{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,20]],"date-time":"2026-03-20T15:31:26Z","timestamp":1774020686806,"version":"3.50.1"},"reference-count":39,"publisher":"Springer Science and Business Media LLC","issue":"8","license":[{"start":{"date-parts":[[2023,6,16]],"date-time":"2023-06-16T00:00:00Z","timestamp":1686873600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"},{"start":{"date-parts":[[2023,6,16]],"date-time":"2023-06-16T00:00:00Z","timestamp":1686873600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["61973205"],"award-info":[{"award-number":["61973205"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"name":"National Key Research and Development Program of China","award":["2018YFC2001600"],"award-info":[{"award-number":["2018YFC2001600"]}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Med Biol Eng Comput"],"published-print":{"date-parts":[[2023,8]]},"DOI":"10.1007\/s11517-023-02850-x","type":"journal-article","created":{"date-parts":[[2023,6,16]],"date-time":"2023-06-16T09:02:46Z","timestamp":1686906166000},"page":"2077-2090","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":7,"title":["Collision avoidance analysis of human\u2013robot physical interaction based on null-space impedance control of a dynamic reference arm plane"],"prefix":"10.1007","volume":"61","author":[{"given":"Qing","family":"Sun","sequence":"first","affiliation":[]},{"given":"Shuai","family":"Guo","sequence":"additional","affiliation":[]},{"given":"Sixian","family":"Fei","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2023,6,16]]},"reference":[{"issue":"3","key":"2850_CR1","doi-asserted-by":"publisher","first-page":"672","DOI":"10.1109\/TRO.2015.2419873","volume":"31","author":"Y Li","year":"2015","unstructured":"Li Y, Tee KP, Chan WL et al (2015) Continuous role adaptation for human\u2013robot shared control. IEEE Trans Robot 31(3):672\u2013681. https:\/\/doi.org\/10.1109\/TRO.2015.2419873","journal-title":"IEEE Trans Robot"},{"issue":"9","key":"2850_CR2","doi-asserted-by":"publisher","first-page":"1617","DOI":"10.1017\/S0263574720001393","volume":"39","author":"J Xia","year":"2021","unstructured":"Xia J, Jiang Z, Zhang T (2021) Feasible arm configurations and its application for human-like motion control of SRS-redundant manipulators with multiple constraints. Robotica 39(9):1617\u20131633. https:\/\/doi.org\/10.1017\/S0263574720001393","journal-title":"Robotica"},{"issue":"1","key":"2850_CR3","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1177\/027836499301200101","volume":"12","author":"KL Doty","year":"1993","unstructured":"Doty KL, Melchiorri C, Bonivento C (1993) A theory of generalized inverses applied to robotics. Ind Robot 12(1):1\u201319. https:\/\/doi.org\/10.1177\/027836499301200101","journal-title":"Ind Robot"},{"key":"2850_CR4","doi-asserted-by":"publisher","unstructured":"Jiang Y, Yang C, Ju Z et al (2019) Obstacle avoidance of a redundant robot using virtual force field and null space projection. International Conference on Intelligent Robotics and Applications. pp 728\u2013739 https:\/\/doi.org\/10.1007\/978-3-030-27526-6_64","DOI":"10.1007\/978-3-030-27526-6_64"},{"key":"2850_CR5","doi-asserted-by":"publisher","first-page":"50","DOI":"10.1016\/j.neucom.2011.10.001","volume":"79","author":"B Daachi","year":"2012","unstructured":"Daachi B, Madani T, Benallegue A (2012) Adaptive neural controller for redundant robot manipulators and collision avoidance with mobile obstacles. Neurocomputing 