{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,26]],"date-time":"2026-01-26T00:06:54Z","timestamp":1769386014492,"version":"3.49.0"},"reference-count":54,"publisher":"Springer Science and Business Media LLC","issue":"1","license":[{"start":{"date-parts":[[2025,1,9]],"date-time":"2025-01-09T00:00:00Z","timestamp":1736380800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0"},{"start":{"date-parts":[[2025,1,9]],"date-time":"2025-01-09T00:00:00Z","timestamp":1736380800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0"}],"funder":[{"name":"Fachhochschule Aachen"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Auton Robot"],"published-print":{"date-parts":[[2025,3]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>Patients with sarcopenia, who face difficulties in carrying heavy loads, may benefit from collaborative robotic assistance that is modeled after human\u2013human interaction. The objective of this study is to describe the kinematics and spatio-temporal parameters during a collaborative carrying task involving both human and robotic partners. Fourteen subjects carried a table while moving forward with a human and a robotic partner. The movements were recorded using a three-dimensional motion capture system. The subjects successfully completed the task of carrying the table with the robot. No significant differences were found in the shoulder and elbow flexion\/extension angles. In human\u2013human dyads, the center of mass naturally oscillated vertically with an amplitude of approximately 2\u00a0cm. The here presented results of the human\u2013human interaction serve as a model for the development of future robotic systems, designed for collaborative manipulation.\n<\/jats:p>","DOI":"10.1007\/s10514-024-10184-2","type":"journal-article","created":{"date-parts":[[2025,1,9]],"date-time":"2025-01-09T13:11:24Z","timestamp":1736428284000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":2,"title":["Integrative biomechanics of a human\u2013robot carrying task: implications for future collaborative work"],"prefix":"10.1007","volume":"49","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-0058-8249","authenticated-orcid":false,"given":"Verena","family":"Schuengel","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5173-8916","authenticated-orcid":false,"given":"Bjoern","family":"Braunstein","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6443-804X","authenticated-orcid":false,"given":"Fabian","family":"Goell","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Daniel","family":"Braun","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Nadine","family":"Rei\u00dfner","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Kirill","family":"Safronov","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Christian","family":"Weiser","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8850-8989","authenticated-orcid":false,"given":"Jule","family":"Heieis","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4271-2511","authenticated-orcid":false,"given":"Kirsten","family":"Albracht","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2025,1,9]]},"reference":[{"key":"10184_CR1","doi-asserted-by":"crossref","unstructured":"Agravante, D.J., Cherubini, A., & Kheddar, A. (2013). Using vision and haptic sensing for human humanoid joint actions. In 2013 6th IEEE conference on robotics, automation and mechatronics (RAM) (p. 13\u201318). Retrieved