{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,6,19]],"date-time":"2025-06-19T05:04:23Z","timestamp":1750309463429,"version":"3.41.0"},"reference-count":55,"publisher":"Association for Computing Machinery (ACM)","issue":"2","license":[{"start":{"date-parts":[[2024,12,24]],"date-time":"2024-12-24T00:00:00Z","timestamp":1734998400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"ANR","award":["ANR-11-LABX-0004"],"award-info":[{"award-number":["ANR-11-LABX-0004"]}]}],"content-domain":{"domain":["dl.acm.org"],"crossmark-restriction":true},"short-container-title":["J. Hum.-Robot Interact."],"published-print":{"date-parts":[[2025,6,30]]},"abstract":"<jats:p>In application domains such as surgical robotics, fully autonomous control remains a long-term ambition and the systems are mostly teleoperated. In this article, the presence of an operator in-the-loop is exploited to perform the online registration of an initially inaccurate haptic guidance and the calibration of robot kinematic models using operator\u2019s intention instead of relying on exteroceptive sensors. This is used to improve online haptic guidance in the context of shared control, or to progress toward automatic task completion after an initial learning phase. The method presented in this article is based on an optimization in the task space to minimize the errors between the executed and desired trajectories, both estimated from models. This approach is particularly relevant when the execution of a planned task would suffer from errors that exteroceptive measurements could not fully correct, because of sensor inaccuracy or unavailability. A user study realized for a drawing task is detailed to illustrate that initially inaccurate task registration and robot models can be corrected from user inputs only. The results show that the proposed algorithm can learn the correct models, which in turns significantly improves the quality of the haptic guidance and decreases path deviations during the teleoperated task.<\/jats:p>","DOI":"10.1145\/3702246","type":"journal-article","created":{"date-parts":[[2024,11,1]],"date-time":"2024-11-01T05:17:36Z","timestamp":1730438256000},"page":"1-31","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":0,"title":["Online Correction of Task Registration and Robot Models from User Input"],"prefix":"10.1145","volume":"14","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-7016-7397","authenticated-orcid":false,"given":"Thibault","family":"Poignonec","sequence":"first","affiliation":[{"name":"ICube Laboratory, University of Strasbourg-CNRS-INSERM, Strasbourg, France"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9267-3792","authenticated-orcid":false,"given":"Florent","family":"Nageotte","sequence":"additional","affiliation":[{"name":"ICube Laboratory, University of Strasbourg-CNRS-INSERM, Strasbourg, France"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2052-6037","authenticated-orcid":false,"given":"Nabil","family":"Zemiti","sequence":"additional","affiliation":[{"name":"LIRMM Laboratory, CNRS, University of Montpellier, Montpellier, France"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4728-8593","authenticated-orcid":false,"given":"Bernard","family":"Bayle","sequence":"additional","affiliation":[{"name":"ICube Laboratory, University of Strasbourg-CNRS-INSERM, Strasbourg, France"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"320","published-online":{"date-parts":[[2024,12,24]]},"reference":[{"key":"e_1_3_2_2_2","doi-asserted-by":"crossref","first-page":"897","DOI":"10.1109\/ROBOT.2005.1570231","volume-title":"Proceedings of the 2005 IEEE International Conference on Robotics and Automation","author":"Aarno D.","year":"2005","unstructured":"D. Aarno, S. Ekvall, and D. Kragic. 2005. Adaptive virtual fixtures for machine-assisted teleoperation tasks. In Proceedings of the 2005 IEEE International Conference on Robotics and Automation, 897\u2013903."},{"key":"e_1_3_2_3_2","first-page":"217","volume-title":"Proceedings of Machine Learning Research","volume":"78","author":"Bajcsy Andrea","year":"2017","unstructured":"Andrea Bajcsy, Dylan P. Losey, Marcia K. O\u2019Malley, and Anca D. Dragan. 2017. Learning robot objectives from physical human interaction. Proceedings of Machine Learning Research 78 (2017), 217\u2013226."