{"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":"metacan-v3-hybrid-931329e0061c","candidate_categories":[],"consensus_categories":[],"category_scores_codex":[0.001055417,0.0005563643,0.0005554241,0.00030638,0.0003873738,0.0005319245,0.000862704,0.0005723204,0.001707305],"category_scores_gemma":[0.003027377,0.0003177411,0.0003797853,0.0002253766,0.001337326,0.0007308007,0.001408679,0.0008522986,0.0002936569],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.0003412428,"about_ca_system_score_gemma":0.0007968708,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.002297496,"about_ca_topic_score_gemma":0.001678789,"domain_scores_codex":[0.9988887,0.0002805714,0.00003248754,0.0001270584,0.0005797623,0.0000914094],"domain_scores_gemma":[0.9986517,0.0006794189,0.0002352309,0.0001693792,0.0002123825,0.00005192713],"domain_codex":null,"domain_gemma":null,"domain_candidate":null,"domain_consensus":null,"study_design_codex":"simulation_or_modeling","study_design_gemma":"bench_or_experimental","study_design_scores_codex":[0.000145799,0.00008896563,0.0004983692,0.0001070421,0.0000155362,0.000164004,0.0002080363,0.8760775,0.02922866,0.02290346,0.0004795968,0.07008316],"study_design_scores_gemma":[0.000008134507,0.00005468736,0.0001070654,0.000003541438,0.000001785965,0.00001535836,0.000008145056,0.9934813,0.002220367,0.003680242,0.000416131,0.000003318391],"study_design_candidate":"bench_or_experimental","study_design_consensus":null,"genre_codex":"methods","genre_gemma":"empirical","genre_scores_codex":[0.01665917,0.00002350209,0.982054,0.00004240911,0.000007139106,0.00001664851,0.00000726032,0.0002355905,0.0009541959],"genre_scores_gemma":[0.8072279,0.00007967147,0.188442,0.00006023216,0.00003631742,0.0001275737,0.00005607128,0.0001812783,0.003789069],"genre_candidate":"empirical","genre_consensus":null,"teacher_disagreement_score":0.002297496,"threshold_uncertainty_score":0.005711555,"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."}}