from https:\/\/ieeexplore.ieee.org\/document\/6758552","DOI":"10.1109\/RAM.2013.6758552"},{"key":"10184_CR2","doi-asserted-by":"crossref","unstructured":"Agravante, D.J., Cherubini, A., Bussy, A., Gergondet, P. & Kheddar, A. (2014). Collaborative human humanoid carrying using vision and haptic sensing. In 2014 IEEE international conference on robotics and automation (ICRA) (p. 607\u2013612). Retrieved from https:\/\/ieeexplore.ieee.org\/document\/6906917","DOI":"10.1109\/ICRA.2014.6906917"},{"issue":"4","key":"10184_CR3","doi-asserted-by":"publisher","first-page":"833","DOI":"10.1109\/TRO.2019.2914350","volume":"35","author":"DJ Agravante","year":"2019","unstructured":"Agravante, D. J., Cherubini, A., Sherikov, A., Wieber, P.-B., & Kheddar, A. (2019). Human-humanoid collaborative carrying. IEEE Transactions on Robotics, 35(4), 833\u2013846. https:\/\/doi.org\/10.1109\/TRO.2019.2914350","journal-title":"IEEE Transactions on Robotics"},{"key":"10184_CR4","doi-asserted-by":"publisher","unstructured":"Bender, N., Faramawy, S.E., Kraus, J.M., & Baumann, M. (2021). The role of successful human\u2013robot interaction on trust\u2014Findings of an experiment with an autonomous cooperative robot. Retrieved from https:\/\/doi.org\/10.48550\/arXiv.2104.06863","DOI":"10.48550\/arXiv.2104.06863"},{"issue":"2","key":"10184_CR5","doi-asserted-by":"publisher","first-page":"97","DOI":"10.1016\/s0966-6362(99)00019-3","volume":"10","author":"Y Blanc","year":"1999","unstructured":"Blanc, Y., Balmer, C., Landis, T., & Vingerhoets, F. (1999). Temporal parameters and patterns of the foot roll over during walking: Normative data for healthy adults. Gait & Posture, 10(2), 97\u2013108. https:\/\/doi.org\/10.1016\/s0966-6362(99)00019-3","journal-title":"Gait & Posture"},{"key":"10184_CR6","unstructured":"Braun, D., Miller, K., Rei\u00dfner, N., Safronov, K., Sharma, S., Weiglein, C., & W\u00fcnsch, M. (2021). Lernende roboterassistierte Systeme f\u00fcr das neuromuskul\u00e4re Training\u2014RoSylerNT; Teilvorhaben: Perzeption, Adaption und Sicheres Verhalten als Grundfertigkeiten f\u00fcr die kooperative Handhabung mit dem Roboter\u2014PASiKo: Schlussbericht (Tech. Rep.). Retrieved from https:\/\/www.tib.eu\/suchen\/id\/TIBKAT:1838269452"},{"key":"10184_CR7","doi-asserted-by":"crossref","unstructured":"Bussy, A., Gergondet, P., Kheddar, A., Keith, F., & Crosnier, A. (2012a). Proactive behavior of a humanoid robot in a haptic transportation task with a human partner. In 2012 IEEE RO MAN: The 21st IEEE international symposium on robot and human interactive communication (p. 962\u2013967). Retrieved from https:\/\/ieeexplore.ieee.org\/document\/6343874","DOI":"10.1109\/ROMAN.2012.6343874"},{"key":"10184_CR8","doi-asserted-by":"crossref","unstructured":"Bussy, A., Kheddar, A., Crosnier, A., & Keith, F. (2012b). Human\u2013humanoid haptic joint object trans portation case study. In 2012 IEEE\/RSJ international conference on intelligent robots and systems (p. 3633\u20133638). Retrieved from https:\/\/ieeexplore.ieee.org\/document\/6385921","DOI":"10.1109\/IROS.2012.6385921"},{"key":"10184_CR9","doi-asserted-by":"crossref","unstructured":"C\u00e9haji\u0107, D., Dohmann, P.B.G., & Hirche, S. (2017). Estimating unknown object dynamics in human robot manipulation tasks. In 2017 IEEE International Conference on Robotics and Automation (ICRA) (p. 1730\u20131737). Retrieved from