{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T10:09:06Z","timestamp":1777716546541,"version":"3.51.4"},"reference-count":58,"publisher":"SAGE Publications","issue":"6","license":[{"start":{"date-parts":[[2015,3,16]],"date-time":"2015-03-16T00:00:00Z","timestamp":1426464000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2015,5]]},"abstract":"<jats:p>Fully autonomous applications of modern robotic systems are still constrained by limitations in sensory data processing, scene interpretation, and automated reasoning. However, their use as assistive devices for people with upper-limb disabilities has become possible with recent advances in \u201csoft robotics\u201d, that is, interaction control, physical human\u2013robot interaction, and reflex planning. In this context, impedance and reflex-based control has generally been understood to be a promising approach to safe interaction robotics.<\/jats:p>\n                  <jats:p>To create semi-autonomous assistive devices, we propose a decision-and-control architecture for hand\u2013arm systems with \u201csoft robotics\u201d capabilities, which can then be used via human\u2013machine interfaces (HMIs). We validated the functionality of our approach within the BrainGate2 clinical trial, in which an individual with tetraplegia used our architecture to control a robotic hand\u2013arm system under neural control via a multi-electrode array implanted in the motor cortex. The neuroscience results of this research have previously been published by Hochberg et al.<\/jats:p>\n                  <jats:p>In this paper we present our assistive decision-and-control architecture and demonstrate how the semi-autonomous assistive behavior can help the user. In our framework the robot is controlled through a multi-priority Cartesian impedance controller and its behavior is extended with collision detection and reflex reaction. Furthermore, virtual workspaces are added to ensure safety. On top of this we employ a decision-and-control architecture that uses sensory information available from the robotic system to evaluate the current state of task execution. Based on a set of available assistive skills, our architecture provides support in object interaction and manipulation and thereby enhances the usability of the robotic system for use with HMIs. The goal of our development is to provide an easy-to-use robotic system for people with physical disabilities and thereby enable them to perform simple tasks of daily living. In an exemplary real-world task, the participant was able to serve herself a beverage autonomously for the first time since her brainstem stroke, which she suffered approximately 14 years prior to this research.<\/jats:p>","DOI":"10.1177\/0278364914561535","type":"journal-article","created":{"date-parts":[[2015,3,16]],"date-time":"2015-03-16T21:57:33Z","timestamp":1426543053000},"page":"763-780","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":53,"title":["An assistive decision-and-control architecture for force-sensitive hand\u2013arm systems driven by human\u2013machine interfaces"],"prefix":"10.1177","volume":"34","author":[{"given":"J.","family":"Vogel","sequence":"first","affiliation":[{"name":"Institute of Robotics and Mechatronics, Robotics and Mechatronics Center, German Aerospace Center (DLR), Oberpfaffenhofen, Germany"}]},{"given":"S.","family":"Haddadin","sequence":"additional","affiliation":[{"name":"Institute of Automatic Control, Leibniz University Hanover, Germany"}]},{"given":"B.","family":"Jarosiewicz","sequence":"additional","affiliation":[{"name":"Department of Neuroscience and Institute for Brain Science, Brown University, Providence, RI, USA"},{"name":"Center for Neurorestoration and Neurotechnology, Department of Veterans Affairs, Providence, RI, USA"}]},{"given":"J.D.","family":"Simeral","sequence":"additional","affiliation":[{"name":"Center for Neurorestoration and Neurotechnology, Department of Veterans Affairs, Providence, RI, USA"},{"name":"School of Engineering and Institute for Brain Science, Brown University, Providence, RI, USA"},{"name":"Department of Neurology, Massachusetts General Hospital, Boston, MA, USA"}]},{"given":"D.","family":"Bacher","sequence":"additional","affiliation":[{"name":"School of Engineering and Institute for Brain Science, Brown