{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,19]],"date-time":"2026-02-19T15:14:01Z","timestamp":1771514041624,"version":"3.50.1"},"reference-count":70,"publisher":"Walter de Gruyter GmbH","issue":"12","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2025,12,17]]},"abstract":"<jats:title>Abstract<\/jats:title>\n                  <jats:p>Until today, in the field of motor learning and rehabilitation, haptic controllers were mostly limited to teach simple tasks such as movements along straight lines, curves, or circles. However, commonly, real-life tasks consist of more complex movements such as in writing, rehabilitation, or surgery. In this paper, a novel haptic controller for robot-assisted learning is introduced. This hybrid path controller can cope with interfering path sections, while it also incorporates the common requirements of effective motor learning: it allows freedom for making spatial errors, free timing to explore the task dynamics, and adaptation to the current skill level of the user. In a practicability study with two different robots, results confirmed the full functionality of the controller and its applicability for a broad range of complex movements.<\/jats:p>","DOI":"10.1515\/auto-2025-0108","type":"journal-article","created":{"date-parts":[[2025,12,1]],"date-time":"2025-12-01T11:57:50Z","timestamp":1764590270000},"page":"895-910","source":"Crossref","is-referenced-by-count":0,"title":["Hybrid path controller enables haptic guidance along self-crossing paths"],"prefix":"10.1515","volume":"73","author":[{"given":"Georg","family":"Rauter","sequence":"first","affiliation":[{"name":"BIROMED-Lab, Department of Biomedical Engineering , 776 University of Basel , Hegenheimermattweg 167C, Allschwil , Basel , Switzerland"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Nicolas","family":"Gerig","sequence":"additional","affiliation":[{"name":"BIROMED-Lab, Department of Biomedical Engineering , 776 University of Basel , Hegenheimermattweg 167C, Allschwil , Basel , Switzerland"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Roland","family":"Sigrist","sequence":"additional","affiliation":[{"name":"ETH Zurich, CYBATHLON Haldeneggsteig 5 , HAW B12 CH-8092 Zurich , Switzerland"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Heike","family":"Vallery","sequence":"additional","affiliation":[{"name":"Institute of Automatic Control, RWTH Aachen University , Aachen , Germany"},{"name":"Department of Rehabilitation Medicine , Erasmus Medical Centre , Rotterdam , The Netherlands"},{"name":"Department of Biomechanical Engineering , Delft University of Technology , Delft , The Netherlands"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Robert","family":"Riener","sequence":"additional","affiliation":[{"name":"Sensory-Motor Systems Lab, ETH Zurich GLC G20.1 , Gloriastrasse 37\/39, CH-8092 Zurich , Switzerland"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Peter","family":"Wolf","sequence":"additional","affiliation":[{"name":"Sensory-Motor Systems Lab, ETH Zurich GLC G20.1 , Gloriastrasse 37\/39, CH-8092 Zurich , Switzerland"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"374","published-online":{"date-parts":[[2025,12,1]]},"reference":[{"key":"2026021914233213198_j_auto-2025-0108_ref_001","doi-asserted-by":"crossref","unstructured":"J. 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