{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,12,10]],"date-time":"2025-12-10T09:10:11Z","timestamp":1765357811551,"version":"3.41.2"},"reference-count":43,"publisher":"ASME International","issue":"5","license":[{"start":{"date-parts":[[2025,3,20]],"date-time":"2025-03-20T00:00:00Z","timestamp":1742428800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.asme.org\/publications-submissions\/publishing-information\/legal-policies"}],"content-domain":{"domain":["asmedigitalcollection.asme.org"],"crossmark-restriction":true},"short-container-title":[],"published-print":{"date-parts":[[2025,5,1]]},"abstract":"<jats:title>Abstract<\/jats:title>\n               <jats:p>Improper controller parameter settings in physical human\u2013robot interaction (pHRI) can lead to instability, compromising both safety and system performance. This study investigates the relationship between cognitive and physical aspects of co-manipulation by leveraging electroencephalography (EEG) to predict instability in physical human\u2013robot interaction. Using elastic net regression and deep convolutional neural networks, we estimate instability as subjects guide a robot through predefined trajectories under varying admittance control settings. Our results show that EEG signals can predict instability up to 2 s before it manifests in force data. Moreover, the deep learning-based approach significantly outperforms elastic regression, achieving a notable (\u223c10%) improvement in predicting the instability index. These findings highlight the potential of EEG-based monitoring for enhancing real-time stability assessment in pHRI.<\/jats:p>","DOI":"10.1115\/1.4068083","type":"journal-article","created":{"date-parts":[[2025,3,4]],"date-time":"2025-03-04T16:45:31Z","timestamp":1741106731000},"update-policy":"https:\/\/doi.org\/10.1115\/crossmarkpolicy-asme","source":"Crossref","is-referenced-by-count":1,"title":["Estimating Motor Control Difficulty in Human\u2013Robot Fine Co-Manipulation Tasks Using Brain Activities"],"prefix":"10.1115","volume":"25","author":[{"given":"Hemanth","family":"Manjunatha","sequence":"first","affiliation":[{"name":"University at Buffalo Human-in-the-Loop System Lab., , , \u00a0","place":["Buffalo, NY, 14260"]}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Amirhossein H.","family":"Memar","sequence":"additional","affiliation":[{"name":"University at Buffalo Human-in-the-Loop System Lab., , , \u00a0","place":["Buffalo, NY, 14260"]}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ehsan Tarkesh","family":"Esfahani","sequence":"additional","affiliation":[{"name":"University at Buffalo Human-in-the-Loop System Lab., , , \u00a0","place":["Buffalo, NY, 14260"]}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"33","published-online":{"date-parts":[[2025,3,20]]},"reference":[{"issue":"3","key":"2025032011045109700_CIT0001","doi-asserted-by":"publisher","first-page":"203","DOI":"10.1561\/1100000005","article-title":"Human\u2013Robot Interaction: A Survey","volume":"1","author":"Goodrich","year":"2008","journal-title":"Found. Trends Hum. Comput. Interact."},{"issue":"3","key":"2025032011045109700_CIT0002","doi-asserted-by":"publisher","first-page":"253","DOI":"10.1016\/j.mechmachtheory.2007.03.003","article-title":"An Atlas of Physical Human\u2013Robot Interaction","volume":"43","author":"De Santis","year":"2008","journal-title":"Mech. Mach. Theory"},{"key":"2025032011045109700_CIT0003","doi-asserted-by":"publisher","first-page":"248","DOI":"10.1016\/j.mechatronics.2018.02.009","article-title":"Survey on Human\u2013Robot Collaboration in Industrial Settings: Safety, Intuitive Interfaces and Applications","volume":"55","author":"Villani","year":"2018","journal-title":"Mechatronics"},{"key":"2025032011045109700_CIT0004","first-page":"1280","article-title":"Detecting Human Motion Intention During pHRI Using Artificial Neural Networks Trained by EMG Signals","author":"Sirintuna","year":"2020"},{"key":"2025032011045109700_CIT0005","doi-asserted-by":"crossref","first-page":"3","DOI":"10.1007\/978-3-319-67480-3_1","volume-title":"Smart