University, Providence, RI, USA"}]},{"given":"L.R.","family":"Hochberg","sequence":"additional","affiliation":[{"name":"Center for Neurorestoration and Neurotechnology, Department of Veterans Affairs, Providence, RI, USA"},{"name":"School of Engineering and Institute for Brain Science, Brown University, Providence, RI, USA"},{"name":"Department of Neurology, Massachusetts General Hospital, Boston, MA, USA"},{"name":"Harvard Medical School, Boston, MA, USA"}]},{"given":"J.P.","family":"Donoghue","sequence":"additional","affiliation":[{"name":"Department of Neuroscience and Institute for Brain Science, Brown University, Providence, RI, USA"},{"name":"Center for Neurorestoration and Neurotechnology, Department of Veterans Affairs, Providence, RI, USA"},{"name":"School of Engineering and Institute for Brain Science, Brown University, Providence, RI, USA"}]},{"given":"P.","family":"van der Smagt","sequence":"additional","affiliation":[{"name":"Fortiss, an-Institut der Technischen Universit\u00e4t M\u00fcnchen, Germany"},{"name":"BRML, Department of Informatics, Technische Universit\u00e4t M\u00fcnchen, Germany"}]}],"member":"179","published-online":{"date-parts":[[2015,3,16]]},"reference":[{"key":"bibr1-0278364914561535","doi-asserted-by":"publisher","DOI":"10.1108\/01439910710774386"},{"key":"bibr2-0278364914561535","doi-asserted-by":"publisher","DOI":"10.1177\/0278364907073776"},{"key":"bibr3-0278364914561535","doi-asserted-by":"publisher","DOI":"10.1109\/ICORR.2005.1501113"},{"key":"bibr4-0278364914561535","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-540-30301-5_63"},{"key":"bibr5-0278364914561535","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2009.2039378"},{"key":"bibr6-0278364914561535","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2007.09.017"},{"key":"bibr7-0278364914561535","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2006.1642128"},{"key":"bibr8-0278364914561535","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2013.6631087"},{"key":"bibr9-0278364914561535","doi-asserted-by":"publisher","DOI":"10.1523\/JNEUROSCI.6107-09.2010"},{"key":"bibr10-0278364914561535","doi-asserted-by":"publisher","DOI":"10.1007\/s00422-008-0278-1"},{"key":"bibr11-0278364914561535","doi-asserted-by":"publisher","DOI":"10.1016\/S0140-6736(12)61816-9"},{"key":"bibr12-0278364914561535","doi-asserted-by":"publisher","DOI":"10.1371\/journal.pone.0015474"},{"key":"bibr13-0278364914561535","doi-asserted-by":"publisher","DOI":"10.1145\/2077451.2077454"},{"key":"bibr14-0278364914561535","doi-asserted-by":"publisher","DOI":"10.1145\/638249.638273"},{"key":"bibr15-0278364914561535","doi-asserted-by":"publisher","DOI":"10.1523\/JNEUROSCI.02-11-01527.1982"},{"key":"bibr16-0278364914561535","doi-asserted-by":"publisher","DOI":"10.1088\/1741-2560\/6\/4\/041001"},{"key":"bibr17-0278364914561535","doi-asserted-by":"publisher","DOI":"10.1016\/j.neubiorev.2007.07.001"},{"key":"bibr18-0278364914561535","first-page":"3356","author":"Haddadin S","year":"2008","journal-title":"IEEE\/RSJ international conference on intelligent robots and systems"},{"key":"bibr19-0278364914561535","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2010.5650636"},{"key":"bibr20-0278364914561535","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-19457-3_16"},{"key":"bibr21-0278364914561535","doi-asserted-by":"publisher","DOI":"10.1038\/nature11076"},{"key":"bibr22-0278364914561535","doi-asserted-by":"publisher","DOI":"10.1038\/nature04970"},{"key":"bibr23-0278364914561535","doi-asserted-by":"publisher","DOI":"10.1038\/scientificamerican0906-30"},{"key":"bibr24-0278364914561535","doi-asserted-by":"publisher","DOI":"10.1016\/j.neuroimage.2006.11.005"},{"issue":"3","key":"bibr25-0278364914561535","first-page":"4","volume":"2","author":"Jacob RJ","year":"2003","journal-title":"Mind"},{"key":"bibr26-0278364914561535","doi-asserted-by":"publisher","DOI":"10.1088\/1741-2560\/10\/4\/046012"},{"key":"bibr27-0278364914561535","first-page":"486","author":"Kim S","year":"2007","journal-title":"3rd international IEEE\/EMBS conference on neural engineering"},{"key":"bibr28-0278364914561535","doi-asserted-by":"publisher","DOI":"10.1088\/1741-2560\/5\/4\/010"},{"key":"bibr29-0278364914561535","doi-asserted-by":"publisher","DOI":"10.1007\/s00464-004-8926-6"},{"key":"bibr30-0278364914561535","doi-asserted-by":"publisher","DOI":"10.1109\/ISCAS.2006.1693892"},{"key":"bibr31-0278364914561535","first-page":"3692","author":"Liu