{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,18]],"date-time":"2026-04-18T15:56:23Z","timestamp":1776527783236,"version":"3.51.2"},"reference-count":24,"publisher":"Springer Science and Business Media LLC","issue":"2","license":[{"start":{"date-parts":[[2020,2,26]],"date-time":"2020-02-26T00:00:00Z","timestamp":1582675200000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"},{"start":{"date-parts":[[2020,2,26]],"date-time":"2020-02-26T00:00:00Z","timestamp":1582675200000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"funder":[{"DOI":"10.13039\/501100004663","name":"Ministry of Science and Technology, Taiwan","doi-asserted-by":"publisher","award":["MOST 108-2221-E-214-034"],"award-info":[{"award-number":["MOST 108-2221-E-214-034"]}],"id":[{"id":"10.13039\/501100004663","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["J Intell Robot Syst"],"published-print":{"date-parts":[[2020,11]]},"DOI":"10.1007\/s10846-020-01168-2","type":"journal-article","created":{"date-parts":[[2020,2,26]],"date-time":"2020-02-26T09:03:02Z","timestamp":1582707782000},"page":"379-388","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":10,"title":["Development of a Comfort-Based Motion Guidance System for a Robot Walking Helper"],"prefix":"10.1007","volume":"100","author":[{"given":"Kuu-young","family":"Young","sequence":"first","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6930-7815","authenticated-orcid":false,"given":"Shu-Ling","family":"Cheng","sequence":"additional","affiliation":[]},{"given":"Chun-Hsu","family":"Ko","sequence":"additional","affiliation":[]},{"given":"Hao-Wei","family":"Tsou","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2020,2,26]]},"reference":[{"key":"1168_CR1","doi-asserted-by":"publisher","first-page":"53","DOI":"10.1023\/A:1024488717009","volume":"15","author":"H Yu","year":"2003","unstructured":"Yu, H., Spenko, M., Dubowsky, S.: An adaptive shared control system for an intelligent mobility aid for the elderly autonomous robots. Auton. Robot. 15, 53\u201366 (2003)","journal-title":"Auton. Robot."},{"key":"1168_CR2","doi-asserted-by":"publisher","first-page":"981","DOI":"10.1109\/TRO.2007.906252","volume":"23","author":"Y Hirata","year":"2007","unstructured":"Hirata, Y., Hara, A., Kosuge, K.: Motion control of passive intelligent walker using servo brake. IEEE Trans. on Robotics. 23, 981\u2013990 (2007)","journal-title":"IEEE Trans. on Robotics"},{"key":"1168_CR3","doi-asserted-by":"publisher","first-page":"75","DOI":"10.1109\/MRA.2008.929924","volume":"15","author":"GJ Lacey","year":"2008","unstructured":"Lacey, G.J., Rodriguez-Losada, D.: The evolution of Guido. IEEE Robot. Autom. Mag. 15, 75\u201383 (2008)","journal-title":"IEEE Robot. Autom. Mag."},{"key":"1168_CR4","doi-asserted-by":"publisher","first-page":"1211","DOI":"10.1109\/TMECH.2012.2201736","volume":"18","author":"CH Ko","year":"2013","unstructured":"Ko, C.H., Young, K.Y., Huang, Y.C., Agrawal, S.K.: Active and passive control of walk-assist robot for outdoor guidance. IEEE\/ASME Trans. Mechatron. 18, 1211\u20131220 (2013)","journal-title":"IEEE\/ASME Trans. Mechatron."},{"key":"1168_CR5","first-page":"41","volume":"8","author":"SF Chik","year":"2016","unstructured":"Chik, S.F., Yeong, C.F., Su, E.L.M., Lim, T.Y., Subramaniam, Y., Chin, P.J.H.: A review of social-aware navigation frameworks for service robot in dynamic human environments. J. Telecommunication. 8, 41\u201350 (2016)","journal-title":"J. Telecommunication."