{"id":"https://openalex.org/W2890128488","doi":"https://doi.org/10.1109/icra.2018.8460891","title":"HapWRAP: Soft Growing Wearable Haptic Device","display_name":"HapWRAP: Soft Growing Wearable Haptic Device","publication_year":2018,"publication_date":"2018-05-01","ids":{"openalex":"https://openalex.org/W2890128488","doi":"https://doi.org/10.1109/icra.2018.8460891","mag":"2890128488"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2018.8460891","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2018.8460891","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","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/A5088340599","display_name":"Nathaniel Agharese","orcid":"https://orcid.org/0009-0002-6515-189X"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nathaniel Agharese","raw_affiliation_strings":["Department of Mechanical Engineering, Stanford University, Stanford, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022752361","display_name":"Tyler Cloyd","orcid":null},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tyler Cloyd","raw_affiliation_strings":["Department of Mechanical Engineering, Stanford University, Stanford, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034706353","display_name":"Laura H. Blumenschein","orcid":"https://orcid.org/0000-0003-0658-5364"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Laura H. Blumenschein","raw_affiliation_strings":["Department of Mechanical Engineering, Stanford University, Stanford, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062420268","display_name":"Michael Raitor","orcid":"https://orcid.org/0000-0001-6712-142X"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Michael Raitor","raw_affiliation_strings":["Department of Mechanical Engineering, Stanford University, Stanford, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088329417","display_name":"Elliot W. Hawkes","orcid":"https://orcid.org/0000-0002-0420-5025"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Elliot W. Hawkes","raw_affiliation_strings":["Department of Mechanical Engineering, Stanford University, Stanford, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026024402","display_name":"Heather Culbertson","orcid":"https://orcid.org/0000-0002-9187-2706"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Heather Culbertson","raw_affiliation_strings":["Department of Mechanical Engineering, Stanford University, Stanford, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067958710","display_name":"Allison M. Okamura","orcid":"https://orcid.org/0000-0002-6912-1666"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Allison M. Okamura","raw_affiliation_strings":["Department of Mechanical Engineering, Stanford University, Stanford, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.8241,"has_fulltext":false,"cited_by_count":57,"citation_normalized_percentile":{"value":0.90758839,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"5466","last_page":"5472"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10914","display_name":"Tactile and Sensory Interactions","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},"topics":[{"id":"https://openalex.org/T10914","display_name":"Tactile and Sensory Interactions","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9980000257492065,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.9082276225090027},{"id":"https://openalex.org/keywords/wearable-computer","display_name":"Wearable computer","score":0.7480304837226868},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6962833404541016},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6636889576911926},{"id":"https://openalex.org/keywords/pneumatic-actuator","display_name":"Pneumatic actuator","score":0.5915854573249817},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.5209128260612488},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4892902076244354},{"id":"https://openalex.org/keywords/wearable-technology","display_name":"Wearable technology","score":0.435492604970932},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3667033612728119},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.15981757640838623}],"concepts":[{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.9082276225090027},{"id":"https://openalex.org/C150594956","wikidata":"https://www.wikidata.org/wiki/Q1334829","display_name":"Wearable computer","level":2,"score":0.7480304837226868},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6962833404541016},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6636889576911926},{"id":"https://openalex.org/C170401851","wikidata":"https://www.wikidata.org/wiki/Q1965061","display_name":"Pneumatic