},{"key":"e_1_3_2_4_2","doi-asserted-by":"publisher","DOI":"10.1186\/s12984-015-0090-9"},{"key":"e_1_3_2_5_2","first-page":"480","volume-title":"European Urology","author":"Bianchi Lorenzo","year":"2021","unstructured":"Lorenzo Bianchi, Francesco Chessa, Andrea Angiolini, Laura Cercenelli, Simone Lodi, Barbara Bortolani, Enrico Molinaroli, Carlo Casablanca, Matteo Droghetti, and Caterina Gaudiano. 2021. The use of augmented reality to guide the intraoperative frozen section during robot-assisted radical prostatectomy. European Urology 80, 4 (2021), 480\u2013488."},{"key":"e_1_3_2_6_2","first-page":"1577","volume-title":"IEEE Transactions on Robotics","author":"Bischof Bernhard","year":"2018","unstructured":"Bernhard Bischof, Tobias Gl\u00fcck, Martin B\u00f6ck, and Andreas Kugi. 2018. A path\/surface following control approach to generate virtual fixtures. IEEE Transactions on Robotics 34, 6 (2018), 1577\u20131592."},{"key":"e_1_3_2_7_2","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2020.2971415"},{"key":"e_1_3_2_8_2","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2013.2283410"},{"key":"e_1_3_2_9_2","first-page":"1178","volume-title":"The International Journal of Robotics Research","author":"Broad Alexander","year":"2020","unstructured":"Alexander Broad, Ian Abraham, Todd Murphey, and Brenna Argall. 2020. Data-driven Koopman operators for model-based shared control of human\u2013machine systems. The International Journal of Robotics Research 39, 9 (Aug. 2020), 1178\u20131195."},{"key":"e_1_3_2_10_2","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.3003882"},{"key":"e_1_3_2_11_2","doi-asserted-by":"publisher","DOI":"10.1109\/34.625129"},{"key":"e_1_3_2_12_2","doi-asserted-by":"publisher","DOI":"10.1109\/RBME.2016.2538080"},{"key":"e_1_3_2_13_2","first-page":"150","volume-title":"Proceedings of the 5th International Conference on Automation, Control and Robots (ICACR)","author":"Feng Jinyu","year":"2021","unstructured":"Jinyu Feng, Xiaojian Li, Xilin Xiao, Bo Ouyang, and Jin Fang. 2021. Virtual fixtures assistance for safe polyp dissection in minimally invasive robotic surgery. In Proceedings of the 5th International Conference on Automation, Control and Robots (ICACR), 150\u2013155."},{"key":"e_1_3_2_14_2","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3064500"},{"key":"e_1_3_2_15_2","doi-asserted-by":"publisher","DOI":"10.1016\/S0166-4115(08)62386-9"},{"key":"e_1_3_2_16_2","doi-asserted-by":"publisher","DOI":"10.1177\/0278364918776060"},{"issue":"4","key":"e_1_3_2_17_2","doi-asserted-by":"crossref","first-page":"3789","DOI":"10.1109\/LRA.2018.2856536","article-title":"Progressive automation with DMP synchronization and variable stiffness control","volume":"3","author":"Kastritsi Theodora","year":"2018","unstructured":"Theodora Kastritsi, Fotios Dimeas, and Zoe Doulgeri. 2018. Progressive automation with DMP synchronization and variable stiffness control. IEEE Robotics and Automation Letters 3, 4 (Oct. 2018), 3789\u20133796.","journal-title":"IEEE Robotics and Automation Letters"},{"issue":"2","key":"e_1_3_2_18_2","doi-asserted-by":"crossref","first-page":"552","DOI":"10.1109\/TASE.2016.2515161","article-title":"Needle grasp and entry port selection for automatic execution of suturing tasks in robotic minimally invasive surgery","volume":"13","author":"Liu T.","year":"2016","unstructured":"T. Liu and M. C. Cavusoglu. 2016. Needle grasp and entry port selection for automatic execution of suturing tasks in robotic minimally invasive surgery. IEEE Transactions on Automation Science and Engineering 13, 2 (Apr. 2016), 552\u2013563.","journal-title":"IEEE Transactions on Automation Science and Engineering"},{"key":"e_1_3_2_19_2","first-page":"123","volume-title":"Proceedings of the Conference on Robot Learning","author":"Losey Dylan P.","year":"2018","unstructured":"Dylan P. Losey and Marcia K. O\u2019Malley. 2018. Including uncertainty when learning from human corrections. In Proceedings of the Conference on Robot Learning, 123\u2013132."},{"key":"e_1_3_2_20_2","doi-asserted-by":"publisher","DOI":"10.1145\/3354139"},{"issue":"1","key":"e_1_3_2_21_2","doi-asserted-by":"crossref","first-page":"126","DOI":"10.1109\/TRO.2017.2765335","article-title":"Trajectory deformations from physical human\u2013robot interaction","volume":"34","author":"Losey Dylan P.","year":"2018","unstructured":"Dylan P. Losey and Marcia K. O\u2019Malley. 