{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,1]],"date-time":"2026-06-01T22:04:29Z","timestamp":1780351469914,"version":"3.54.1"},"reference-count":35,"publisher":"Cambridge University Press (CUP)","issue":"2","license":[{"start":{"date-parts":[[2014,2,28]],"date-time":"2014-02-28T00:00:00Z","timestamp":1393545600000},"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":[[2015,2]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>This paper presents a novel approach for the description of physical human-robot interaction (pHRI) tasks that involve two-arm coordination, and where tasks are described by the relative pose between the human hand and the robot hand. We develop a unified kinematic model that takes into account the human-robot system from a holistic point of view, and we also propose a kinematic control strategy for pHRI that comprises different levels of shared autonomy. Since the kinematic model takes into account the complete human-robot interaction system and the kinematic control law is closed loop at the interaction level, the kinematic constraints of the task are enforced during its execution. Experiments are performed in order to validate the proposed approach, including a particular case where the robot controls the human arm by means of functional electrical stimulation (FES), which may potentially provide useful solutions for the interaction between assistant robots and impaired individuals (e.g., quadriplegics and hemiplegics).<\/jats:p>","DOI":"10.1017\/s0263574714000356","type":"journal-article","created":{"date-parts":[[2014,2,28]],"date-time":"2014-02-28T11:34:49Z","timestamp":1393587289000},"page":"314-331","source":"Crossref","is-referenced-by-count":17,"title":["Kinematic modeling and control for human-robot cooperation considering different interaction roles"],"prefix":"10.1017","volume":"33","author":[{"given":"B. V.","family":"Adorno","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"A. P. 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Kheddar , \u201cFast Foot Prints Re-Planning and Motion Generation during Walking in Physical Human-Humanoid Interaction,\u201d Proceedings of the 9th IEEE-RAS International Conference on Humanoid Robots (Dec. 2009) pp. 284\u2013289.","DOI":"10.1109\/ICHR.2009.5379563"},{"key":"S0263574714000356_ref5","doi-asserted-by":"publisher","DOI":"10.1177\/027836402321261904"},{"key":"S0263574714000356_ref14","volume-title":"Geometric Fundamentals of Robotics","author":"Selig","year":"2005"},{"key":"S0263574714000356_ref32","doi-asserted-by":"publisher","DOI":"10.1142\/S0219843605000594"},{"key":"S0263574714000356_ref8","first-page":"155","volume-title":"Rehabilitation","author":"Soyama","year":"2004"},{"key":"S0263574714000356_ref28","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-84628-642-1"},{"key":"S0263574714000356_ref6","doi-asserted-by":"publisher","DOI":"10.1177\/0278364912455366"},{"key":"S0263574714000356_ref26","doi-asserted-by":"publisher","DOI":"10.1109\/70.585902"},{"key":"S0263574714000356_ref24","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574713000647"},{"key":"S0263574714000356_ref7","doi-asserted-by":"publisher","DOI":"10.1109\/86.662623"},{"key":"S0263574714000356_ref20","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1993.292110"},{"key":"S0263574714000356_ref21","doi-asserted-by":"publisher","DOI":"10.1115\/1.2802344"},{"key":"S0263574714000356_ref25","doi-asserted-by":"crossref","first-page":"658","DOI":"10.1109\/IROS.2010.5651097","volume-title":"IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Pham","year":"2010"},{"key":"S0263574714000356_ref4","first-page":"2841","volume-title":"IEEE International Conference on Systems, Man and Cybernetics (IEEE Cat. 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Miyazaki , \u201cA Simple Control Design for Human-Robot Coordination Based on the Knowledge of Dynamical Role Division,\u201d IEEE\/RSJ International Conference on Intelligent Robots and Systems, 2009 (IROS 2009) (2009) pp. 3051\u20133056.","DOI":"10.1109\/IROS.2009.5354109"},{"key":"S0263574714000356_ref1","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2012.2225473"},{"key":"S0263574714000356_ref34","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2009.2020345"},{"key":"S0263574714000356_ref2","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2007.03.003"},{"key":"S0263574714000356_ref33","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2006.889487"},{"key":"S0263574714000356_ref3","doi-asserted-by":"publisher","DOI":"10.1561\/1100000005"},{"key":"S0263574714000356_ref19","first-page":"350","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation","author":"Uchiyama","year":"1988"},{"key":"S0263574714000356_ref15","first-page":"373","article-title":"Dual quaternions in spatial kinematics in an algebraic sense","volume":"32","author":"Akyar","year":"2008","journal-title":"Turk. J. Math."},{"key":"S0263574714000356_ref27","first-page":"1941","volume-title":"IEEE International Conference on Robotics and Automation (ICRA)","author":"Figueredo","year":"2013"},{"key":"S0263574714000356_ref23","first-page":"4194","volume-title":"IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Caccavale","year":"2011"},{"key":"S0263574714000356_ref9","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2012.2229950"},{"key":"S0263574714000356_ref18","doi-asserted-by":"crossref","first-page":"3955","DOI":"10.1109\/IROS.2010.5650218","volume-title":"IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Adorno","year":"2010"},{"key":"S0263574714000356_ref35","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2011.2142450"},{"key":"S0263574714000356_ref30","unstructured":"A. P. L. B\u00f3 , Active Pathological Tremor Compensation on the Upper Limbs using Functional Electrical Stimulation [Compensation active de tremblements pathologiques des membres sup\u00e9rieurs via la stimulation \u00e9lectrique fonctionnelle] Ph.D. Thesis (Universit\u00e9 Montpellier 2, 2010)."},{"key":"S0263574714000356_ref13","first-page":"4658","volume-title":"IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Adorno","year":"2011"},{"key":"S0263574714000356_ref22","first-page":"701","volume-title":"Cooperative Manipulators","author":"Caccavale","year":"2008"},{"key":"S0263574714000356_ref12","first-page":"3777","volume-title":"IEEE International Conference on Robotics and Automation","author":"Adorno","year":"2011"},{"key":"S0263574714000356_ref17","first-page":"1","volume-title":"Introduction to Theoretical Kinematics","author":"McCarthy","year":"1990"},{"key":"S0263574714000356_ref10","doi-asserted-by":"publisher","DOI":"10.1007\/s12369-010-0059-6"},{"key":"S0263574714000356_ref16","unstructured":"B. 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Adorno , Two-arm Manipulation: From Manipulators to Enhanced Human-Robot Collaboration [Contribution \u00e0 la manipulation \u00e0 deux bras: des manipulateurs \u00e0 la collaboration homme-robot] Ph.D. Thesis (Universit\u00e9 Montpellier 2, 2011)."}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574714000356","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,4,21]],"date-time":"2019-04-21T18:57:41Z","timestamp":1555873061000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574714000356\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2014,2,28]]},"references-count":35,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2015,2]]}},"alternative-id":["S0263574714000356"],"URL":"https:\/\/doi.org\/10.1017\/s0263574714000356","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2014,2,28]]}}}