H","year":"2008","journal-title":"IEEE\/RSJ international conference on intelligent robots and systems"},{"key":"bibr32-0278364914561535","doi-asserted-by":"publisher","DOI":"10.1088\/1741-2560\/7\/3\/036007"},{"key":"bibr33-0278364914561535","first-page":"1","author":"Maheu V","year":"2011","journal-title":"2011 IEEE international conference on rehabilitation robotics (ICORR)"},{"key":"bibr34-0278364914561535","doi-asserted-by":"publisher","DOI":"10.1016\/j.neuroimage.2007.03.019"},{"key":"bibr35-0278364914561535","doi-asserted-by":"publisher","DOI":"10.1006\/nimg.2000.0568"},{"key":"bibr36-0278364914561535","doi-asserted-by":"publisher","DOI":"10.1088\/1741-2560\/9\/4\/046003"},{"key":"bibr37-0278364914561535","doi-asserted-by":"publisher","DOI":"10.1016\/j.neuroimage.2007.05.029"},{"key":"bibr38-0278364914561535","doi-asserted-by":"publisher","DOI":"10.1152\/jn.1999.82.5.2676"},{"key":"bibr39-0278364914561535","doi-asserted-by":"publisher","DOI":"10.1109\/ICORR.2005.1501122"},{"key":"bibr40-0278364914561535","doi-asserted-by":"crossref","unstructured":"Nguyen V-D(1986) The synthesis of stable force-closure grasps. Master\u2019s Thesis, Department of Electrical Engineering and Computer Science, Massachusetts Institute of Technology, MA.","DOI":"10.1109\/ROBOT.1986.1087483"},{"key":"bibr41-0278364914561535","doi-asserted-by":"publisher","DOI":"10.1016\/j.clinph.2008.03.034"},{"key":"bibr42-0278364914561535","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2011.5980549"},{"key":"bibr43-0278364914561535","doi-asserted-by":"publisher","DOI":"10.1109\/EMBC.2012.6346663"},{"key":"bibr44-0278364914561535","doi-asserted-by":"publisher","DOI":"10.1126\/scitranslmed.3006820"},{"key":"bibr45-0278364914561535","doi-asserted-by":"publisher","DOI":"10.1109\/MMUL.2006.69"},{"key":"bibr46-0278364914561535","doi-asserted-by":"publisher","DOI":"10.1007\/10946978_14"},{"key":"bibr47-0278364914561535","doi-asserted-by":"publisher","DOI":"10.1109\/3468.925661"},{"key":"bibr48-0278364914561535","doi-asserted-by":"publisher","DOI":"10.1088\/1741-2560\/5\/1\/008"},{"key":"bibr49-0278364914561535","doi-asserted-by":"publisher","DOI":"10.1088\/1741-2560\/8\/2\/025027"},{"key":"bibr50-0278364914561535","first-page":"197","author":"Smith RJ","year":"2008","journal-title":"30th annual international conference of the IEEE Engineering in Medicine and Biology Society"},{"key":"bibr51-0278364914561535","doi-asserted-by":"publisher","DOI":"10.1038\/ncomms2497"},{"key":"bibr52-0278364914561535","doi-asserted-by":"publisher","DOI":"10.1145\/1452392.1452443"},{"key":"bibr53-0278364914561535","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2013.6696449"},{"key":"bibr54-0278364914561535","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2011.6094739"},{"key":"bibr55-0278364914561535","doi-asserted-by":"publisher","DOI":"10.1371\/journal.pone.0055344"},{"key":"bibr56-0278364914561535","doi-asserted-by":"publisher","DOI":"10.1109\/TBME.2004.827063"},{"key":"bibr57-0278364914561535","first-page":"66","author":"Wu W","year":"2002","journal-title":"SAB\u201802-workshop on motor control in humans and robots: On the interplay of real brains and artificial devices"},{"key":"bibr58-0278364914561535","doi-asserted-by":"publisher","DOI":"10.1162\/089976606774841585"}],"container-title":["The International Journal of Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364914561535","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/full-xml\/10.1177\/0278364914561535","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364914561535","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T10:18:49Z","timestamp":1777457929000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/0278364914561535"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2015,3,16]]},"references-count":58,"journal-issue":{"issue":"6","published-print":{"date-parts":[[2015,5]]}},"alternative-id":["10.1177\/0278364914561535"],"URL":"https:\/\/doi.org\/10.1177\/0278364914561535","relation":{},"ISSN":["0278-3649","1741-3176"],"issn-type":[{"value":"0278-3649","type":"print"},{"value":"1741-3176","type":"electronic"}],"subject":[],"published":{"date-parts":[[2015,3,16]]}}}