Maintenance for Human\u2013Robot Interaction","author":"Xing","year":"2018"},{"key":"2025032011045109700_CIT0006","doi-asserted-by":"crossref","first-page":"1907","DOI":"10.1007\/978-3-319-32552-1_71","volume-title":"Springer Handbook of Robotics","author":"Mutlu","year":"2016"},{"key":"2025032011045109700_CIT0007","first-page":"1","article-title":"Using EEG for Predicting User Preferences of Physical Compliance in Human-Robot Cooperation","author":"Memar","year":"2018"},{"key":"2025032011045109700_CIT0008","doi-asserted-by":"publisher","first-page":"111104","DOI":"10.1016\/j.jbiomech.2022.111104","article-title":"EMG-Driven Fatigue-Based Self-Adapting Admittance Control of a Hand Rehabilitation Robot","volume":"138","author":"Mashayekhi","year":"2022","journal-title":"J. Biomech."},{"key":"2025032011045109700_CIT0009","doi-asserted-by":"publisher","first-page":"10920617241292155","DOI":"10.1177\/10920617241292155","article-title":"Exploring Human-Swarm Interaction Dynamics in Cyber-Physical Systems: A Physiological Approach","author":"Distefano","year":"2024","journal-title":"J. Integr. Des. Process Sci."},{"key":"2025032011045109700_CIT0010","doi-asserted-by":"publisher","first-page":"102510","DOI":"10.1016\/j.rcim.2022.102510","article-title":"Proactive Human\u2013Robot Collaboration: Mutual-Cognitive, Predictable, and Self-Organising Perspectives","volume":"81","author":"Li","year":"2023","journal-title":"Rob. Comput.-Integr. Manuf."},{"key":"2025032011045109700_CIT0011","doi-asserted-by":"publisher","first-page":"104047","DOI":"10.1016\/j.robot.2022.104047","article-title":"Perceived Safety in Physical Human\u2013Robot Interaction-A Survey","volume":"151","author":"Rubagotti","year":"2022","journal-title":"Rob. Auton. Syst."},{"issue":"01n02","key":"2025032011045109700_CIT0012","doi-asserted-by":"publisher","first-page":"2041004","DOI":"10.1142\/S2424905X20410044","article-title":"Effect of Haptic Assistance Strategy on Mental Engagement in Fine Motor Tasks","volume":"5","author":"Manjunatha","year":"2020","journal-title":"J. Med. Rob. Res."},{"issue":"2","key":"2025032011045109700_CIT0013","doi-asserted-by":"publisher","first-page":"613","DOI":"10.1109\/TMECH.2015.2465849","article-title":"A Review of Algorithms for Compliant Control of Stiff and Fixed-Compliance Robots","volume":"21","author":"Calanca","year":"2015","journal-title":"IEEE\/ASME Trans. Mechatron."},{"issue":"2","key":"2025032011045109700_CIT0014","doi-asserted-by":"publisher","first-page":"457","DOI":"10.4271\/2016-01-0337","article-title":"A Framework for Collaborative Robot (Cobot) Integration in Advanced Manufacturing Systems","volume":"9","author":"Djuric","year":"2016","journal-title":"SAE Int. J. Mater. Manuf."},{"issue":"4","key":"2025032011045109700_CIT0015","doi-asserted-by":"publisher","first-page":"795","DOI":"10.1007\/s41315-023-00299-7","article-title":"Research on Safety Design and Optimization of Collaborative Robots","volume":"7","author":"Hu","year":"2023","journal-title":"Int. J. Intell. Rob. Appl."},{"issue":"11","key":"2025032011045109700_CIT0016","doi-asserted-by":"publisher","first-page":"1421","DOI":"10.1177\/0278364918768950","article-title":"Admittance Control for Physical Human\u2013Robot Interaction","volume":"37","author":"Keemink","year":"2018","journal-title":"Int. J. Rob. Res."},{"issue":"2","key":"2025032011045109700_CIT0017","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1145\/3368854","article-title":"Objective Assessment of Human Workload in Physical Human-Robot Cooperation Using Brain Monitoring","volume":"9","author":"Memar","year":"2019","journal-title":"ACM Trans. Hum.-Rob Interact."},{"key":"2025032011045109700_CIT0018","first-page":"2708","article-title":"Classification of Motor Control Difficulty Using EMG in Physical Human-Robot Interaction","author":"Hemanth","year":"2020"},{"issue":"1","key":"2025032011045109700_CIT0019","doi-asserted-by":"publisher","first-page":"112","DOI":"10.1186\/s12984-015-0090-9","article-title":"On the Analysis of Movement Smoothness","volume":"12","author":"Balasubramanian","year":"2015","journal-title":"J. Neuroeng. Rehabil."