{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,2,21]],"date-time":"2025-02-21T22:09:37Z","timestamp":1740175777929,"version":"3.37.3"},"reference-count":30,"publisher":"Springer Science and Business Media LLC","issue":"4","license":[{"start":{"date-parts":[[2021,4,27]],"date-time":"2021-04-27T00:00:00Z","timestamp":1619481600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0"},{"start":{"date-parts":[[2021,4,27]],"date-time":"2021-04-27T00:00:00Z","timestamp":1619481600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0"}],"funder":[{"DOI":"10.13039\/501100013352","name":"Key Project of Science and Technology of Weihai","doi-asserted-by":"crossref","award":["No. 2016DXGJMS04"],"award-info":[{"award-number":["No. 2016DXGJMS04"]}],"id":[{"id":"10.13039\/501100013352","id-type":"DOI","asserted-by":"crossref"}]},{"name":"Weihai Robot and Intelligent Equipment Industry Public Innovation Service Platform","award":["No.2015ZD01"],"award-info":[{"award-number":["No.2015ZD01"]}]},{"name":"Key Research Project of Science and Technology of Shandong Province","award":["No.2016GGX101013"],"award-info":[{"award-number":["No.2016GGX101013"]}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Complex Intell. Syst."],"published-print":{"date-parts":[[2022,8]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>To offer simple and convenient assistance for the elderly and disabled, researchers focus on programming by demonstration approach to improve the intelligence and adaptability of wheelchair mounted robotic arm assistive robot. But how to easily and quickly obtain the demonstration information is still an urgent problem to be solved. Based on the systematic analysis of the daily living tasks in need of robot assistance, this paper proposes the key-point-based programming by demonstration recording approach to quickly obtain the demonstration information and develops a specified demonstration interface to simplify the operation process. A corresponding evaluation approach is also proposed from the demonstration trajectories and demonstration process two aspects. Additionally, tasks of \u201cholding water glass task\u201d, \u201ceating task\u201d, and \u201copening door task\u201d are carried out and experimental results, as well as comparative evaluations confirm the validity of the proposed approach with high efficiency. This study can not only offer a convenient and feasible way to obtain the demonstration information of daily living tasks, but also lay a good foundation for the assistive robot to learn relative motion skills, especially for the demonstrated dexterous manipulation skills, and semi-autonomously accomplish complex, multi-step tasks following the user\u2019s instructions in the daily home environment.<\/jats:p>","DOI":"10.1007\/s40747-021-00350-9","type":"journal-article","created":{"date-parts":[[2021,4,27]],"date-time":"2021-04-27T18:04:28Z","timestamp":1619546668000},"page":"2843-2857","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":3,"title":["Development and evaluation of demonstration information recording approach for wheelchair mounted robotic arm"],"prefix":"10.1007","volume":"8","author":[{"given":"Mingshan","family":"Chi","sequence":"first","affiliation":[]},{"given":"Yaxin","family":"Liu","sequence":"additional","affiliation":[]},{"given":"Yufeng","family":"Yao","sequence":"additional","affiliation":[]},{"given":"Yan","family":"Liu","sequence":"additional","affiliation":[]},{"given":"Shouqiang","family":"Li","sequence":"additional","affiliation":[]},{"given":"Chao","family":"Zeng","sequence":"additional","affiliation":[]},{"given":"Ming","family":"Zhong","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2021,4,27]]},"reference":[{"key":"350_CR1","doi-asserted-by":"publisher","unstructured":"Argall BD (2015) Turning assistive machines into assistive robots. In: Proceedings of