{"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":"codex-gemma-dda1882f352a","candidate_categories":["metaepi_narrow"],"consensus_categories":[],"category_scores_codex":[0.00009205041,0.0004081384,0.0006600117,0.0001304943,0.0001730135,0.00006337613,0.0002788556,0.0001278112,0.00004916472],"category_scores_gemma":[0.0000207761,0.0004184517,0.0003609902,0.0002526456,0.00009576949,0.0001986466,0.000004656725,0.0005045997,0.00004830884],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.000114305,"about_ca_system_score_gemma":0.00003617619,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.00001293257,"about_ca_topic_score_gemma":0.00001551529,"domain_scores_codex":[0.9981435,0.00004346311,0.0006402831,0.0004039924,0.0003209212,0.000447855],"domain_scores_gemma":[0.9987854,0.0002764442,0.0001204663,0.0003914311,0.0001677622,0.0002584803],"domain_codex":null,"domain_gemma":null,"domain_candidate":null,"domain_consensus":null,"study_design_codex":"simulation_or_modeling","study_design_gemma":"simulation_or_modeling","study_design_scores_codex":[0.00009598875,0.0002706643,4.254526e-7,0.0003343538,0.0001834172,0.000008491626,0.0003798742,0.9716847,0.01983761,0.005530428,0.0001686942,0.001505366],"study_design_scores_gemma":[0.0009919722,0.0005865056,0.000007135188,0.0001407039,0.000220439,0.00001655418,0.0002416059,0.9881062,0.008088503,0.001164161,0.00001786424,0.0004183698],"study_design_candidate":"simulation_or_modeling","study_design_consensus":"simulation_or_modeling","genre_codex":"methods","genre_gemma":"empirical","genre_scores_codex":[0.001906271,0.000008364054,0.9952323,0.0004551385,0.0008610372,0.0007017987,0.0001003105,0.0003421893,0.0003925733],"genre_scores_gemma":[0.5119525,0.00002583627,0.4874075,0.00008597941,0.0002074174,0.00007477543,0.00002539077,0.0001161479,0.0001045003],"genre_candidate":"methods","genre_consensus":null,"teacher_disagreement_score":0.5100462,"threshold_uncertainty_score":0.9998267,"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."}}