https:\/\/ieeexplore.ieee.org\/document\/7989204","DOI":"10.1109\/ICRA.2017.7989204"},{"key":"10184_CR10","doi-asserted-by":"publisher","unstructured":"Cohen, J. (1988). Statistical power analysis for the behavioral sciences (2nd ed.). Routledge Member of the Taylor and Francis Group. Retrieved from https:\/\/doi.org\/10.4324\/9780203771587","DOI":"10.4324\/9780203771587"},{"key":"10184_CR11","doi-asserted-by":"publisher","unstructured":"Cruz-Jentoft, A. J., Bahat, G., Bauer, J., Boirie, Y., Bruy\u00e8re, O., Cederholm, T., Cooper, C., Landi, F., Rolland, Y., Sayer, A. A., Schneider, S. M., Sieber, C. C., Topinkova, E., Vandewoude, M., Visser, M., Zamboni, M., Bautmans, I., Baeyens, J. P., Cesari, M., Cherubini, A., Kanis, J., Maggio, M., Martin, F., Michel, J. P., Pitkala, K., Reginster, J. Y., Rizzoli, R., S\u00e1nchez-Rodr\u00edguez, D., & Schols, J. (2018). Sarcopenia: Revised European consensus on definition and diagnosis. Age and Ageing, 48(1), 16\u201331. https:\/\/doi.org\/10.1093\/ageing\/afy169","DOI":"10.1093\/ageing\/afy169"},{"key":"10184_CR12","doi-asserted-by":"crossref","unstructured":"Dempster, W. T. (1955). Space requirements of the seated operator: geometrical, kinematic, and mechanical aspects of the body, with special reference to the limbs. https:\/\/deepblue.lib.umich.edu\/handle\/2027.42\/4540","DOI":"10.21236\/AD0087892"},{"key":"10184_CR13","doi-asserted-by":"crossref","unstructured":"Fihl, P., & Moeslund, T.B. (2007). Classification of gait types based on the duty\u2013factor. In 2007 IEEE conference on advanced video and signal based surveillance (p. 318\u2013323). Retrieved from https:\/\/ieeexplore.ieee.org\/document\/4425330","DOI":"10.1109\/AVSS.2007.4425330"},{"issue":"3","key":"10184_CR14","doi-asserted-by":"publisher","first-page":"229","DOI":"10.1080\/01972243.2015.1020195","volume":"31","author":"L Fortunati","year":"2015","unstructured":"Fortunati, L., Esposito, A., & Lugano, G. (2015). Introduction to the special issue \u201cbeyond industrial robotics: Social robots entering public and domestic spheres\u2019\u2019. The Information Society, 31(3), 229\u2013236. https:\/\/doi.org\/10.1080\/01972243.2015.1020195","journal-title":"The Information Society"},{"issue":"1","key":"10184_CR15","doi-asserted-by":"publisher","first-page":"153","DOI":"10.1186\/s13643-019-1063-z","volume":"8","author":"CA Fukuchi","year":"2019","unstructured":"Fukuchi, C. A., Fukuchi, R. K., & Duarte, M. (2019). Effects of walking speed on gait biomechanics in healthy participants: A systematic review and meta-analysis. Systematic Reviews, 8(1), 153. https:\/\/doi.org\/10.1186\/s13643-019-1063-z","journal-title":"Systematic Reviews"},{"key":"10184_CR16","doi-asserted-by":"publisher","unstructured":"Ghoussayni, S., Stevens, C., Durham, S., & Ewins, D. (2004). Assessment and validation of a simple automated method for the detection of gait events and intervals. Gait & Posture, 20(3), 266\u2013272. https:\/\/doi.org\/10.1016\/j.gaitpost.2003.10.001","DOI":"10.1016\/j.gaitpost.2003.10.001"},{"key":"10184_CR17","doi-asserted-by":"publisher","unstructured":"Grasso, R., Bianchi, L., & Lacquaniti, F. (1998). Motor patterns for human gait: Backward versus forward locomotion. Journal of Neurophysiology, 80(4), 1868\u20131885. https:\/\/doi.org\/10.1152\/jn.1998.80.4.1868","DOI":"10.1152\/jn.1998.80.4.1868"},{"key":"10184_CR18","doi-asserted-by":"publisher","unstructured":"Haddadin, S., & Croft, E. (2016). Physical