Human–Robot Skill Transferring and Inverse Velocity Admittance Control for Soft Tissue Cutting Tasks
, Bin Xie 1,2,*, Zhouyang Chen 1,2, Zhenhao Luo 1,2, Shan Jiang 1,3 and Zhen Gao 1,3
Round 1
Reviewer 1 Report
Comments and Suggestions for AuthorsPretty interesting research project on skilled robots. Collecting data of robot behaviour and training on ML looks good. In general paper is written good. But here is some suggestions to improve:
1. In figures 3 no legends of the plot also had to understand.
2. Would be better to define robot and research limitatins in introduction. The robot is trained to cut a single operations or not?
3. Would be better to add overlay graph of desired aver to actual trajectory plot
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Reviewer 2 Report
Comments and Suggestions for AuthorsIn this paper, the authors describe “Human-robot Skill Transferring and Inverse Velocity Admittance Control for Soft Tissue Cutting Tasks”. It can become an interesting paper for Agriculture after major revision. Followings are my comments.
(1) The novelty of the proposed method is unclear. It is unclear why DMP and IVAC are needed for modeling the control system.
(2) It requires providing more information on how the literature informed the design of this study. For example, DMP and IVAC.
(3) How many datasets are for learning cutting behaviors?
(4) Did the authors employ any data augmentation methods before training? If so, it should be mentioned.
(5) Authors have to provide the explanation of Fig. 3 in detail.
(6) Authors have to provide the descriptions of subfigures in the figure captions in Figs. 5, 6, 7, and 8.
(7) As the journal is printed in black and white, please make the different markers for the different results in Figs. 3 and 6.
Comments on the Quality of English LanguageMinor editing of English language required.
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Reviewer 3 Report
Comments and Suggestions for AuthorsConsider shortening the abstract to 150–200 words while maintaining all the key information.
About the impact issue: Elaborate on the broader social impact beyond the meat industry and the specific impact. Could this framework be applied to other soft tissue-cutting tasks?
The sentence "The control law couples a modified dynamic movement primitives (DMP) system with the inverse velocity admittance control (IVAC)" could be rephrased for easier understanding by a broader audience.
Please strengthen the opening introduction:Start with a more impactful hook, instead of just stating the importance of meat cutting lines. You could mention the challenges of manual meat cutting, the increasing demand for automation, or the potential benefits of robotic solutions.
Briefly introduce the problem your research addresses.
Focus on your contribution: briefly mention existing research on robotic meat cutting, but focus on the limitations and how your work addresses them. Emphasize the novelty of using multi-demonstration learning and compliant cutting control.
Improve clarity and conciseness: Consider shortening the introduction as it currently exceeds 2 pages. Remove unnecessary details and focus on the most important information.
Use shorter sentences and simpler language where possible.
Avoid repetition, e.g., "compliant cutting" is mentioned repeatedly.
Highlight the impact: briefly mention the potential impact of your research on the meat industry and robotics research in general.
Please describe the system overview of your experiment!
Figure 1 redundant explanation
Figure 2 please resequence of a, b, c etc
Figure 5 is unsound, please clarify this picture
Figure 6 is unsound, please clarify this picture. All Y axis has different scales please rescale or normalize if possible, X axis is time domain ok 0 to 20(s)
Figure 7 is unsound, please clarify this picture. All Y axis has different scales please rescale or normalize if possible
Figure 8 is unsound, please clarify this picture
relocate figure 7 and 8 to the results and discussion section
conclusion summarizes your research effectively, but there's still room for improvement:
Start with a stronger impact statement: Begin by highlighting the significance of your research and its potential impact on the meat industry.
Tighten the structure: Reorganize the information for better flow. Focus on the main points first, then elaborate on specific details.
Balance limitations and future work: Briefly acknowledge limitations without dwelling on them. Instead, emphasize the exciting future directions for improving your framework.
Conciseness: Remove unnecessary repetitions and wordiness.
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Round 2
Reviewer 1 Report
Comments and Suggestions for AuthorsThe authors provided extended revised version of the paper and and made it more readible for readers. The final revision is suffisticates of the paper content for publication
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Reviewer 2 Report
Comments and Suggestions for AuthorsThis paper is a revised manuscript of the previous agriculture-2804573. Almost all of the comments are well-revised, but one comment is not, as shown below. It can become an interesting paper for Agriculture after minor revision. Reviewer recommends accepting with one comment.
(1) Reviewer still does not find the explanation of Fig. 3 in the content of the revised manuscript. Authors have to provide it. Moreover, to make it easier for readers to read, authors have to use photos to present scenarios 1 to 4 for Fig. 3.
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