2018. Trajectory deformations from physical human\u2013robot interaction. IEEE Transactions on Robotics 34, 1 (Feb. 2018), 126\u2013138.","journal-title":"IEEE Transactions on Robotics"},{"key":"e_1_3_2_22_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.media.2013.04.003"},{"key":"e_1_3_2_23_2","first-page":"524","volume-title":"IEEE Robotics and Automation Letters","author":"Marinho Murilo M.","year":"2020","unstructured":"Murilo M. Marinho, Hisashi Ishida, Kanako Harada, Kyoichi Deie, and Mamoru Mitsuishi. 2020. Virtual fixture assistance for suturing in robot-aided pediatric endoscopic surgery. IEEE Robotics and Automation Letters 5, 2 (2020), 524\u2013531."},{"key":"e_1_3_2_24_2","first-page":"6468","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation (ICRA \u201914).","author":"Masone Carlo","year":"2014","unstructured":"Carlo Masone, Paolo Robuffo Giordano, Heinrich H. B\u00fclthoff, and Antonio Franchi. 2014. Semi-autonomous trajectory generation for mobile robots with integral haptic shared control. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA \u201914). IEEE, 6468\u20136475."},{"key":"e_1_3_2_25_2","volume-title":"Proceedings of 2019 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)","author":"Moccia Rocco","year":"2019","unstructured":"Rocco Moccia, Mario Selvaggio, Luigi Villani, Bruno Siciliano, and Fanny Ficuciello. 2019. Vision-based virtual fixtures generation for robotic-assisted polyp dissection procedures. In Proceedings of 2019 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE."},{"key":"e_1_3_2_26_2","first-page":"1303","volume-title":"The International Journal of Robotics Research","author":"Nageotte Florent","year":"2009","unstructured":"Florent Nageotte, Philippe Zanne, Christophe Doignon, and Michel de Mathelin. 2009. Stitching planning in laparoscopic surgery: Towards robot-assisted suturing. The International Journal of Robotics Research 28, 10 (Oct. 2009), 1303\u20131321."},{"key":"e_1_3_2_27_2","volume-title":"Nonlinear Estimation and Modeling of Noisy Time Series by Dual Kalman Filtering Methods","author":"Nelson Alex Tremain","year":"2000","unstructured":"Alex Tremain Nelson. 2000. Nonlinear Estimation and Modeling of Noisy Time Series by Dual Kalman Filtering Methods. Ph.D. Dissertation. Oregon Graduate Institute of Science and Technology."},{"key":"e_1_3_2_28_2","doi-asserted-by":"crossref","first-page":"166","DOI":"10.1109\/HUMANOIDS.2018.8625010","volume-title":"Proceedings of the IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids \u201918).","author":"Nemec Bojan","year":"2018","unstructured":"Bojan Nemec, Leon \u017dlajpah, Sebastjan \u0160lajpa, Jo\u017eica Pi\u0161kur, and Ale\u0161 Ude. 2018. An efficient PBD framework for fast deployment of bi-manual assembly tasks. In Proceedings of the IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids \u201918). IEEE, 166\u2013173."},{"key":"e_1_3_2_29_2","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-32552-1_43"},{"key":"e_1_3_2_30_2","doi-asserted-by":"publisher","DOI":"10.1109\/TOH.2017.2786243"},{"key":"e_1_3_2_31_2","doi-asserted-by":"publisher","DOI":"10.1109\/TOH.2015.2406708"},{"key":"e_1_3_2_32_2","first-page":"404","volume-title":"IEEE Transactions on Robotics","author":"Pedram Sahba Aghajani","year":"2020","unstructured":"Sahba Aghajani Pedram, Changyeob Shin, Peter Walker Ferguson, Ji Ma, Erik P. Dutson, and Jacob Rosen. 2020. Autonomous suturing framework and quantification using a cable-driven surgical robot. IEEE Transactions on Robotics 37, 2 (2020), 404\u2013417."},{"key":"e_1_3_2_33_2","doi-asserted-by":"publisher","DOI":"10.1177\/027836492110405"},{"key":"e_1_3_2_34_2","doi-asserted-by":"crossref","first-page":"949","DOI":"10.23919\/ACC55779.2023.10156285","volume-title":"Proceedings of the American Control Conference (ACC \u201923)","author":"Poignonec Thibault","year":"2023","unstructured":"Thibault Poignonec, Florent Nageotte, and Bernard Bayle. 2023. A fading memory discontinuous EKF for the online model identification of cable-driven robots with backlash. In Proceedings of the American Control Conference (ACC \u201923). IEEE, 949\u2013954."