SPIE- international society for optical engineering. San Francisco, CA, pp 9370Y. https:\/\/doi.org\/10.1117\/12.2085352","DOI":"10.1117\/12.2085352"},{"key":"350_CR2","doi-asserted-by":"publisher","first-page":"469","DOI":"10.1016\/j.robot.2008.10.024","volume":"57","author":"BD Argall","year":"2009","unstructured":"Argall BD, Chernova S, Veloso M, Browning B (2009) A survey of robot learning from demonstration. Robot Auton Syst 57:469\u2013483","journal-title":"Robot Auton Syst"},{"key":"350_CR3","doi-asserted-by":"publisher","first-page":"902","DOI":"10.1109\/AIM.2003.1225462","volume-title":"Proceedings 2003 IEEE\/ASME international conference on advanced intelligent mechatronics (AIM 2003)","author":"Z Bien","year":"2003","unstructured":"Bien Z, Kim D-J, Chung M-J, Kwon D-S, Chang P-H (2003) Development of a wheelchair-based rehabilitation robotic system (KARES II) with various human-robot interaction interfaces for the disabled. Proceedings 2003 IEEE\/ASME international conference on advanced intelligent mechatronics (AIM 2003). Kobe, pp 902\u2013907"},{"key":"350_CR4","doi-asserted-by":"publisher","first-page":"3824","DOI":"10.4249\/scholarpedia.3824","volume":"8","author":"A Billard","year":"2013","unstructured":"Billard A, Grollman D (2013) Robot learning by demonstration. Scholarpedia 8:3824","journal-title":"Scholarpedia"},{"key":"350_CR5","doi-asserted-by":"publisher","first-page":"441","DOI":"10.1075\/is.8.3.08cal","volume":"8","author":"S Calinon","year":"2007","unstructured":"Calinon S, Billard AG (2007) What is the teacher\u2019s role in robot programming by demonstration? Toward benchmarks for improved learning. J Interact Stud 8:441\u2013464","journal-title":"J Interact Stud"},{"key":"350_CR6","doi-asserted-by":"publisher","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 Trans Syst Man Cybernet Part B (Cybernetics) 37:286\u2013298","journal-title":"IEEE Trans Syst Man Cybernet Part B (Cybernetics)"},{"key":"350_CR7","unstructured":"Campeau-Lecours A, Maheu V, Lepage S, Lamontagne H, Hardie N (2016) JACO Assistive robotic device: empowering people with disabilities through innovative algorithms. In: Proceedings of 2016 rehabilitation engineering and assistive technology society of North America (RESNA). Washington, DC"},{"key":"350_CR8","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1177\/1687814017737260","volume":"9","author":"M Chi","year":"2017","unstructured":"Chi M, Yao Y, Liu Y, Teng Y, Zhong M (2017) Learning motion primitives from demonstration. Adv Mech Eng 9:1\u201313","journal-title":"Adv Mech Eng"},{"key":"350_CR9","doi-asserted-by":"publisher","unstructured":"Choi YS, Deyle T, Chen T, Glass JD, Kemp CC (2009) A list of household objects for robotic retrieval prioritized by people with ALS. In: 2009 IEEE International Conference on Rehabilitation Robotics. IEEE, Kyoto Internation Conference Center, Japan, pp 510\u2013517. https:\/\/doi.org\/10.1109\/ICORR.2009.5209484","DOI":"10.1109\/ICORR.2009.5209484"},{"key":"350_CR10","doi-asserted-by":"publisher","first-page":"1850001","DOI":"10.1142\/S2529737618500016","volume":"2","author":"N Ettehadi","year":"2018","unstructured":"Ettehadi N, Behal A (2018) A Learning from demonstration framework for implementation of a feeding task. Encyclopedia Semant Comput Robot Intell 2:1850001","journal-title":"Encyclopedia Semant Comput Robot Intell"},{"key":"350_CR11","first-page":"21","volume":"50","author":"A Hussein","year":"2017","unstructured":"Hussein A, Gaber MM, Elyan E, Jayne C (2017) Imitation learning: a survey of learning methods. ACM Comput Surv (CSUR) 50:21","journal-title":"ACM Comput Surv (CSUR)"},{"key":"350_CR12","doi-asserted-by":"publisher","first-page":"328","DOI":"10.1162\/NECO_a_00393","volume":"25","author":"AJ Ijspeert","year":"2013","unstructured":"Ijspeert AJ, Nakanishi J, Hoffmann H, Pastor P, Schaal S (2013) Dynamical