human\u2013robot interaction. In B. Siciliano & O. Khatib (Eds.), Springer handbook of robotics (pp. 1835\u20131874). Springer International Publishing. https:\/\/doi.org\/10.1007\/978-3-319-32552-1_69","DOI":"10.1007\/978-3-319-32552-1_69"},{"key":"10184_CR19","doi-asserted-by":"crossref","unstructured":"Hamill, J., Selbie, W. S., & Kepple, T. M., et al. (2014). Three-dimensional kinematics. In L. D. Robertson (Ed.), Research methods in biomechanics (2nd ed., pp. 35\u201359). Human Kinetics.","DOI":"10.5040\/9781492595809.ch-002"},{"key":"10184_CR20","doi-asserted-by":"publisher","unstructured":"Harrington, M., Zavatsky, A., Lawson, S., Yuan, Z., & Theologis, T. (2007). Prediction of the hip joint centre in adults, children, and patients with cerebral palsy based on magnetic resonance imaging. Journal of Biomechanics, 40(3), 595\u2013602. https:\/\/doi.org\/10.1016\/j.jbiomech.2006.02.003","DOI":"10.1016\/j.jbiomech.2006.02.003"},{"key":"10184_CR21","unstructured":"Hoffman, S.G. (2008). Whole\u2013body postures during standing hand\u2013force exertions: Development of a 3d biomechanical posture prediction model. Retrieved from https:\/\/deepblue.lib.umich.edu\/handle\/2027.42\/58413"},{"issue":"5","key":"10184_CR22","doi-asserted-by":"publisher","first-page":"889","DOI":"10.1046\/j.1532-5415.2002.50216.x","volume":"50","author":"I Janssen","year":"2002","unstructured":"Janssen, I., Heymsfield, S. B., & Ross, R. (2002). Low relative skeletal muscle mass (sarcopenia) in older persons is associated with functional impairment and physical disability. Journal of the American Geriatrics Society, 50(5), 889\u2013896. https:\/\/doi.org\/10.1046\/j.1532-5415.2002.50216.x","journal-title":"Journal of the American Geriatrics Society"},{"key":"10184_CR23","doi-asserted-by":"publisher","unstructured":"Jensen, S. W., Salmon, J. L., & Killpack, M. D. (2021). Trends in haptic communication of human\u2013human dyads: Toward natural human-robot co-manipulation. Frontiers in Neurorobotics, 15, 626074. https:\/\/doi.org\/10.3389\/fnbot.2021.626074","DOI":"10.3389\/fnbot.2021.626074"},{"issue":"3","key":"10184_CR24","doi-asserted-by":"publisher","first-page":"317","DOI":"10.1016\/s0003-9993(98)90013-2","volume":"79","author":"D Kerrigan","year":"1998","unstructured":"Kerrigan, D., Todd, M. K., Croce, U. D., Lipsitz, L. A., & Collins, J. J. (1998). Biomechanical gait alterations independent of speed in the healthy elderly: Evidence for specific limiting impairments. Archives of Physical Medicine and Rehabilitation, 79(3), 317\u2013322. https:\/\/doi.org\/10.1016\/s0003-9993(98)90013-2","journal-title":"Archives of Physical Medicine and Rehabilitation"},{"key":"10184_CR25","volume-title":"Statistical reasoning in the behavioral sciences","author":"BM King","year":"2018","unstructured":"King, B. M., Rosopa, P. J., & Minium, E. W. (2018). Statistical reasoning in the behavioral sciences (7th ed.). Wiley.","edition":"7"},{"key":"10184_CR26","doi-asserted-by":"crossref","unstructured":"Kosuge, K., Sato,M., & Kazamura, N. (2000). Mobile robot helper. In Proceedings 2000 ICRA. Millennium conference. IEEE international conference on robotics and automation. Symposia proceedings (Cat. No.00CH37065) (vol. 1, p. 583\u2013588). Retrieved from https:\/\/ieeexplore.ieee.org\/document\/844116","DOI":"10.1109\/ROBOT.2000.844116"},{"issue":"5","key":"10184_CR27","doi-asserted-by":"publisher","first-page":"627","DOI":"10.1093\/gerona\/60.5.627","volume":"60","author":"Y