},{"key":"2025032011045109700_CIT0020","first-page":"335","article-title":"A Robotic Teacher of Chinese Handwriting","author":"Teo","year":"2002"},{"issue":"5","key":"2025032011045109700_CIT0021","doi-asserted-by":"publisher","first-page":"756","DOI":"10.1109\/TNSRE.2012.2231943","article-title":"A Comparative Analysis of Speed Profile Models for Wrist Pointing Movements","volume":"21","author":"Vaisman","year":"2012","journal-title":"IEEE Trans. Neural Syst. Rehabil. Eng."},{"issue":"8","key":"2025032011045109700_CIT0022","doi-asserted-by":"publisher","first-page":"2126","DOI":"10.1109\/TBME.2011.2179545","article-title":"A Robust and Sensitive Metric for Quantifying Movement Smoothness","volume":"59","author":"Balasubramanian","year":"2011","journal-title":"IEEE Trans. Biomed. Eng."},{"issue":"4","key":"2025032011045109700_CIT0023","doi-asserted-by":"publisher","first-page":"261","DOI":"10.1049\/iet-cta:20070069","article-title":"Frequency Domain Stability Observer and Active Damping Control for Stable Haptic Interaction","volume":"2","author":"Ryu","year":"2008","journal-title":"IET Control Theory Appl."},{"issue":"2","key":"2025032011045109700_CIT0024","doi-asserted-by":"publisher","first-page":"267","DOI":"10.1109\/TOH.2016.2518670","article-title":"Online Stability in Human-Robot Cooperation With Admittance Control","volume":"9","author":"Dimeas","year":"2016","journal-title":"IEEE Trans. Haptic."},{"issue":"4","key":"2025032011045109700_CIT0025","doi-asserted-by":"publisher","first-page":"100","DOI":"10.3390\/robotics9040100","article-title":"How Can Physiological Computing Benefit Human-Robot Interaction?","volume":"9","author":"Roy","year":"2020","journal-title":"Robotics"},{"issue":"1","key":"2025032011045109700_CIT0026","doi-asserted-by":"publisher","first-page":"187","DOI":"10.1113\/jphysiol.1954.sp005042","article-title":"The Reaction Time to Touch","volume":"123","author":"Lele","year":"1954","journal-title":"J. Physiol."},{"key":"2025032011045109700_CIT0027","doi-asserted-by":"crossref","DOI":"10.1002\/9781118131350","volume-title":"Handbook of Human Factors and Ergonomics","author":"Salvendy","year":"2012"},{"key":"2025032011045109700_CIT0028","first-page":"229","article-title":"EEG Correlates of Motor Control Difficulty in Physical Human-Robot Interaction: A Frequency Domain Analysis","author":"Memar","year":"2018"},{"issue":"4","key":"2025032011045109700_CIT0029","doi-asserted-by":"publisher","first-page":"2258","DOI":"10.1016\/j.neuroimage.2012.02.008","article-title":"EEG Correlates of Haptic Feedback in a Visuomotor Tracking Task","volume":"60","author":"Lin","year":"2012","journal-title":"NeuroImage"},{"key":"2025032011045109700_CIT0030","doi-asserted-by":"publisher","first-page":"1441002","DOI":"10.3389\/fnins.2024.1441002","article-title":"The Neuromechanical of Beta-Band Corticomuscular Coupling Within the Human Motor System","volume":"18","author":"Peng","year":"2024","journal-title":"Front. Neurosci."},{"issue":"5","key":"2025032011045109700_CIT0031","doi-asserted-by":"publisher","first-page":"056001","DOI":"10.1088\/1741-2560\/8\/5\/056001","article-title":"EEG Potentials Predict Upcoming Emergency Brakings During Simulated Driving","volume":"8","author":"Haufe","year":"2011","journal-title":"J. Neural. Eng."},{"issue":"1","key":"2025032011045109700_CIT0032","doi-asserted-by":"publisher","first-page":"65","DOI":"10.1186\/s12938-023-01129-4","article-title":"EEG-Based Emergency Braking Intention Detection During Simulated Driving","volume":"22","author":"Liang","year":"2023","journal-title":"BioMed. Eng. Online"},{"issue":"14","key":"2025032011045109700_CIT0033","doi-asserted-by":"publisher","first-page":"16013","DOI":"10.1109\/JSEN.2023.3283447","article-title":"EEG-Based Emergency Braking Prediction Using Data Ablation and SVM Classification","volume":"23","author":"Nacpil","year":"2023","journal-title":"IEEE Sens. J."