movement primitives: learning attractor models for motor behaviors. Neural Comput 25:328\u2013373","journal-title":"Neural Comput"},{"key":"350_CR13","doi-asserted-by":"publisher","first-page":"936","DOI":"10.1109\/TMECH.2011.2149730","volume":"17","author":"D-J Kim","year":"2012","unstructured":"Kim D-J, Wang Z, Behal A (2012) Motion segmentation and control design for UCF-MANUS\u2014an intelligent assistive robotic manipulator. IEEE\/ASME Trans Mechatron 17:936\u2013948","journal-title":"IEEE\/ASME Trans Mechatron"},{"key":"350_CR14","doi-asserted-by":"publisher","unstructured":"Kim S, Kim CH, You BJ, Oh SR (2019) Stable whole-body motion generation for humanoid robots to imitate human motions. In: IEEE\/RSJ International Conference on Intelligent Robots & Systems. IEEE, St. Louis, USA, pp 2518\u20132524. https:\/\/doi.org\/10.1109\/IROS.2009.5354271","DOI":"10.1109\/IROS.2009.5354271"},{"key":"350_CR15","first-page":"4","volume-title":"Development and implementation of compliant controller on manus robot arm","author":"AR Konuk","year":"2004","unstructured":"Konuk AR (2004) Development and implementation of compliant controller on manus robot arm. University of Twente, pp 4\u20139"},{"key":"350_CR16","doi-asserted-by":"publisher","first-page":"330","DOI":"10.1177\/0278364911426178","volume":"31","author":"D Kuli\u0107","year":"2012","unstructured":"Kuli\u0107 D, Ott C, Lee D, Ishikawa J, Nakamura Y (2012) Incremental learning of full body motion primitives and their sequencing through human motion observation. Int J Robot Res 31:330\u2013345","journal-title":"Int J Robot Res"},{"key":"350_CR17","doi-asserted-by":"publisher","first-page":"1619","DOI":"10.1109\/TRO.2020.3003230","volume":"36","author":"Q Li","year":"2020","unstructured":"Li Q, Kroemer O, Su Z, Veiga FF, Kaboli M, Ritter HJ (2020) A review of tactile information: perception and action through touch. IEEE Trans Robot 36:1619\u20131634","journal-title":"IEEE Trans Robot"},{"key":"350_CR18","doi-asserted-by":"publisher","first-page":"36","DOI":"10.1504\/IJMA.2013.052624","volume":"3","author":"Q Li","year":"2013","unstructured":"Li Q, Meier M, Haschke R, Ritter H, Bolder B (2013) Rotary object dexterous manipulation in hand: a feedback-based method. Int J Mechatron Autom 3:36\u201347","journal-title":"Int J Mechatron Autom"},{"key":"350_CR19","doi-asserted-by":"publisher","first-page":"1802001","DOI":"10.1142\/S0219843618020012","volume":"15","author":"Q Li","year":"2018","unstructured":"Li Q, Natale L, Haschke R, Cherubini A, Anh-Van H (2018) Tactile sensing for manipulation. Int J Human Robot 15:1802001","journal-title":"Int J Human Robot"},{"key":"350_CR20","doi-asserted-by":"publisher","first-page":"1950009","DOI":"10.1142\/S0219843619500099","volume":"16","author":"J Luo","year":"2019","unstructured":"Luo J, Yang C, Li Q, Wang M (2019) A task learning mechanism for the telerobots. Int J Human Robot 16:1950009","journal-title":"Int J Human Robot"},{"key":"350_CR21","doi-asserted-by":"publisher","unstructured":"Maheu V, Archambault PS, Frappier J, Routhier F (2011) Evaluation of the JACO robotic arm: clinico-economic study for powered wheelchair users with upper-extremity disabilities. In: Proceedings of 2011 IEEE International Conference on Rehabilitation Robotics, Zurich, Switzerland pp 1\u20135. https:\/\/doi.org\/10.1109\/ICORR.2011.5975397","DOI":"10.1109\/ICORR.2011.5975397"},{"key":"350_CR22","doi-asserted-by":"publisher","first-page":"131","DOI":"10.1177\/0278364914554471","volume":"34","author":"S Niekum","year":"2015","unstructured":"Niekum S, Osentoski S, Konidaris G, Chitta S, Marthi B, Barto AG (2015) Learning grounded finite-state representations from unstructured demonstrations. Int J Robot Res 34:131\u2013157","journal-title":"Int J Robot Res"},{"key":"350_CR23","doi-asserted-by":"publisher","first-page":"686","DOI":"10.1109\/TNSRE.2016.2603472","volume":"25","author":"K