Laufer","year":"2005","unstructured":"Laufer, Y. (2005). Effect of age on characteristics of forward and backward gait at preferred and accelerated walking speed. The Journals of Gerontology Series A: Biological Sciences and Medical Sciences, 60(5), 627\u2013632. https:\/\/doi.org\/10.1093\/gerona\/60.5.627","journal-title":"The Journals of Gerontology Series A: Biological Sciences and Medical Sciences"},{"issue":"1","key":"10184_CR28","doi-asserted-by":"publisher","first-page":"128","DOI":"10.1016\/j.jbiomech.2010.08.037","volume":"44","author":"MD Lewek","year":"2011","unstructured":"Lewek, M. D. (2011). The influence of body weight support on ankle mechanics during treadmill walking. Journal of Biomechanics, 44(1), 128\u2013133. https:\/\/doi.org\/10.1016\/j.jbiomech.2010.08.037","journal-title":"Journal of Biomechanics"},{"key":"10184_CR29","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1016\/j.jbiomech.2017.03.004","volume":"57","author":"YP Lim","year":"2017","unstructured":"Lim, Y. P., Lin, Y.-C., & Pandy, M. G. (2017). Effects of step length and step frequency on lower-limb muscle function in human gait. Journal of Biomechanics, 57, 1\u20137. https:\/\/doi.org\/10.1016\/j.jbiomech.2017.03.004","journal-title":"Journal of Biomechanics"},{"key":"10184_CR30","doi-asserted-by":"publisher","first-page":"23","DOI":"10.1007\/s00221-008-1335-7","volume":"188","author":"DS Marigold","year":"2008","unstructured":"Marigold, D. S., & Patla, A. E. (2008). Visual information from the lower visual field is important for walking across multi-surface terrain. Experimental Brain Research, 188, 23\u201331. https:\/\/doi.org\/10.1007\/s00221-008-1335-7","journal-title":"Experimental Brain Research"},{"key":"10184_CR31","unstructured":"McGirr, L., Jin, Y., Price, M., West, A., van Lopik, K., & McKenna, V. (2022). Human robot collabo ration: taxonomy of interaction levels in manufacturing. In ISR Europe 2022; 54th international symposium on robotics. Retrieved from https:\/\/ieeexplore.ieee.org\/document\/9861817"},{"key":"10184_CR32","doi-asserted-by":"publisher","unstructured":"Mielke, E., Townsend, E., Wingate, D., & Killpack, M.D. (2020). Human\u2013robot co\u2013manipulation of extended objects: Data\u2013driven models and control from analysis of human\u2013human dyads. Retrieved from https:\/\/doi.org\/10.48550\/arXiv.2001.00991","DOI":"10.48550\/arXiv.2001.00991"},{"issue":"1","key":"10184_CR33","doi-asserted-by":"publisher","first-page":"725","DOI":"10.1113\/jphysiol.1993.sp019969","volume":"472","author":"AE Minetti","year":"1993","unstructured":"Minetti, A. E., Ardig\u00f2, L. P., & Saibene, F. (1993). Mechanical determinants of gradient walking energetics in man. The Journal of Physiology, 472(1), 725\u2013735. https:\/\/doi.org\/10.1113\/jphysiol.1993.sp019969","journal-title":"The Journal of Physiology"},{"issue":"13","key":"10184_CR34","doi-asserted-by":"publisher","first-page":"1656","DOI":"10.1177\/0278364912455366","volume":"31","author":"A M\u00f6rtl","year":"2012","unstructured":"M\u00f6rtl, A., Lawitzky, M., Kucukyilmaz, A., Sezgin, M., Basdogan, C., & Hirche, S. (2012). The role of roles: Physical cooperation between humans and robots. The International Journal of Robotics Research, 31(13), 1656\u20131674. https:\/\/doi.org\/10.1177\/0278364912455366","journal-title":"The International Journal of Robotics