actuator","level":3,"score":0.5915854573249817},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.5209128260612488},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4892902076244354},{"id":"https://openalex.org/C54290928","wikidata":"https://www.wikidata.org/wiki/Q4845080","display_name":"Wearable technology","level":3,"score":0.435492604970932},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3667033612728119},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.15981757640838623}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2018.8460891","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2018.8460891","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.5899999737739563}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W1858475798","https://openalex.org/W1962898515","https://openalex.org/W1965491876","https://openalex.org/W1977229486","https://openalex.org/W1978512749","https://openalex.org/W1997137371","https://openalex.org/W2030898082","https://openalex.org/W2038761295","https://openalex.org/W2059281216","https://openalex.org/W2160098057","https://openalex.org/W2278255446","https://openalex.org/W2534325622","https://openalex.org/W2537074996","https://openalex.org/W2561042675","https://openalex.org/W2610457270","https://openalex.org/W2610929834","https://openalex.org/W2734595964","https://openalex.org/W2736409307","https://openalex.org/W2736715464","https://openalex.org/W2737491236","https://openalex.org/W2750929888","https://openalex.org/W2773604239","https://openalex.org/W3041701432","https://openalex.org/W3121386509","https://openalex.org/W6660295030","https://openalex.org/W6665021465","https://openalex.org/W6736985262","https://openalex.org/W6741224334","https://openalex.org/W6743283461","https://openalex.org/W6746581549"],"related_works":["https://openalex.org/W4224299866","https://openalex.org/W2809633875","https://openalex.org/W4200033498","https://openalex.org/W3034207080","https://openalex.org/W4311923607","https://openalex.org/W4295539626","https://openalex.org/W2890128488","https://openalex.org/W2293340780","https://openalex.org/W3031418419","https://openalex.org/W3171204213"],"abstract_inverted_index":{"Soft":[0],"robotics":[1],"and":[2,27,46,69,81,87,98,113,129,137,152,174],"pneumatic":[3,110],"actuation":[4],"present":[5,43],"opportunities":[6],"for":[7,169],"lightweight":[8],"wearable":[9],"haptic":[10,56,143],"devices":[11,22],"that":[12,163],"provide":[13,82],"distributed":[14],"touch":[15],"feedback":[16,89,144],"to":[17,73,90,115,149],"the":[18,37,44,100,119,127],"skin.":[19],"Ideally,":[20],"such":[21],"would":[23],"be":[24,166],"easily":[25],"donned":[26],"doffed,":[28],"since":[29],"permanent":[30],"coverage":[31],"of":[32,36,48,76,85,131],"a":[33,49,54,77,83,91,105,142],"large":[34],"area":[35],"skin":[38,120],"is":[39],"undesirable.":[40],"Here":[41],"we":[42],"design":[45,128],"evaluation":[47],"concept":[50],"device":[51,57],"called":[52],"HapWRAP:":[53],"growing":[55],"constructed":[58],"from":[59,155],"flexible":[60],"low":[61],"density":[62],"polyethylene.":[63],"Controlled":[64],"air":[65],"flow":[66],"through":[67],"tubes":[68],"pouches":[70],"allows":[71],"HapWRAP":[72,95,156,164],"grow":[74],"out":[75],"compact":[78],"housing":[79],"unit":[80],"combination":[84],"directional":[86],"force":[88,151,173],"user.":[92],"When":[93],"activated,":[94],"grows":[96],"up":[97],"around":[99],"forearm;":[101],"its":[102,134,139],"loops":[103],"form":[104],"temporary":[106],"sleeve.":[107],"After":[108],"growth,":[109],"actuators":[111],"inflate":[112],"deflate":[114],"stimulate":[116],"mechanoreceptors":[117],"in":[118],"at":[121],"distinguishable":[122],"locations.":[123],"This":[124],"paper":[125],"describes":[126],"manufacturing":[130],"HapWRAP,":[132],"reports":[133],"performance":[135],"metrics,":[136],"tests":[138],"suitability":[140],"as":[141],"device.":[145],"Participants":[146],"were":[147],"able":[148],"interpret":[150],"direction":[153,175],"cues":[154,176],"with":[157],"92.5%":[158],"accuracy.":[159],"These":[160],"findings":[161],"suggest":[162],"can":[165],"successfully":[167],"used":[168],"applications":[170],"where":[171],"both":[172],"are":[177],"necessary.":[178]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":13},{"year":2022,"cited_by_count":8},{"year":2021,"cited_by_count":12},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":4}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
