{"id":"https://openalex.org/W4410297298","doi":"https://doi.org/10.1109/hri61500.2025.10973945","title":"Soft and Compliant Contact-Rich Hair Manipulation and Care","display_name":"Soft and Compliant Contact-Rich Hair Manipulation and Care","publication_year":2025,"publication_date":"2025-03-04","ids":{"openalex":"https://openalex.org/W4410297298","doi":"https://doi.org/10.1109/hri61500.2025.10973945"},"language":"en","primary_location":{"id":"doi:10.1109/hri61500.2025.10973945","is_oa":false,"landing_page_url":"https://doi.org/10.1109/hri61500.2025.10973945","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 20th ACM/IEEE International Conference on Human-Robot Interaction (HRI)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5065014156","display_name":"Uksang Yoo","orcid":"https://orcid.org/0000-0001-9663-7740"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Uksang Yoo","raw_affiliation_strings":["Carnegie Mellon University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070016875","display_name":"Nathaniel Dennler","orcid":"https://orcid.org/0000-0002-7540-1402"},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]},{"id":"https://openalex.org/I2800817003","display_name":"California Southern University","ror":"https://ror.org/058zz0t50","country_code":"US","type":"education","lineage":["https://openalex.org/I2800817003"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nathaniel Dennler","raw_affiliation_strings":["University of Southern California"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Southern California","institution_ids":["https://openalex.org/I1174212","https://openalex.org/I2800817003"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5115792315","display_name":"Eliot Xing","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Eliot Xing","raw_affiliation_strings":["Carnegie Mellon University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010248533","display_name":"Maja J. Matari\u0107","orcid":"https://orcid.org/0000-0001-8958-6666"},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]},{"id":"https://openalex.org/I2800817003","display_name":"California Southern University","ror":"https://ror.org/058zz0t50","country_code":"US","type":"education","lineage":["https://openalex.org/I2800817003"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Maja Matari\u0107","raw_affiliation_strings":["University of Southern California"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Southern California","institution_ids":["https://openalex.org/I1174212","https://openalex.org/I2800817003"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042344629","display_name":"Stefanos Nikolaidis","orcid":"https://orcid.org/0000-0002-8617-3871"},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]},{"id":"https://openalex.org/I2800817003","display_name":"California Southern University","ror":"https://ror.org/058zz0t50","country_code":"US","type":"education","lineage":["https://openalex.org/I2800817003"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Stefanos Nikolaidis","raw_affiliation_strings":["University of Southern California"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Southern California","institution_ids":["https://openalex.org/I1174212","https://openalex.org/I2800817003"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005587345","display_name":"Jeffrey Ichnowski","orcid":"https://orcid.org/0000-0003-4874-9478"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jeffrey Ichnowski","raw_affiliation_strings":["Carnegie Mellon University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5019807694","display_name":"Jean Oh","orcid":"https://orcid.org/0000-0001-9709-2658"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jean Oh","raw_affiliation_strings":["Carnegie Mellon University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":28.178,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.99368155,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"610","last_page":"619"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11595","display_name":"Textile materials and evaluations","score":0.9534000158309937,"subfield":{"id":"https://openalex.org/subfields/2507","display_name":"Polymers and Plastics"},"field":{"id":"https://openalex.org/fields/25","display_name":"Materials Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11595","display_name":"Textile