Research"},{"issue":"2","key":"10184_CR35","first-page":"210","volume":"30","author":"T \u00d6berg","year":"1993","unstructured":"\u00d6berg, T., Karsznia, A., & \u00d6berg, K. (1993). Basic gait parameters: Reference data for normal subjects, 10\u201379 years of age. Journal of Rehabilitation Research and Development, 30(2), 210\u2013223.","journal-title":"Journal of Rehabilitation Research and Development"},{"issue":"6","key":"10184_CR36","doi-asserted-by":"publisher","first-page":"829","DOI":"10.1682\/jrrd.2003.10.0150","volume":"41","author":"MS Orendurff","year":"2004","unstructured":"Orendurff, M. S., Segal, A. D., Klute, G. K., Berge, J. S., Rohr, E. S., & Kadel, N. J. (2004). The effect of walking speed on center of mass displacement. The Journal of Rehabilitation Research and Development, 41(6), 829\u2013834. https:\/\/doi.org\/10.1682\/jrrd.2003.10.0150","journal-title":"The Journal of Rehabilitation Research and Development"},{"issue":"10","key":"10184_CR37","doi-asserted-by":"publisher","first-page":"1976","DOI":"10.1016\/j.jbiomech.2010.03.008","volume":"43","author":"TC Pataky","year":"2010","unstructured":"Pataky, T. C. (2010). Generalized n-dimensional biomechanical field analysis using statistical parametric mapping. Journal of Biomechanics, 43(10), 1976\u20131982. https:\/\/doi.org\/10.1016\/j.jbiomech.2010.03.008","journal-title":"Journal of Biomechanics"},{"key":"10184_CR38","doi-asserted-by":"publisher","first-page":"85","DOI":"10.1016\/j.jbiomech.2018.11.027","volume":"83","author":"M Petrovic","year":"2019","unstructured":"Petrovic, M., Maganaris, C., Bowling, F., Boulton, A., & Reeves, N. (2019). Vertical displacement of the centre of mass during walking in people with diabetes and diabetic neuropathy does not explain their higher metabolic cost of walking. Journal of Biomechanics, 83, 85\u201390. https:\/\/doi.org\/10.1016\/j.jbiomech.2018.11.027","journal-title":"Journal of Biomechanics"},{"issue":"2","key":"10184_CR39","doi-asserted-by":"publisher","first-page":"113","DOI":"10.1016\/s0966-6362(01)00155-2","volume":"15","author":"G Rab","year":"2002","unstructured":"Rab, G., Petuskey, K., & Bagley, A. (2002). A method for determination of upper extremity kinematics. Gait & Posture, 15(2), 113\u2013119. https:\/\/doi.org\/10.1016\/s0966-6362(01)00155-2","journal-title":"Gait & Posture"},{"key":"10184_CR40","doi-asserted-by":"publisher","first-page":"282","DOI":"10.1038\/s41597-021-01057-9","volume":"8","author":"E Reznick","year":"2021","unstructured":"Reznick, E., Embry, K. R., Neuman, R., Bol\u00edvar-Nieto, E., Fey, N. P., & Gregg, R. D. (2021). Lower-limb kinematics and kinetics during continuously varying human locomotion. Scientific Data, 8, 282. https:\/\/doi.org\/10.1038\/s41597-021-01057-9","journal-title":"Scientific Data"},{"issue":"2","key":"10184_CR41","doi-asserted-by":"publisher","first-page":"197","DOI":"10.1016\/s0021-9290(00)00174-3","volume":"34","author":"PO Riley","year":"2001","unstructured":"Riley, P. O., Croce, U. D., & Kerrigan, D. C. (2001). Propulsive adaptation to changing gait speed. Journal of Biomechanics, 34(2), 197\u2013202. https:\/\/doi.org\/10.1016\/s0021-9290(00)00174-3","journal-title":"Journal of Biomechanics"},{"key":"10184_CR42","doi-asserted-by":"crossref","unstructured":"Ritter, C., & Sharma, S. (2019). Hand\u2013guidance of a mobile manipulator using online effective mass optimization. In 2019 19th international