},{"key":"e_1_3_2_35_2","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48506.2021.9560938"},{"issue":"3","key":"e_1_3_2_36_2","doi-asserted-by":"crossref","first-page":"4788","DOI":"10.1109\/LRA.2020.3003872","article-title":"Towards in situ backlash estimation of continuum robots using an endoscopic camera","volume":"5","author":"Poignonec Thibault","year":"2020","unstructured":"Thibault Poignonec, Philippe Zanne, Beno\u00eet Rosa, and Florent Nageotte. 2020. Towards in situ backlash estimation of continuum robots using an endoscopic camera. IEEE Robotics and Automation Letters 5, 3 (Jul. 2020), 4788\u20134795.","journal-title":"IEEE Robotics and Automation Letters"},{"key":"e_1_3_2_37_2","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-017-9680-7"},{"key":"e_1_3_2_38_2","doi-asserted-by":"crossref","first-page":"799","DOI":"10.1007\/978-1-4471-5058-9_4","volume-title":"Encyclopedia of Systems and Control","author":"Rawlings James B.","year":"2015","unstructured":"James B. Rawlings. 2015. Moving horizon estimation. In Encyclopedia of Systems and Control. John Baillieul and Tariq Samad (Eds.), Springer, London, 799\u2013804."},{"issue":"6","key":"e_1_3_2_39_2","doi-asserted-by":"crossref","first-page":"652","DOI":"10.1016\/j.mechatronics.2013.06.006","article-title":"Image-based hysteresis reduction for the control of flexible endoscopic instruments","volume":"23","author":"Reilink Rob","year":"2013","unstructured":"Rob Reilink, Stefano Stramigioli, and Sarthak Misra. 2013. Image-based hysteresis reduction for the control of flexible endoscopic instruments. Mechatronics 23, 6 (Sep. 2013), 652\u2013658.","journal-title":"Mechatronics"},{"key":"e_1_3_2_40_2","doi-asserted-by":"publisher","DOI":"10.1109\/TMI.2008.917246"},{"key":"e_1_3_2_41_2","first-page":"219","volume-title":"Proceedings of the IEEE International Conference on Advanced Intelligent Mechatronics (AIM \u201917).","author":"Restrepo Susana S\u00e1nchez","year":"2017","unstructured":"Susana S\u00e1nchez Restrepo, Gennaro Raiola, Pauline Chevalier, Xavier Lamy, and Daniel Sidobre. 2017. Iterative virtual guides programming for human-robot comanipulation. In Proceedings of the IEEE International Conference on Advanced Intelligent Mechatronics (AIM \u201917). IEEE, 219\u2013226."},{"key":"e_1_3_2_42_2","first-page":"7596","volume-title":"Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS \u201919).","author":"Rozo Leonel","year":"2019","unstructured":"Leonel Rozo. 2019. Interactive trajectory adaptation through force-guided bayesian optimization. In Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS \u201919). IEEE, 7596\u20137603."},{"key":"e_1_3_2_43_2","first-page":"101588","volume-title":"Medical Image Analysis","author":"Samei Golnoosh","year":"2020","unstructured":"Golnoosh Samei, Keith Tsang, Claudia Kesch, Julio Lobo, Soheil Hor, Omid Mohareri, Silvia Chang, S. Larry Goldenberg, Peter C. Black, and Septimiu Salcudean. 2020. A partial augmented reality system with live ultrasound and registered preoperative MRI for guiding robot-assisted radical prostatectomy. Medical Image Analysis 60 (2020), 101588."},{"key":"e_1_3_2_44_2","doi-asserted-by":"crossref","first-page":"190","DOI":"10.1109\/ICARM.2016.7606917","volume-title":"Proceedings of the International Conference on Advanced Robotics and Mechatronics (ICARM \u201916)","author":"Selvaggio Mario","year":"2016","unstructured":"Mario Selvaggio, Fei Chen, Boyang Gao, Gennaro Notomista, Francesco Trapani, and Darwin Caldwell. 2016. Vision based virtual fixture generation for teleoperated robotic manipulation. In Proceedings of the International Conference on Advanced Robotics and Mechatronics (ICARM \u201916), 190\u2013195."},{"issue":"4","key":"e_1_3_2_45_2","doi-asserted-by":"crossref","first-page":"3129","DOI":"10.1109\/LRA.2018.2849876","article-title":"Passive virtual fixtures adaptation in minimally invasive robotic surgery","volume":"3","author":"Selvaggio M.","year":"2018","unstructured":"M. Selvaggio, G. A. Fontanelli, F. Ficuciello, L. Villani, and B. Siciliano. 