79:50\u201360. https:\/\/doi.org\/10.1016\/j.neucom.2011.10.001","journal-title":"Neurocomputing"},{"issue":"1","key":"2850_CR6","doi-asserted-by":"publisher","first-page":"88","DOI":"10.1109\/LRA.2020.3032104","volume":"6","author":"H Nascimento","year":"2020","unstructured":"Nascimento H, Mujica M, Benoussaad M (2020) Collision avoidance interaction between human and a hidden robot based on kinect and robot data fusion. IEEE Robot Autom Let 6(1):88\u201394. https:\/\/doi.org\/10.1109\/LRA.2020.3032104","journal-title":"IEEE Robot Autom Let"},{"key":"2850_CR7","doi-asserted-by":"publisher","unstructured":"Nascimento H, Mujica M, Benoussaad M (2020) Collision avoidance in human-robot interaction using kinect vision system combined with robot\u2019s model and data. IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS) 2020: 10293-10298https:\/\/doi.org\/10.1109\/IROS45743.2020.9341248","DOI":"10.1109\/IROS45743.2020.9341248"},{"issue":"4","key":"2850_CR8","doi-asserted-by":"publisher","first-page":"93","DOI":"10.1007\/s10846-022-01687-0","volume":"105","author":"H Liu","year":"2022","unstructured":"Liu H, Qu D, Xu F et al (2022) Real-time and efficient collision avoidance planning approach for safe human-robot interaction. J Intell Robot Syst 105(4):93. https:\/\/doi.org\/10.1007\/s10846-022-01687-0","journal-title":"J Intell Robot Syst"},{"key":"2850_CR9","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1007\/s10846-021-01534-8","volume":"104","author":"S Zhang","year":"2022","unstructured":"Zhang S, Li S, Li X et al (2022) A human-robot dynamic fusion safety algorithm for collaborative operations of cobots. J Intell Robot Syst 104:1\u201314. https:\/\/doi.org\/10.1007\/s10846-021-01534-8","journal-title":"J Intell Robot Syst"},{"key":"2850_CR10","doi-asserted-by":"publisher","unstructured":"Sangiovanni B, Rendiniello A, Incremona G P, et al (2018) Deep reinforcement learning for collision avoidance of robotic manipulators. European Control Conference (ECC). pp 2063\u20132068 https:\/\/doi.org\/10.23919\/ECC.2018.8550363","DOI":"10.23919\/ECC.2018.8550363"},{"key":"2850_CR11","doi-asserted-by":"publisher","unstructured":"M\u2019Colo K E, Luong B, Crosnier A et al (2019) Obstacle avoidance using a capacitive skin for safe human-robot interaction. IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS) 2019: 6742-6747https:\/\/doi.org\/10.1109\/IROS40897.2019.8967605","DOI":"10.1109\/IROS40897.2019.8967605"},{"key":"2850_CR12","doi-asserted-by":"publisher","unstructured":"Escobedo C, Strong M, West M, et al (2021) Contact anticipation for physical human\u2013robot interaction with robotic manipulators using onboard proximity sensors. IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS) 2021: 7255-7262https:\/\/doi.org\/10.1109\/IROS51168.2021.9636130","DOI":"10.1109\/IROS51168.2021.9636130"},{"key":"2850_CR13","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1007\/s10846-021-01510-2","volume":"103","author":"S Li","year":"2021","unstructured":"Li S, Han K, Li X et al (2021) Hybrid trajectory replanning-based dynamic obstacle avoidance for physical human-robot interaction. J Intell Robot Syst 103:1\u201314. https:\/\/doi.org\/10.1007\/s10846-021-01510-2","journal-title":"J Intell Robot Syst"},{"key":"2850_CR14","doi-asserted-by":"publisher","first-page":"186","DOI":"10.1016\/j.robot.2017.11.007","volume":"100","author":"F Vigoriti","year":"2018","unstructured":"Vigoriti F, Ruggiero F, Lippiello V et al (2018) Control of redundant robot arms with null-space compliance and singularity-free orientation representation. Robot Auton Syst 100:186\u2013193. https:\/\/doi.org\/10.1016\/j.robot.2017.11.007","journal-title":"Robot