materials and evaluations","score":0.9534000158309937,"subfield":{"id":"https://openalex.org/subfields/2507","display_name":"Polymers and Plastics"},"field":{"id":"https://openalex.org/fields/25","display_name":"Materials Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/hair-care","display_name":"Hair care","score":0.6265558004379272},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4555361270904541},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.25820815563201904}],"concepts":[{"id":"https://openalex.org/C3020433029","wikidata":"https://www.wikidata.org/wiki/Q3633540","display_name":"Hair care","level":2,"score":0.6265558004379272},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4555361270904541},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.25820815563201904},{"id":"https://openalex.org/C126348684","wikidata":"https://www.wikidata.org/wiki/Q3456979","display_name":"Polymer science","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/hri61500.2025.10973945","is_oa":false,"landing_page_url":"https://doi.org/10.1109/hri61500.2025.10973945","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 20th ACM/IEEE International Conference on Human-Robot Interaction (HRI)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Gender equality","id":"https://metadata.un.org/sdg/5","score":0.7200000286102295}],"awards":[{"id":"https://openalex.org/G251993200","display_name":null,"funder_award_id":"DGE-2140739","funder_id":"https://openalex.org/F4562087700","funder_display_name":"National Science Foundation Graduate Research Fellowship Program"}],"funders":[{"id":"https://openalex.org/F4562087700","display_name":"National Science Foundation Graduate Research Fellowship Program","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W572445789","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890"],"abstract_inverted_index":{"Hair":[0],"care":[1,10],"robots":[2,157],"can":[3],"help":[4],"address":[5],"labor":[6],"shortages":[7],"in":[8,140,158],"elderly":[9],"while":[11,79,162],"enabling":[12],"those":[13],"with":[14,50,69,127],"limited":[15],"mobility":[16],"to":[17,101,110,115],"maintain":[18],"their":[19],"hair-related":[20],"identity.":[21],"We":[22],"present":[23],"MOE-Hair,":[24],"a":[25,44,51,70,137],"soft":[26,46,156],"robot":[27,47],"system":[28,42,139],"that":[29],"performs":[30],"three":[31],"hair-care":[32,160],"tasks:":[33],"head":[34],"patting,":[35],"finger":[36],"combing,":[37],"and":[38,61,96,112,119,145,179],"hair":[39],"grasping.":[40],"The":[41],"features":[43],"tendon-driven":[45],"end-effector":[48],"(MOE)":[49],"wrist-mounted":[52],"RGBD":[53],"camera,":[54],"leveraging":[55],"both":[56],"mechanical":[57],"compliance":[58,173],"for":[59,134],"safety":[60],"visual":[62,93],"force":[63,83,89,147,168],"sensing":[64,106],"through":[65],"deformation.":[66],"In":[67],"testing":[68],"force-sensorized":[71],"mannequin":[72],"head,":[73],"MOE":[74],"achieved":[75],"comparable":[76],"hair-grasping":[77],"effectiveness":[78],"applying":[80],"significantly":[81],"less":[82],"than":[84],"rigid":[85],"grippers.":[86],"Our":[87],"novel":[88],"estimation":[90],"method":[91],"combines":[92],"deformation":[94],"data":[95],"tendon":[97],"tensions":[98],"from":[99],"actuators":[100],"infer":[102],"applied":[103],"forces,":[104],"reducing":[105],"errors":[107],"by":[108],"up":[109],"60.1%":[111],"20.3%":[113],"compared":[114],"actuator":[116],"current":[117],"load-only":[118],"depth":[120],"image-only":[121],"baselines,":[122],"respectively.":[123],"A":[124],"user":[125],"study":[126],"12":[128],"participants":[129],"demonstrated":[130],"statistically":[131],"significant":[132],"preferences":[133],"MOE-Hair":[135],"over":[136],"baseline":[138],"terms":[141],"of":[142,155,166,174],"comfort,":[143],"effectiveness,":[144],"appropriate":[146],"application.":[148],"These":[149],"results":[150],"demonstrate":[151],"the":[152,164,171,175],"unique":[153],"advantages":[154],"contact-rich":[159],"tasks,":[161],"highlighting":[163],"importance":[165],"precise":[167],"control":[169],"despite":[170],"inherent":[172],"system.":[176],"Videos,":[177],"data,":[178],"code":[180],"are":[181],"available":[182],"at":[183],"moehair.github.io.":[184]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":2}],"updated_date":"2026-08-11T07:18:39.950985","created_date":"2025-10-10T00:00:00"}