{"id":"W4407241802","doi":"","title":"Explicit safety and compliance on torque controlled robots for physical interaction","year":2025,"lang":"en","type":"preprint","venue":"HAL (Le Centre pour la Communication Scientifique Directe)","topic":"Robot Manipulation and Learning","field":"Engineering","cited_by":0,"is_retracted":false,"has_abstract":true,"ca_institutions":"University of Waterloo","funders":"JST-Mirai Program; Japan Science and Technology Agency","keywords":"Compliance (psychology); Torque; Robot; Computer science; Psychology; Physics; Social psychology; Artificial intelligence; Thermodynamics","routes":{"ca_aff":true,"ca_fund":false,"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":[0.00107124,0.0002713648,0.0004682458,0.0001376955,0.000208757,0.000208528,0.0003170487,0.000166007,0.00002917899],"category_scores_gemma":[0.0006009649,0.0002943784,0.0001714743,0.0001179856,0.00003942073,0.00008585838,0.0002195933,0.0005479705,0.00001220372],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.0001325709,"about_ca_system_score_gemma":0.00004022718,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.00006633194,"about_ca_topic_score_gemma":0.0001559745,"domain_scores_codex":[0.9979546,0.0008866336,0.0003682155,0.0004300906,0.0001552191,0.0002052377],"domain_scores_gemma":[0.996649,0.001856744,0.0001770214,0.0007106508,0.0005220015,0.00008459419],"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":[0.0004433256,0.0004133288,0.0002356251,0.001095955,0.0003405403,0.000001422159,0.008897997,0.7101747,0.002724131,0.1907848,0.001675698,0.08321252],"study_design_scores_gemma":[0.001554712,6.142093e-7,0.001066225,0.001918389,0.00003848518,0.000001103467,0.00005698469,0.9824269,0.003311126,0.0008192419,0.00852162,0.0002845628],"study_design_candidate":"simulation_or_modeling","study_design_consensus":"simulation_or_modeling","genre_codex":"methods","genre_gemma":"empirical","genre_scores_codex":[0.01668891,0.0004107317,0.9130834,0.003141095,0.0005839507,0.00121302,0.00002670977,0.0005433512,0.06430884],"genre_scores_gemma":[0.9833591,0.0002711661,0.00879567,0.00008785224,0.00005772544,0.0001943391,0.0002986676,0.00003992761,0.006895558],"genre_candidate":"empirical","genre_consensus":null,"teacher_disagreement_score":0.9666702,"threshold_uncertainty_score":0.9999508,"prediction_status":"machine_predicted_unvalidated"},"machine_scores":{"provisional":true,"baseline":true,"maturity_gate_passed":false,"score_opus":0.02801338234425203,"score_gpt":0.2689964122643814,"score_spread":0.2409830299201294,"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."}}