Auton Syst"},{"issue":"2","key":"2850_CR15","doi-asserted-by":"publisher","first-page":"493","DOI":"10.1109\/TRO.2013.2291630","volume":"30","author":"H Sadeghian","year":"2013","unstructured":"Sadeghian H, Villani L, Keshmiri M et al (2013) Task-space control of robot manipulators with null-space compliance[J]. IEEE Trans Robot 30(2):493\u2013506. https:\/\/doi.org\/10.1109\/TRO.2013.2291630","journal-title":"IEEE Trans Robot"},{"issue":"5","key":"2850_CR16","doi-asserted-by":"publisher","first-page":"615","DOI":"10.1108\/AA-02-2018-030","volume":"38","author":"Q Xu","year":"2018","unstructured":"Xu Q, Ge SS (2018) Adaptive control of redundant robot manipulators with null-space compliance. Assembly Autom 38(5):615\u2013624. https:\/\/doi.org\/10.1108\/AA-02-2018-030","journal-title":"Assembly Autom"},{"key":"2850_CR17","doi-asserted-by":"publisher","unstructured":"Platt R, Abdallah M, Wampler C (2011) Multiple-priority impedance control. International Conference on Robotics and Automation. pp 6033\u20136038. https:\/\/doi.org\/10.1109\/ICRA.2011.5980228","DOI":"10.1109\/ICRA.2011.5980228"},{"issue":"1","key":"2850_CR18","doi-asserted-by":"publisher","first-page":"599","DOI":"10.1109\/TRO.2021.3086632","volume":"38","author":"J Hermus","year":"2021","unstructured":"Hermus J, Lachner J, Verdi D et al (2021) Exploiting redundancy to facilitate physical interaction. IEEE T Robot 38(1):599\u2013615. https:\/\/doi.org\/10.1109\/TRO.2021.3086632","journal-title":"IEEE T Robot"},{"key":"2850_CR19","doi-asserted-by":"publisher","unstructured":"Su H, Yang C, Ferrigno G et al (2019) Improved human\u2013robot collaborative control of redundant robot for teleoperated minimally invasive surgery. IEEE Robot Autom Let 4(2): 1447\u20131453 https:\/\/doi.org\/10.1109\/LRA.2019.2897145","DOI":"10.1109\/LRA.2019.2897145"},{"issue":"13","key":"2850_CR20","doi-asserted-by":"publisher","first-page":"706","DOI":"10.1080\/01691864.2017.1326842","volume":"31","author":"R Ancona","year":"2017","unstructured":"Ancona R (2017) Redundancy modelling and resolution for robotic mobile manipulators: a general approach. Adv Robot 31(13):706\u2013715. https:\/\/doi.org\/10.1080\/01691864.2017.1326842","journal-title":"Adv Robot"},{"key":"2850_CR21","doi-asserted-by":"publisher","unstructured":"Siciliano B, Slotine JJE (1991) A general framework for managing multiple tasks in highly redundant robotic systems. Fifth International Conference on Advanced Robotics, Pisa, Italy. pp 1211\u20131216. https:\/\/doi.org\/10.1109\/ICAR.1991.240390","DOI":"10.1109\/ICAR.1991.240390"},{"issue":"01","key":"2850_CR22","doi-asserted-by":"publisher","first-page":"29","DOI":"10.1142\/S0219843604000058","volume":"1","author":"O Khatib","year":"2004","unstructured":"Khatib O, Sentis L, Park J et al (2004) Whole-body dynamic behavior and control of human-like robots. Int J Hum Robot 1(01):29\u201343. https:\/\/doi.org\/10.1142\/S0219843604000058","journal-title":"Int J Hum Robot"},{"issue":"3","key":"2850_CR23","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1177\/1729881420925297","volume":"17","author":"G Xiong","year":"2020","unstructured":"Xiong G, Zhou Y, Yao J (2020) Null-space impedance control of 7-degree-of-freedom redundant manipulators based on the arm angles. Int J Adv Robot Syst 17(3):1\u201314. https:\/\/doi.org\/10.1177\/1729881420925297","journal-title":"Int J Adv Robot Syst"},{"issue":"2","key":"2850_CR24","doi-asserted-by":"publisher","first-page":"1683","DOI":"10.1007\/s11277-017-5227-7","volume":"102","author":"N