stability. In 2015 IEEE international symposium on intelligent control (ISIC) (pp. 53\u201358). IEEE.","DOI":"10.1109\/ISIC.2015.7307279"},{"key":"9680_CR35","doi-asserted-by":"crossref","unstructured":"Rosenberg, L. (1993). Virtual fixtures: Perceptual tools for telerobotic manipulation. In Proceedings of IEEE virtual reality international sympsoium.","DOI":"10.1109\/VRAIS.1993.380795"},{"issue":"3","key":"9680_CR36","doi-asserted-by":"publisher","first-page":"513","DOI":"10.1109\/TRO.2016.2540623","volume":"32","author":"L Rozo","year":"2016","unstructured":"Rozo, L., Calinon, S., Caldwell, D. G., Jimnez, P., & Torras, C. (2016). Learning physical collaborative robot behaviors from human demonstrations. IEEE Transactions on Robotics, 32(3), 513\u2013527. https:\/\/doi.org\/10.1109\/TRO.2016.2540623 .","journal-title":"IEEE Transactions on Robotics"},{"key":"9680_CR37","first-page":"1","volume":"2013","author":"F Ryden","year":"2013","unstructured":"Ryden, F., Stewart, A., & Chizeck, H. (2013). Advanced telerobotic underwater manipulation using virtual fixtures and haptic rendering. Oceans-San Diego, 2013, 1\u20138.","journal-title":"Oceans-San Diego"},{"key":"9680_CR38","doi-asserted-by":"crossref","unstructured":"Sanchez\u00a0Restrepo, S., Raiola, G., Chevalier, P., Lamy, X., & Sidobre, D. (2017). Iterative virtual guides programming for human\u2013robot comanipulation. In IEEE international conference on advanced intelligent mechatronics (AIM).","DOI":"10.1109\/AIM.2017.8014021"},{"issue":"4","key":"9680_CR39","doi-asserted-by":"publisher","first-page":"1039","DOI":"10.1109\/TSMCB.2012.2185694","volume":"42","author":"A Vakanski","year":"2012","unstructured":"Vakanski, A., Mantegh, I., Irish, A., & Janabi-Sharifi, F. (2012). Trajectory learning for robot programming by demonstration using hidden markov model and dynamic time warping. IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics, 42(4), 1039\u20131052. https:\/\/doi.org\/10.1109\/TSMCB.2012.2185694 .","journal-title":"IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics"},{"issue":"1","key":"9680_CR40","doi-asserted-by":"crossref","first-page":"56","DOI":"10.5898\/JHRI.2.1.Wrede","volume":"2","author":"S Wrede","year":"2013","unstructured":"Wrede, S., Emmerich, C., Gr\u00fcnberg, R., Nordmann, A., Swadzba, A., & Steil, J. (2013). A user study on kinesthetic teaching of redundant robots in task and configuration space. Journal of Human\u2013Robot Interaction, 2(1), 56\u201381.","journal-title":"Journal of Human\u2013Robot Interaction"},{"key":"9680_CR41","doi-asserted-by":"publisher","unstructured":"Yoon, H., Wang, R., & Hutchinson, S. (2014). Modeling user\u2019s driving-characteristics in a steering task to customize a virtual fixture based on task-performance. In 2014 IEEE international conference on robotics and automation (ICRA) (pp. 625\u2013630). https:\/\/doi.org\/10.1109\/ICRA.2014.6906920 .","DOI":"10.1109\/ICRA.2014.6906920"},{"key":"9680_CR42","doi-asserted-by":"publisher","unstructured":"Yu, W., Alqasemi, R., Dubey, R., & Pernalete, N. (2005). Telemanipulation assistance based on motion intention recognition. In Proceedings of the 2005 IEEE international conference on robotics and automation, 2005. ICRA 2005 (pp. 1121\u20131126). https:\/\/doi.org\/10.1109\/ROBOT.2005.1570266 .","DOI":"10.1109\/ROBOT.2005.1570266"}],"container-title":["Autonomous Robots"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s10514-017-9680-7\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10514-017-9680-7.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10514-017-9680-7.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,8,8]],"date-time":"2022-08-08T02:37:22Z","timestamp":1659926242000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s10514-017-9680-7"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2017,11,23]]},"references-count":42,"journal-issue":{"issue":"5","published-print":{"date-parts":[[2018,6]]}},"alternative-id":["9680"],"URL":"https:\/\/doi.org\/10.1007\/s10514-017-9680-7","relation":{},"ISSN":["0929-5593","1573-7527"],"issn-type":[{"value":"0929-5593","type":"print"},{"value":"1573-7527","type":"electronic"}],"subject":[],"published":{"date-parts":[[2017,11,23]]}}}