conference on advanced robotics (ICAR) (p. 192\u2013197). Retrieved from https:\/\/ieeexplore.ieee.org\/document\/8981657","DOI":"10.1109\/ICAR46387.2019.8981657"},{"issue":"12","key":"10184_CR43","doi-asserted-by":"publisher","first-page":"1001","DOI":"10.1016\/j.pmrj.2012.10.013","volume":"4","author":"KL Sainani","year":"2012","unstructured":"Sainani, K. L. (2012). Dealing with non-normal data. PM & R, 4(12), 1001\u20131005. https:\/\/doi.org\/10.1016\/j.pmrj.2012.10.013","journal-title":"PM & R"},{"issue":"8","key":"10184_CR44","doi-asserted-by":"publisher","first-page":"220636","DOI":"10.1098\/rsos.220636","volume":"9","author":"N Sghaier","year":"2022","unstructured":"Sghaier, N., Fumery, G., Fourcassi\u00e9, V., Turpin, N. A., & Moretto, P. (2022). Biomechanical effects of the addition of a precision constraint on a collective load carriage task. Royal Society Open Science, 9(8), 220636. https:\/\/doi.org\/10.1098\/rsos.220636","journal-title":"Royal Society Open Science"},{"key":"10184_CR45","doi-asserted-by":"publisher","first-page":"103587","DOI":"10.1016\/j.apergo.2021.103587","volume":"98","author":"C Simpkins","year":"2022","unstructured":"Simpkins, C., Ahn, J., & Yang, F. (2022). Effects of anterior load carriage on gait parameters: A systematic review with meta-analysis. Applied Ergonomics, 98, 103587. https:\/\/doi.org\/10.1016\/j.apergo.2021.103587","journal-title":"Applied Ergonomics"},{"key":"10184_CR46","doi-asserted-by":"publisher","unstructured":"Sirintuna, D., Giammarino, A., Ajoudani, A. (2022). Human-robot collaborative carrying of objects with unknown deformation characteristics. Retrieved from https:\/\/doi.org\/10.48550\/arXiv.2201.10392","DOI":"10.48550\/arXiv.2201.10392"},{"issue":"3","key":"10184_CR47","doi-asserted-by":"publisher","first-page":"403","DOI":"10.1097\/01241398-200105000-00027","volume":"21","author":"BW Stansfield","year":"2001","unstructured":"Stansfield, B. W., Hillman, S. J., Hazlewood, M. E., Lawson, A. A., Mann, A. M., Loudon, I. R., & Robb, J. E. (2001). Sagittal joint kinematics, moments, and powers are predominantly characterized by speed of progression, not age, normal children. Journal of Pediatric Orthopaedics, 21(3), 403\u2013411. https:\/\/doi.org\/10.1097\/01241398-200105000-00027","journal-title":"Journal of Pediatric Orthopaedics"},{"key":"10184_CR48","doi-asserted-by":"crossref","unstructured":"St\u00fcckler, J., & Behnke, S. (2011). Following human guidance to cooperatively carry a large object. In 2011 11th IEEE\u2013RAS international conference on humanoid robots (p. 218\u2013223). Retrieved from https:\/\/ieeexplore.ieee.org\/document\/6100917","DOI":"10.1109\/Humanoids.2011.6100917"},{"key":"10184_CR49","doi-asserted-by":"publisher","unstructured":"Szanton, S. L., Leff, B., Li, Q., Breysse, J., Spoelstra, S., Kell, J., Purvis, J., Xue, Q. L., Wilson, J., & Gitlin, L. N. (2021). CAPABLE program improves disability in multiple randomized trials. Journal of the American Geriatrics Society, 69(12), 3631\u20133640. https:\/\/doi.org\/10.1111\/jgs.17383","DOI":"10.1111\/jgs.17383"},{"issue":"1","key":"10184_CR50","doi-asserted-by":"publisher","first-page":"51","DOI":"10.1016\/0167-9457(84)90005-8","volume":"3","author":"DA Winter","year":"1984","unstructured":"Winter, D. A. (1984). Kinematic and kinetic patterns in human gait: Variability and compensating effects. Human Movement Science, 3(1), 