{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,26]],"date-time":"2025-10-26T14:09:43Z","timestamp":1761487783898},"reference-count":23,"publisher":"Cambridge University Press (CUP)","issue":"2","license":[{"start":{"date-parts":[[2007,3,1]],"date-time":"2007-03-01T00:00:00Z","timestamp":1172707200000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2007,3]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>This paper presents an approach to reduce the technical complexity of a service robotic system by means of systematic and well-balanced user-involvement. By taking advantage of the user's cognitive capabilities during task execution, a technically manageable robotic system, which is able to execute tasks on a high level of abstraction reliably and robustly, emerges. For the realisation of this approach, the control architecture MASSiVE has been implemented, which is used for the control of the rehabilitation robot FRIEND II. It supports task execution on the basis of <jats:italic>a priori<\/jats:italic> defined and formally verified task-knowledge. This task-knowledge contains all possible sequences of operations as well as the symbolic representation of objects required for the execution of a specific task. The seamless integration of user interactions into this task-knowledge, in combination with MASSiVE's user-adapted human\u2013machine interface layer, enables the system to deliberately interact with the user during run-time.<\/jats:p>","DOI":"10.1017\/s0263574707003347","type":"journal-article","created":{"date-parts":[[2007,2,26]],"date-time":"2007-02-26T04:16:19Z","timestamp":1172463379000},"page":"237-244","source":"Crossref","is-referenced-by-count":10,"title":["System-controlled user interaction within the service robotic control architecture MASSiVE"],"prefix":"10.1017","volume":"25","author":[{"given":"Oliver","family":"Prenzel","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Christian","family":"Martens","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Marco","family":"Cyriacks","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Chao","family":"Wang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Axel","family":"Gr\u00e4ser","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2007,3,1]]},"reference":[{"key":"S0263574707003347_N104C2","volume-title":"Design Patterns: Elements of Reusable Object-Oriented Software","author":"Gamma","year":"1995"},{"key":"S0263574707003347_N1045E","unstructured":"20. Martens C. , \u201cGeneration of parallel executable control sequences for rehabilitation robotic systems on the basis of hierachical petri-net based task representation,\u201d Methods Appl. Autom., 73\u201385 (2003)."},{"key":"S0263574707003347_N1043C","doi-asserted-by":"publisher","DOI":"10.1016\/S0146-664X(76)80014-7"},{"key":"S0263574707003347_N10422","unstructured":"18. Martens C. , Teilautonome Aufgabenbearbeitung bei Rehabilitationsrobotern mit Manipulator\u2014Konzeption und Realisierung eines Softwaretechnischen und Algorithmischen Rahmenwerks Ph.D. Thesis, Bremen, Germany (University of Bremen, (2004). Shaker Verlag."},{"key":"S0263574707003347_N103E1","doi-asserted-by":"publisher","DOI":"10.1016\/0004-3702(71)90010-5"},{"key":"S0263574707003347_N103B9","doi-asserted-by":"publisher","DOI":"10.1109\/5326.669552"},{"key":"S0263574707003347_N103A0","unstructured":"14. Martens C. , \u201cTask oriented programming of service-robots on the basis of process-structures,\u201d Methods Appl. Autom., 45\u201356 (2005), ISBN 3-8322-4502-2."},{"key":"S0263574707003347_N10317","first-page":"195","volume-title":"Proceedings of the IEEE SIS'98","author":"Bonasso","year":"1998"},{"key":"S0263574707003347_N1022B","unstructured":"7. Hans M. , Eine Modulare Kontrollarchitektur f\u00fcr den Hol- und Bringdienst von Roboterassistenten Ph.D. Thesis (Germany, Stuttgart: University of Stuttgart, (2005)."},{"key":"S0263574707003347_N101E7","doi-asserted-by":"publisher","DOI":"10.1109\/ICSMC.2002.1167969"},{"key":"S0263574707003347_N101B5","unstructured":"4. Martens C. , Kim D.-J. , Han J.-S. , Gr\u00e4ser A. and Bien Z. Z. , \u201cConcept for a Modified Hybrid Multi-Layer Control-Architecture for Rehabilitation Robots,\u201d Proceedings of the 3rd International Workshop on Human-Friendly Robotic Systems, (Jan. 21\u201322, (2002), pp. 49\u201354."},{"key":"S0263574707003347_N10154","unstructured":"2. Dario P. , Dillman R. and Christensen H. I. , \u201cEuron Research Roadmaps.\u201d Key Area 1 on \u201cResearch Coordination.\u201d Available: http:\/\/www.euron.org (2004)"},{"key":"S0263574707003347_N104A0","volume-title":"Towards a Better Understanding of Context and Context-Awareness","author":"Dey","year":"2000"},{"key":"S0263574707003347_N10133","doi-asserted-by":"publisher","DOI":"10.1007\/978-94-009-1099-7"},{"key":"S0263574707003347_N10409","unstructured":"17. Prenzel O. , \u201cSemi-autonomous object anchoring for service-robots,\u201d Methods Appl. Autom., 57\u201368 (2005), ISBN 3-8322-4502-2."},{"key":"S0263574707003347_N10178","first-page":"152","volume-title":"Proceedings of the IEEE International Workshop on Robot and Human Interactive Communication","author":"Laschi","year":"2001"},{"key":"S0263574707003347_N102AF","first-page":"107","volume-title":"Proceedings of the 10th International Conference on Optimization of Electrical and Electronic Equipments","author":"Martens","year":"2006"},{"key":"S0263574707003347_N10474","first-page":"49","volume-title":"Proceedings of the ISR-Robotik Joint Conference on Robotics","author":"Ojdanic","year":"2006"},{"key":"S0263574707003347_N10378","doi-asserted-by":"publisher","DOI":"10.1109\/IRDS.2002.1043960"},{"key":"S0263574707003347_N10219","unstructured":"6. Amazon.com, \u201cAmazon Mechanical Turk\u2014Artificial, Artificial Intelligence.\u201d URL. Available: http:\/\/www.mturk.com (2006)."},{"key":"S0263574707003347_N102E8","first-page":"111","volume-title":"Proceedings of the 3rd International Congress: Restoration of (Wheeled) Mobility in SCI the Rehabilitation","author":"Ivlev","year":"2005"},{"key":"S0263574707003347_N10245","first-page":"23","article-title":"Challenges and steps toward reusable robotic software","volume":"3","author":"Nesnas","year":"2006","journal-title":"Int. J. Adv. Robot. Sys"},{"key":"S0263574707003347_N1034D","first-page":"67","volume-title":"Proceedings of the International Conference on Robotics and Automation","author":"Coste-Maniere","year":"2000"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574707003347","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,4,4]],"date-time":"2019-04-04T18:09:52Z","timestamp":1554401392000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574707003347\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2007,3]]},"references-count":23,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2007,3]]}},"alternative-id":["S0263574707003347"],"URL":"https:\/\/doi.org\/10.1017\/s0263574707003347","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2007,3]]}}}