},{"key":"1168_CR6","doi-asserted-by":"crossref","unstructured":"Morales, Y.; Watanabe, A.; Ferreri, F.; Even, J.; Ikeda, T.; Shinozawa, K.; Miyashita, T.; Hagita, N.: Including human factors for planning comfortable paths. In proceedings of the 2015 IEEE international conference on robotics and automation, Seattle, Washington, USA, May 26-30, pp. 6153\u20136159 (2015)","DOI":"10.1109\/ICRA.2015.7140063"},{"key":"1168_CR7","doi-asserted-by":"crossref","unstructured":"Patompak, P.; Jeong, S.; Nilkhamhang, I.; Chong, N. Y.: Learning social relations for culture aware interaction. In Proceedings of the 2017 International Conference on Ubiquitous Robots and Ambient Intelligence, Jeju, Korea, June 28\u2013July 1, pp. 26\u201331 (2017)","DOI":"10.1109\/URAI.2017.7992879"},{"key":"1168_CR8","doi-asserted-by":"publisher","first-page":"1743","DOI":"10.1109\/TASE.2017.2731371","volume":"14","author":"X-T Truong","year":"2017","unstructured":"Truong, X.-T., Ngo, T.D.: Toward socially aware robot navigation in dynamic and crowded environments: a proactive social motion model. IEEE Trans. Autom. Sci. Eng. 14, 1743\u20131760 (2017)","journal-title":"IEEE Trans. Autom. Sci. Eng."},{"key":"1168_CR9","doi-asserted-by":"crossref","unstructured":"Chi, W.; Kono, H.; Tamura, Y.; Yamashita, A.; Asama, H.; Meng, M. Q.-H.: A human-friendly robot navigation algorithm using the risk-RRT approach. In proceedings of the 2016 IEEE international conference on real-time computing and robotics, Angkor Wat, Cambodia, June 6-9, pp. 227\u2013232 (2016)","DOI":"10.1109\/RCAR.2016.7784030"},{"key":"1168_CR10","doi-asserted-by":"crossref","unstructured":"Bevilacqua, P.; Frego, M.; Bertolazzi, E.; Fontanelli, D.; Palopoli, L.; Biral, F.: Path planning maximising human comfort for assistive robots. In proceedings of the 2016 IEEE conference on control applications, Buenos Aires, Argentina, Sep. 19-22, May 9-13, pp. 1421\u20131427 (2016)","DOI":"10.1109\/CCA.2016.7588006"},{"key":"1168_CR11","doi-asserted-by":"crossref","unstructured":"Park, J. J.; Kuipers, B.: A smooth control law for graceful motion of differential wheeled mobile robots in 2D environment. In Proceedings of the 2011 IEEE International Conference on Robotics and Automation, Shanghai, China, pp. 4896\u20134902 (2011)","DOI":"10.1109\/ICRA.2011.5980167"},{"key":"1168_CR12","doi-asserted-by":"publisher","first-page":"1317","DOI":"10.1109\/TRO.2013.2262744","volume":"29","author":"CGL Bianco","year":"2013","unstructured":"Bianco, C.G.L.: Minimum-jerk velocity planning for mobile robot applications. IEEE Trans. on Robotics. 29, 1317\u20131326 (2013)","journal-title":"IEEE Trans. on Robotics."},{"key":"1168_CR13","doi-asserted-by":"crossref","unstructured":"Yin, P.; Xiong, R.; Wu, J.: Real-time generation of a continuous acceleration trajectory for mobile robots. In Proceedings of the 2012 International Conference on Mechatronics and Automation, Chengdu, China, Aug. 5\u20138, pp. 1168\u20131173 (2012)","DOI":"10.1109\/ICMA.2012.6283416"},{"key":"1168_CR14","doi-asserted-by":"crossref","unstructured":"Urbano, J.; Terashima, K.; Miyoshi, T.: Velocity control of an omni-directional wheelchair considering user\u2019s comfort by suppressing vibration. In proceedings of the 2005 IEEE\/RSJ international conference on intelligent robots and systems, Edmonton, AB, Canada, Aug 2-6, pp. 3169\u20133174 (2005)","DOI":"10.1109\/IROS.2005.1545334"},{"key":"1168_CR15","doi-asserted-by":"crossref","unstructured":"Lu, D. V.; Hershberger, D.; Smart, W. D.: Layered costmaps for context-sensitive navigation. In Proceedings of the 2014 IEEE\/RSJ International Conference on Intelligent Robots and Systems, Chicago, IL, USA, pp. 709\u2013715 (2014)","DOI":"10.1109\/IROS.2014.6942636"},{"key":"1168_CR16","doi-asserted-by":"publisher","first-page":"2299","DOI":"10.1109\/TCST.2012.2232668","volume":"21","author":"CH Ko","year":"2013","unstructured":"Ko, C.H., Young, K.Y., Huang, Y.C., Agrawal, S.K.: Walk-assist robot: a novel approach to gain selection of a braking controller using differential flatness. IEEE Trans. Cont. Syst. Technol. 