Liu","year":"2018","unstructured":"Liu N, Zhang X, Zhang L et al (2018) Study on the rigid-flexible coupling dynamics of welding robot. Wireless Pers Commun 102(2):1683\u20131694. https:\/\/doi.org\/10.1007\/s11277-017-5227-7","journal-title":"Wireless Pers Commun"},{"issue":"4","key":"2850_CR25","doi-asserted-by":"publisher","first-page":"627","DOI":"10.1016\/j.mechmachtheory.2009.11.007","volume":"45","author":"O Ibrahim","year":"2010","unstructured":"Ibrahim O, Khalil W (2010) Inverse and direct dynamic models of hybrid robots. Mech Mach Theory 45(4):627\u2013640. https:\/\/doi.org\/10.1016\/j.mechmachtheory.2009.11.007","journal-title":"Mech Mach Theory"},{"issue":"1","key":"2850_CR26","doi-asserted-by":"publisher","first-page":"43","DOI":"10.1109\/JRA.1987.1087068","volume":"3","author":"O Khatib","year":"1987","unstructured":"Khatib O (1987) A unified approach for motion and force control of robot manipulators: The operational space formulation. IEEE J Robot Autom 3(1):43\u201353. https:\/\/doi.org\/10.1109\/JRA.1987.1087068","journal-title":"IEEE J Robot Autom"},{"key":"2850_CR27","doi-asserted-by":"publisher","unstructured":"Hogan N (1984) Impedance control: an approach to manipulation. 1984 American Control Conference, San Diego, CA, USA. pp. 304\u2013313. https:\/\/doi.org\/10.23919\/ACC.1984.4788393","DOI":"10.23919\/ACC.1984.4788393"},{"key":"2850_CR28","doi-asserted-by":"publisher","unstructured":"Sadeghian H, Villani L, Keshmiri M, et al (2011) Multi-priority control in redundant robotic systems. IROS, San Francisco, pp 3752\u20133757. https:\/\/doi.org\/10.1109\/IROS.2011.6094609","DOI":"10.1109\/IROS.2011.6094609"},{"issue":"2","key":"2850_CR29","doi-asserted-by":"publisher","first-page":"1447","DOI":"10.1109\/LRA.2019.2897145","volume":"4","author":"H Su","year":"2019","unstructured":"Su H, Yang C, Ferrigno G et al (2019) Improved human\u2013robot collaborative control of redundant robot for teleoperated minimally invasive surgery. IEEE Robot Autom Let 4(2):1447\u20131453. https:\/\/doi.org\/10.1109\/LRA.2019.2897145","journal-title":"IEEE Robot Autom Let"},{"issue":"5","key":"2850_CR30","doi-asserted-by":"publisher","first-page":"985","DOI":"10.1109\/TRO.2009.2017135","volume":"25","author":"G Antonelli","year":"2009","unstructured":"Antonelli G (2009) Stability analysis for prioritized closed-loop inverse kinematic algorithms for redundant robotic systems. IEEE T Robot 25(5):985\u2013994. https:\/\/doi.org\/10.1109\/TRO.2009.2017135","journal-title":"IEEE T Robot"},{"issue":"6","key":"2850_CR31","doi-asserted-by":"publisher","first-page":"1278","DOI":"10.1109\/TRO.2012.2208667","volume":"28","author":"A Dietrich","year":"2012","unstructured":"Dietrich A, Wimbock T, Albu-Schaffer A et al (2012) Integration of reactive, torque-based self-collision avoidance into a task hierarchy. IEEE T Robot 28(6):1278\u20131293. https:\/\/doi.org\/10.1109\/TRO.2012.2208667","journal-title":"IEEE T Robot"},{"key":"2850_CR32","doi-asserted-by":"crossref","unstructured":"Slotine S B, Siciliano B (1991) A general framework for managing multiple tasks in highly redundant robotic systems. proceeding of 5th International Conference on Advanced Robotics. pp 1211\u20131216.","DOI":"10.1109\/ICAR.1991.240390"},{"issue":"04","key":"2850_CR33","doi-asserted-by":"publisher","first-page":"505","DOI":"10.1142\/S0219843605000594","volume":"2","author":"L Sentis","year":"2005","unstructured":"Sentis L, Khatib O (2005) Synthesis of whole-body behaviors through hierarchical control of behavioral primitives. Int J Hum Robot 