{"id":"W3116598312","doi":"10.1109/tro.2020.3043723","title":"A Backdrivable Kinematically Redundant (6+3)-Degree-of-Freedom Hybrid Parallel Robot for Intuitive Sensorless Physical Human–Robot Interaction","year":2020,"lang":"en","type":"article","venue":"IEEE Transactions on Robotics","topic":"Robotic Mechanisms and Dynamics","field":"Engineering","cited_by":99,"is_retracted":false,"has_abstract":true,"ca_institutions":"Université Laval","funders":"Fonds de recherche du Québec – Nature et technologies; Natural Sciences and Engineering Research Council of Canada; Fonds Québécois de la Recherche sur la Nature et les Technologies","keywords":"Robot; Parallel manipulator; Human–robot interaction; Kinematics; Computer science; Robot kinematics; Redundancy (engineering); Control theory (sociology); Degree (music); Robot manipulator; Control engineering; Artificial intelligence; Engineering; Mobile robot; Control (management); Physics","routes":{"ca_aff":true,"ca_fund":true,"ca_venue":false,"about_ca":false,"invisible_to_affiliation_only":false},"retraction":null,"screen":null,"direct_labels":[],"prediction":{"model_version":"metacan-v3-hybrid-931329e0061c","candidate_categories":[],"consensus_categories":[],"category_scores_codex":[0.0002710479,0.0007049187,0.0003980138,0.0002858567,0.000317497,0.000337538,0.001089567,0.0005234498,0.00272635],"category_scores_gemma":[0.0002633432,0.0003504707,0.0003475286,0.0001907359,0.0003248729,0.0005105564,0.0007227507,0.00035031,0.0009441296],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.0001180459,"about_ca_system_score_gemma":0.0002774087,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.0002668933,"about_ca_topic_score_gemma":0.0003714143,"domain_scores_codex":[0.9998149,0.00003429539,0.000008947844,0.00004775117,0.00007885461,0.00001524485],"domain_scores_gemma":[0.9998295,0.00002482215,0.0000459837,0.00004529921,0.00003005409,0.00002424382],"domain_codex":null,"domain_gemma":null,"domain_candidate":null,"domain_consensus":null,"study_design_codex":"bench_or_experimental","study_design_gemma":"bench_or_experimental","study_design_scores_codex":[0.0004725296,0.0001916531,0.001312677,0.0007629758,0.0001187559,0.001419999,0.0004007577,0.06828918,0.5661589,0.0279378,0.004930074,0.3280047],"study_design_scores_gemma":[0.0003001034,0.003204399,0.004392556,0.0001450868,0.0001638585,0.006110464,0.0001638129,0.7658778,0.1493408,0.01067434,0.05942473,0.0002020355],"study_design_candidate":"bench_or_experimental","study_design_consensus":"bench_or_experimental","genre_codex":"methods","genre_gemma":"empirical","genre_scores_codex":[0.05239912,0.0002200415,0.9400741,0.00009357679,0.00007155662,0.00008457201,0.00005628308,0.001371411,0.005629365],"genre_scores_gemma":[0.4927235,0.0002272097,0.5008535,0.00007810758,0.00003258506,0.000174328,0.0001191643,0.00006074248,0.005730832],"genre_candidate":"empirical","genre_consensus":null,"teacher_disagreement_score":0.00272635,"threshold_uncertainty_score":0.009120524,"prediction_status":"machine_predicted_unvalidated"},"machine_scores":{"provisional":true,"baseline":true,"maturity_gate_passed":false,"score_opus":0.04645287298690882,"score_gpt":0.2653616256976005,"score_spread":0.2189087527106917,"validation_status":"score_only:v0-immature-baseline","note":"Baseline scores from an immature model (maturity gate not passed). Scores rank; they never assert a category."}}