21, 2299\u20132305 (2013)","journal-title":"IEEE Trans. Cont. Syst. Technol."},{"key":"1168_CR17","volume-title":"The Hidden Dimension","author":"ET Hall","year":"1990","unstructured":"Hall, E.T.: The Hidden Dimension. Anchor Books, U.S.A (1990)"},{"key":"1168_CR18","doi-asserted-by":"publisher","first-page":"743","DOI":"10.1109\/TCST.2006.880203","volume":"14","author":"D Gu","year":"2006","unstructured":"Gu, D., Hu, H.: Receding horizon tracking control of wheeled mobile robots. IEEE Trans. Cont. Syst. Technol. 14, 743\u2013749 (2006)","journal-title":"IEEE Trans. Cont. Syst. Technol."},{"key":"1168_CR19","first-page":"206","volume":"2","author":"O Tutsoy","year":"2015","unstructured":"Tutsoy, O.: CPG based RL algorithm learns to control of a humanoid robot leg. Int. J. Robot. Autom. 2, 206\u20134185 (2015)","journal-title":"Int. J. Robot. Autom."},{"key":"1168_CR20","doi-asserted-by":"publisher","first-page":"1735","DOI":"10.1177\/0142331216645176","volume":"39","author":"O Tutsoy","year":"2017","unstructured":"Tutsoy, O., Barkana, D.E., Colak, S.: Learning to balance an NAO robot using reinforcement learning with symbolic inverse kinematic. Trans. I. Meas. Control. 39, 1735\u20131748 (2017)","journal-title":"Trans. I. Meas. Control."},{"key":"1168_CR21","doi-asserted-by":"publisher","first-page":"5458","DOI":"10.1109\/TIE.2012.2236994","volume":"60","author":"F Auger","year":"2013","unstructured":"Auger, F., Hilairet, M., Guerrero, J.M., Monmasson, E., Orlowska-Kowalska, T., Katsura, S.: Industrial applications of the Kalman filter: a review. IEEE Trans. Ind. Elect. 60, 5458\u20135470 (2013)","journal-title":"IEEE Trans. Ind. Elect."},{"key":"1168_CR22","doi-asserted-by":"publisher","first-page":"100","DOI":"10.1109\/TSSC.1968.300136","volume":"4","author":"PE Hart","year":"1968","unstructured":"Hart, P.E., Nilsson, N.J., Raphael, B.: A formal basis for the heuristic determination of minimum cost paths. IEEE Trans. Syst. Sci. Cyb. 4, 100\u2013107 (1968)","journal-title":"IEEE Trans. Syst. Sci. Cyb."},{"key":"1168_CR23","volume-title":"SUS - A quick and dirty usability scale. Usability evaluation in industry","author":"J Brooke","year":"1996","unstructured":"Brooke, J.: SUS - A quick and dirty usability scale. Usability evaluation in industry. CRC Press, Earley, Reading, UK (1996)"},{"key":"1168_CR24","first-page":"114","volume":"4","author":"A Bangor","year":"2009","unstructured":"Bangor, A., Kortum, P., Miller, J.: Determining what individual SUS scores mean: adding an adjective rating scale. Usability Studies. 4, 114\u2013123 (2009)","journal-title":"Usability Studies."}],"container-title":["Journal of Intelligent & Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-020-01168-2.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s10846-020-01168-2\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-020-01168-2.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2021,2,25]],"date-time":"2021-02-25T00:10:34Z","timestamp":1614211834000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s10846-020-01168-2"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020,2,26]]},"references-count":24,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2020,11]]}},"alternative-id":["1168"],"URL":"https:\/\/doi.org\/10.1007\/s10846-020-01168-2","relation":{},"ISSN":["0921-0296","1573-0409"],"issn-type":[{"value":"0921-0296","type":"print"},{"value":"1573-0409","type":"electronic"}],"subject":[],"published":{"date-parts":[[2020,2,26]]},"assertion":[{"value":"28 November 2019","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"2 February 2020","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"26 February 2020","order":3,"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 no conflict of interest.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Conflict of Interest"}}]}}