2(04):505\u2013518. https:\/\/doi.org\/10.1142\/S0219843605000594","journal-title":"Int J Hum Robot"},{"issue":"11","key":"2850_CR34","doi-asserted-by":"publisher","first-page":"1385","DOI":"10.1177\/0278364914566516","volume":"34","author":"A Dietrich","year":"2015","unstructured":"Dietrich A, Ott C, Albu-Sch\u00e4ffer A (2015) An overview of null space projections for redundant, torque-controlled robots. Ind Robot 34(11):1385\u20131400. https:\/\/doi.org\/10.1177\/0278364914566516","journal-title":"Ind Robot"},{"key":"2850_CR35","unstructured":"Schreiber G, Stemmer A, Bischoff R (2010) The fast research interface for the kuka lightweight robot. In: Proceedings of the IEEE workshop on innovative robot control architectures for demanding (research) applications \u2014How to modify and enhance commercial controllers (ICRA 2010). pp: 15\u201321"},{"issue":"5","key":"2850_CR36","doi-asserted-by":"publisher","first-page":"1029","DOI":"10.3233\/THC-202633","volume":"29","author":"Q Sun","year":"2021","unstructured":"Sun Q, Guo S, Zhang L (2021) Kinematic dexterity analysis of human-robot interaction of an upper limb rehabilitation robot. Technol Health Care 29(5):1029\u20131045. https:\/\/doi.org\/10.3233\/THC-202633","journal-title":"Technol Health Care"},{"issue":"2","key":"2850_CR37","doi-asserted-by":"publisher","first-page":"95","DOI":"10.1007\/BF01211748","volume":"9","author":"A Iggidr","year":"1996","unstructured":"Iggidr A, Kalitine B, Outbib R (1996) Semidefinite Lyapunov functions stability and stabilization. Math Control Signal 9(2):95\u2013106. https:\/\/doi.org\/10.1007\/BF01211748","journal-title":"Math Control Signal"},{"key":"2850_CR38","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4471-0967-9","volume-title":"Constructive nonlinear control","author":"R Sepulchre","year":"1997","unstructured":"Sepulchre R, Jankovic M, Kokotovic PV (1997) Constructive nonlinear control. Springer, London"},{"key":"2850_CR39","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4471-0507-7","volume-title":"L2-gain and passivity techniques in nonlinear control","author":"VD Schaft","year":"2000","unstructured":"Schaft VD, Arjan (2000) L2-gain and passivity techniques in nonlinear control. Springer, London"}],"container-title":["Medical &amp; Biological Engineering &amp; Computing"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s11517-023-02850-x.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s11517-023-02850-x\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s11517-023-02850-x.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,7,12]],"date-time":"2023-07-12T03:29:36Z","timestamp":1689132576000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s11517-023-02850-x"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,6,16]]},"references-count":39,"journal-issue":{"issue":"8","published-print":{"date-parts":[[2023,8]]}},"alternative-id":["2850"],"URL":"https:\/\/doi.org\/10.1007\/s11517-023-02850-x","relation":{},"ISSN":["0140-0118","1741-0444"],"issn-type":[{"value":"0140-0118","type":"print"},{"value":"1741-0444","type":"electronic"}],"subject":[],"published":{"date-parts":[[2023,6,16]]},"assertion":[{"value":"15 July 2022","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"17 May 2023","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"16 June 2023","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 author(s) declared no potential conflicts of interest with respect to the research, authorship, and\/or publication of this article.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Conflict of interests"}}]}}