2018. Passive virtual fixtures adaptation in minimally invasive robotic surgery. IEEE Robotics and Automation Letters 3, 4 (Oct. 2018), 3129\u20133136.","journal-title":"IEEE Robotics and Automation Letters"},{"key":"e_1_3_2_46_2","doi-asserted-by":"crossref","DOI":"10.1002\/0470045345","volume-title":"Optimal State Estimation: Kalman,  \\(H_{\\infty}\\) , and Nonlinear Approaches","author":"Simon Dan","year":"2006","unstructured":"Dan Simon. 2006. Optimal State Estimation: Kalman, \\(H_{\\infty}\\) , and Nonlinear Approaches. John Wiley & Sons, Inc."},{"key":"e_1_3_2_47_2","doi-asserted-by":"publisher","DOI":"10.1049\/iet-cta.2009.0032"},{"key":"e_1_3_2_48_2","doi-asserted-by":"crossref","first-page":"500","DOI":"10.1109\/WHC.2015.7177762","volume-title":"Proceedings of the IEEE World Haptics Conference (WHC \u201915).","author":"Smisek J.","year":"2015","unstructured":"J. Smisek, M. M. van Paassen, and A. Schiele. 2015. Haptic guidance in bilateral teleoperation: Effects of guidance inaccuracy. In Proceedings of the IEEE World Haptics Conference (WHC \u201915). 500\u2013505."},{"key":"e_1_3_2_49_2","first-page":"5033","volume-title":"Proceedings of the 42nd Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC \u201920).","author":"Thomas Gaelle","year":"2020","unstructured":"Gaelle Thomas, Laurent Barb\u00e9, Beno\u00eet Larrat, Pauline Agou, Jonathan Vappou, and Florent Nageotte. 2020. Planning framework for robot-assisted blood-brain Barrier opening with focused ultrasound. In Proceedings of the 42nd Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC \u201920). IEEE, 5033\u20135036."},{"key":"e_1_3_2_50_2","doi-asserted-by":"crossref","DOI":"10.1002\/9781118562147","volume-title":"Medical Robotics","author":"Troccaz Jocelyne","year":"2013","unstructured":"Jocelyne Troccaz. 2013. Medical Robotics. John Wiley & Sons."},{"key":"e_1_3_2_51_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2009.11.005"},{"key":"e_1_3_2_52_2","volume-title":"Journal of Mechanisms and Robotics","author":"Wang Long","year":"2017","unstructured":"Long Wang, Zihan Chen, Preetham Chalasani, Rashid M. Yasin, Peter Kazanzides, Russell H. Taylor, and Nabil Simaan. 2017. Force-controlled exploration for updating virtual fixture geometry in model-mediated telemanipulation. Journal of Mechanisms and Robotics 9, 2 (2017), 021010."},{"key":"e_1_3_2_53_2","doi-asserted-by":"publisher","DOI":"10.1109\/TCYB.2021.3138992"},{"key":"e_1_3_2_54_2","doi-asserted-by":"publisher","DOI":"10.1109\/TMRB.2020.3042992"},{"key":"e_1_3_2_55_2","first-page":"9178","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation (ICRA \u201920)","author":"Zein Mohammad Kassem","year":"2020","unstructured":"Mohammad Kassem Zein, Abbas Sidaoui, Daniel Asmar, and Imad H. Elhajj. 2020. Enhanced teleoperation using autocomplete. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA \u201920), 9178\u20139184."},{"key":"e_1_3_2_56_2","first-page":"805","volume-title":"IEEE Transactions on Biomedical Engineering","author":"Zorn Lucile","year":"2011","unstructured":"Lucile Zorn, Pierre Renaud, Bernard Bayle, Laurent Goffin, Cyrille Lebosse, Michel de Mathelin, and Jack Foucher. 2011. Design and evaluation of a robotic system for transcranial magnetic stimulation. IEEE Transactions on Biomedical Engineering 59, 3 (2011), 805\u2013815."}],"container-title":["ACM Transactions on Human-Robot Interaction"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3702246","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/dl.acm.org\/doi\/pdf\/10.1145\/3702246","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,6,19]],"date-time":"2025-06-19T01:10:31Z","timestamp":1750295431000},"score":1,"resource":{"primary":{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3702246"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2024,12,24]]},"references-count":55,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2025,6,30]]}},"alternative-id":["10.1145\/3702246"],"URL":"https:\/\/doi.org\/10.1145\/3702246","relation":{},"ISSN":["2573-9522"],"issn-type":[{"type":"electronic","value":"2573-9522"}],"subject":[],"published":{"date-parts":[[2024,12,24]]},"assertion":[{"value":"2024-03-18","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2024-10-10","order":2,"name":"accepted","label":"Accepted","group":{"name":"publication_history","label":"Publication History"}},{"value":"2024-12-24","order":3,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}]}}