},{"issue":"6","key":"2025032011045109700_CIT0034","doi-asserted-by":"publisher","first-page":"1766","DOI":"10.1109\/TITS.2017.2740427","article-title":"EEG-Based Detection of Driver Emergency Braking Intention for Brain-Controlled Vehicles","volume":"19","author":"Teng","year":"2017","journal-title":"IEEE Trans. Intell. Trans. Syst."},{"issue":"7","key":"2025032011045109700_CIT0035","doi-asserted-by":"publisher","first-page":"591","DOI":"10.3390\/machines10070591","article-title":"Human\u2013Robot Interaction: A Review and Analysis on Variable Admittance Control, Safety, and Perspectives","volume":"10","author":"Sharkawy","year":"2022","journal-title":"Machines"},{"key":"2025032011045109700_CIT0036","doi-asserted-by":"publisher","first-page":"267","DOI":"10.3389\/fnins.2013.00267","article-title":"MEG and EEG Data Analysis With MNE-Python","volume":"7","author":"Gramfort","year":"2013","journal-title":"Front. Neurosci."},{"issue":"3","key":"2025032011045109700_CIT0037","doi-asserted-by":"publisher","first-page":"312","DOI":"10.1007\/s002210100880","article-title":"Effects of Voluntary Force Generation on the Elastic Components of Endpoint Stiffness","volume":"141","author":"Perreault","year":"2001","journal-title":"Exp. Brain Res."},{"issue":"1","key":"2025032011045109700_CIT0038","doi-asserted-by":"publisher","first-page":"119","DOI":"10.1016\/0013-4694(82)90112-2","article-title":"Transformations Towards the Normal Distribution of Broad Band Spectral Parameters of the EEG","volume":"53","author":"Gasser","year":"1982","journal-title":"Electroencephalogr. Clin. Neurophysiol."},{"key":"2025032011045109700_CIT0039","first-page":"78","article-title":"Feature Selection, L 1 vs. L 2 Regularization, and Rotational Invariance","author":"Ng","year":"2004"},{"issue":"11","key":"2025032011045109700_CIT0040","doi-asserted-by":"publisher","first-page":"5391","DOI":"10.1002\/hbm.23730","article-title":"Deep Learning With Convolutional Neural Networks for EEG Decoding and Visualization","volume":"38","author":"Schirrmeister","year":"2017","journal-title":"Hum. Brain Mapp."},{"issue":"9","key":"2025032011045109700_CIT0041","doi-asserted-by":"publisher","first-page":"3760","DOI":"10.1109\/TNNLS.2019.2944933","article-title":"Deep Adaptive Input Normalization for Time Series Forecasting","volume":"31","author":"Passalis","year":"2019","journal-title":"IEEE Trans. Neural Netw. Learn. Syst."},{"issue":"2","key":"2025032011045109700_CIT0042","doi-asserted-by":"publisher","first-page":"020915","DOI":"10.1115\/1.4042295","article-title":"Variable Stiffness Mechanism for Suppressing Unintended Forces in Physical Human\u2013Robot Interaction","volume":"11","author":"Jujjavarapu","year":"2019","journal-title":"ASME J. Mech. Rob."},{"key":"2025032011045109700_CIT0043","doi-asserted-by":"crossref","DOI":"10.1007\/978-3-642-17659-3","volume-title":"Exoskeletons in Rehabilitation Robotics: Tremor Suppression","author":"Rocon","year":"2011"}],"container-title":["Journal of Computing and Information Science in Engineering"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/asmedigitalcollection.asme.org\/computingengineering\/article-pdf\/25\/5\/051004\/7439398\/jcise-24-1259.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"syndication"},{"URL":"https:\/\/asmedigitalcollection.asme.org\/computingengineering\/article-pdf\/25\/5\/051004\/7439398\/jcise-24-1259.pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,3,20]],"date-time":"2025-03-20T18:34:55Z","timestamp":1742495695000},"score":1,"resource":{"primary":{"URL":"https:\/\/asmedigitalcollection.asme.org\/computingengineering\/article\/25\/5\/051004\/1213179\/Estimating-Motor-Control-Difficulty-in-Human-Robot"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,3,20]]},"references-count":43,"journal-issue":{"issue":"5","published-print":{"date-parts":[[2025,5,1]]}},"URL":"https:\/\/doi.org\/10.1115\/1.4068083","relation":{},"ISSN":["1530-9827","1944-7078"],"issn-type":[{"type":"print","value":"1530-9827"},{"type":"electronic","value":"1944-7078"}],"subject":[],"published":{"date-parts":[[2025,3,20]]},"article-number":"051004"}}