Reem","year":"2017","unstructured":"Reem K, Al-Halimi M, Moussa (2017) Performing complex tasks by users with upper-extremity disabilities using a 6-DOF robotic arm: a study. IEEE Trans Neural Syst Rehabil Eng 25:686\u2013693","journal-title":"IEEE Trans Neural Syst Rehabil Eng"},{"key":"350_CR24","unstructured":"Robotics K KINOVA Gen2 Ultra Lightweight Robot User Guide. https:\/\/www.kinova-robotics.com\/sites\/default\/files\/UG-009_KINOVA_Gen2_Ultra_lightweight_robot_User_guide_EN_R02.pdf. Accessed 30 Aug 2020"},{"key":"350_CR25","doi-asserted-by":"publisher","first-page":"119","DOI":"10.1109\/86.331561","volume":"2","author":"DP Romilly","year":"1994","unstructured":"Romilly DP, Anglin C, Gosine RG, Hershler C, Raschke SU (1994) A functional task analysis and motion simulation for the development of a powered upper-limb orthosis. IEEE Trans Rehabil Eng 2:119\u2013129","journal-title":"IEEE Trans Rehabil Eng"},{"key":"350_CR26","doi-asserted-by":"publisher","DOI":"10.1007\/4-431-31381-8_23","author":"S Schaal","year":"2006","unstructured":"Schaal S (2006) Dynamic movement primitives\u2014a framework for motor control in humans and humanoid robotics. Adapt Motion Anim Mach. https:\/\/doi.org\/10.1007\/4-431-31381-8_23","journal-title":"Adapt Motion Anim Mach"},{"key":"350_CR27","doi-asserted-by":"publisher","first-page":"256","DOI":"10.1109\/86.340872","volume":"2","author":"CA Stanger","year":"1994","unstructured":"Stanger CA, Anglin C, Harwin WS, Romilly DP (1994) Devices for assisting manipulation: a summary of user task priorities. IEEE Trans Rehabil Eng 2:256\u2013265","journal-title":"IEEE Trans Rehabil Eng"},{"key":"350_CR28","doi-asserted-by":"publisher","first-page":"127","DOI":"10.1155\/2011\/698079","volume":"8","author":"KM Tsui","year":"2011","unstructured":"Tsui KM, Kim D-J, Behal A, Kontak D, Yanco HA (2011) \u201cI Want That\u201d: human-in-the-loop control of a wheelchair-mounted robotic arm. Appl Bionics Biomech 8:127\u2013147","journal-title":"Appl Bionics Biomech"},{"key":"350_CR29","unstructured":"Wang W, Nishi Y, Sugano S (2010) Task execution of a wheelchair mounted robotic arm incorporated with active compliance control. In: Proceedings of Society of Instrument and Control Engineers Annual Conference 2010 (SICE 2010), Taipei, Taiwan, pp 3472\u20133474"},{"key":"350_CR30","doi-asserted-by":"publisher","first-page":"1193","DOI":"10.1109\/TMECH.2018.2817589","volume":"23","author":"C Yang","year":"2018","unstructured":"Yang C, Zeng C, Fang C, He W, Li Z (2018) A DMPs-based framework for robot learning and generalization of humanlike variable impedance skills. IEEE\/ASME Trans Mechatron 23:1193\u20131203","journal-title":"IEEE\/ASME Trans Mechatron"}],"container-title":["Complex &amp; Intelligent Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s40747-021-00350-9.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s40747-021-00350-9\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s40747-021-00350-9.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,8,3]],"date-time":"2022-08-03T10:19:08Z","timestamp":1659521948000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s40747-021-00350-9"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,4,27]]},"references-count":30,"journal-issue":{"issue":"4","published-print":{"date-parts":[[2022,8]]}},"alternative-id":["350"],"URL":"https:\/\/doi.org\/10.1007\/s40747-021-00350-9","relation":{},"ISSN":["2199-4536","2198-6053"],"issn-type":[{"type":"print","value":"2199-4536"},{"type":"electronic","value":"2198-6053"}],"subject":[],"published":{"date-parts":[[2021,4,27]]},"assertion":[{"value":"19 December 2020","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"20 March 2021","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"27 April 2021","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 interest"}}]}}