51\u201376. https:\/\/doi.org\/10.1016\/0167-9457(84)90005-8","journal-title":"Human Movement Science"},{"key":"10184_CR51","doi-asserted-by":"publisher","unstructured":"Wu, G., van der Helm, F. C., Veeger, H. D., Makhsous, M., Roy, P. V., Anglin, C., Nagels, J., Karduna, A. R., McQuade, K., Wang, X., Werner, F. W., Buchholz, B., & International Society of Biomechanics. (2005). ISB recommendation on definitions of joint coordinate systems of various joints for the reporting of human joint motion\u2014Part II: Shoulder, elbow, wrist and hand. Journal of Biomechanics, 38(5), 981\u2013992. https:\/\/doi.org\/10.1016\/j.jbiomech.2004.05.042","DOI":"10.1016\/j.jbiomech.2004.05.042"},{"key":"10184_CR52","doi-asserted-by":"publisher","unstructured":"Yang, Y.-T., Yoshida, Y., Hortob\u00e1gyi, T., & Suzuki, S. (2013). Interaction between thorax, lumbar, and pelvis movements in the transverse plane during gait at three velocities. Journal of Applied Biomechanics, 29(3), 261\u2013269. https:\/\/doi.org\/10.1123\/jab.29.3.261","DOI":"10.1123\/jab.29.3.261"},{"key":"10184_CR53","doi-asserted-by":"crossref","unstructured":"Yokoyama, K., Handa, H., Isozumi, T., Fukase, Y., Kaneko, K., Kanehiro, F., Kawai, Y., Tomita, F., & Hirukawa, H. (2003). Cooperative works by a human and a humanoid robot. In 2003 IEEE international conference on robotics and automation (Cat. No.03CH37422) (vol. 3, p. 2985\u20132991). Retrieved from https:\/\/ieeexplore.ieee.org\/document\/1242049","DOI":"10.1109\/ROBOT.2003.1242049"},{"key":"10184_CR54","volume-title":"Kinematics of human motion","author":"V Zatsiorsky","year":"1998","unstructured":"Zatsiorsky, V. (1998). Kinematics of human motion. Human Kinetics."}],"container-title":["Autonomous Robots"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10514-024-10184-2.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s10514-024-10184-2\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10514-024-10184-2.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,1,9]],"date-time":"2025-01-09T14:15:58Z","timestamp":1736432158000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s10514-024-10184-2"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,1,9]]},"references-count":54,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2025,3]]}},"alternative-id":["10184"],"URL":"https:\/\/doi.org\/10.1007\/s10514-024-10184-2","relation":{},"ISSN":["0929-5593","1573-7527"],"issn-type":[{"value":"0929-5593","type":"print"},{"value":"1573-7527","type":"electronic"}],"subject":[],"published":{"date-parts":[[2025,1,9]]},"assertion":[{"value":"5 January 2024","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"7 December 2024","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"9 January 2025","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"The authors NR, DB, KS, and CW were or are employees of KUKA Deutschland GmbH. The authors declare no other competing financial or non\u2013financial interest.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Conflict of interest"}},{"value":"The study was approved by the ethics committee of the German Sport University, Cologne (No\u00a0132\/2020).","order":3,"name":"Ethics","group":{"name":"EthicsHeading","label":"Ethics Approval"}},{"value":"Informed written consent to participate in this study was provided by all subjects.","order":4,"name":"Ethics","group":{"name":"EthicsHeading","label":"Consent to Participate"}}],"article-number":"2"}}