{"id":"https://openalex.org/W4386038306","doi":"https://doi.org/10.1109/lra.2023.3307006","title":"Follow the Force: Haptic Communication Enhances Coordination in Physical Human-Robot Interaction When Humans are Followers","display_name":"Follow the Force: Haptic Communication Enhances Coordination in Physical Human-Robot Interaction When Humans are Followers","publication_year":2023,"publication_date":"2023-08-21","ids":{"openalex":"https://openalex.org/W4386038306","doi":"https://doi.org/10.1109/lra.2023.3307006"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2023.3307006","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3307006","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-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/A5101559720","display_name":"Yi-ming Liu","orcid":"https://orcid.org/0000-0001-7906-2244"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Yiming Liu","raw_affiliation_strings":["Neuromuscular Diagnostics, Department of Sport and Health Sciences, Technical University of Munich, Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Neuromuscular Diagnostics, Department of Sport and Health Sciences, Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044594949","display_name":"Raz Leib","orcid":"https://orcid.org/0000-0002-3940-2651"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Raz Leib","raw_affiliation_strings":["Neuromuscular Diagnostics, Department of Sport and Health Sciences, Technical University of Munich, Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Neuromuscular Diagnostics, Department of Sport and Health Sciences, Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067865785","display_name":"David W. Franklin","orcid":"https://orcid.org/0000-0001-9530-0820"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"David W. Franklin","raw_affiliation_strings":["Neuromuscular Diagnostics, Department of Sport and Health Sciences, Technical University of Munich, Munich, Germany","Munich Institute of Robotics and Machine Intelligence (MIRMI), Technical University of Munich, Munich, Germany","Munich Data Science Institute (MDSI), Technical University of Munich, Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Neuromuscular Diagnostics, Department of Sport and Health Sciences, Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Munich Institute of Robotics and Machine Intelligence (MIRMI), Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Munich Data Science Institute (MDSI), Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5101559720"],"corresponding_institution_ids":["https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":2.538,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.89652907,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"8","issue":"10","first_page":"6459","last_page":"6466"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10982","display_name":"Motor Control and Adaptation","score":0.9969000220298767,"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/T10982","display_name":"Motor Control and Adaptation","score":0.9969000220298767,"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/T10914","display_name":"Tactile and Sensory Interactions","score":0.9940999746322632,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.9427361488342285},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7736486792564392},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.6450592279434204},{"id":"https://openalex.org/keywords/adaptation","display_name":"Adaptation (eye)","score":0.5862647294998169},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.574333667755127},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5190125703811646},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.49404504895210266},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.2846165895462036},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.24624666571617126},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18736213445663452},{"id":"https://openalex.org/keywords/neuroscience","display_name":"Neuroscience","score":0.056449562311172485}],"concepts":[{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.9427361488342285},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7736486792564392},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.6450592279434204},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.5862647294998169},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.574333667755127},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5190125703811646},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.49404504895210266},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2846165895462036},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.24624666571617126},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18736213445663452},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.056449562311172485},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/lra.2023.3307006","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3307006","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:mediatum.ub.tum.de:node/1721371","is_oa":false,"landing_page_url":"https://ieeexplore.ieee.org/document/10225270","pdf_url":null,"source":{"id":"https://openalex.org/S4377196330","display_name":"mediaTUM  (Technical University of Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},{"id":"pmh:oai:mediatum.ub.tum.de:node/1738177","is_oa":false,"landing_page_url":"https://mediatum.ub.tum.de/1738177","pdf_url":null,"source":{"id":"https://openalex.org/S4306400453","display_name":"mediaTUM \u2013 the media and publications repository of the Technical University Munich (Technical University Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G353898332","display_name":null,"funder_award_id":"467042759","funder_id":"https://openalex.org/F4320320879","funder_display_name":"Deutsche Forschungsgemeinschaft"}],"funders":[{"id":"https://openalex.org/F4320320879","display_name":"Deutsche Forschungsgemeinschaft","ror":"https://ror.org/018mejw64"},{"id":"https://openalex.org/F4320338208","display_name":"International Graduate School of Science and Engineering","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W1967904302","https://openalex.org/W1987616874","https://openalex.org/W1997932767","https://openalex.org/W2007321142","https://openalex.org/W2109590511","https://openalex.org/W2136022845","https://openalex.org/W2148459629","https://openalex.org/W2152106902","https://openalex.org/W2158924650","https://openalex.org/W2168951089","https://openalex.org/W2169513627","https://openalex.org/W2577026679","https://openalex.org/W2593425479","https://openalex.org/W2765218414","https://openalex.org/W2766203889","https://openalex.org/W2766418563","https://openalex.org/W2784881541","https://openalex.org/W2794226420","https://openalex.org/W2804610937","https://openalex.org/W2913755169","https://openalex.org/W2996613164","https://openalex.org/W3132954338","https://openalex.org/W3163994696","https://openalex.org/W3188067267","https://openalex.org/W3210299039","https://openalex.org/W4221165314","https://openalex.org/W4311632466","https://openalex.org/W4322736011","https://openalex.org/W4378782027","https://openalex.org/W6810570796"],"related_works":["https://openalex.org/W156716224","https://openalex.org/W2111871955","https://openalex.org/W3175380930","https://openalex.org/W1989694608","https://openalex.org/W2139876914","https://openalex.org/W3205513966","https://openalex.org/W2052971528","https://openalex.org/W3120459843","https://openalex.org/W4366547574","https://openalex.org/W3200191727"],"abstract_inverted_index":{"To":[0],"enhance":[1,118],"the":[2,19,56,69],"integration":[3],"of":[4,21,24,40,58,129],"robots":[5,22],"into":[6],"daily":[7],"human":[8,123],"life":[9],"and":[10,96,106,125],"industrial":[11],"settings,":[12],"there":[13],"is":[14],"a":[15,89],"growing":[16],"focus":[17],"on":[18],"development":[20],"capable":[23],"physical":[25,62],"collaboration":[26],"with":[27,48,83],"humans.":[28],"Studies":[29],"have":[30,74],"shown":[31,75],"that":[32,42,76],"haptic":[33,59,99,132],"feedback":[34,87,100],"serves":[35],"as":[36,112],"an":[37],"essential":[38],"channel":[39],"communication":[41,60],"allows":[43],"humans":[44,105,110,130],"to":[45,121],"better":[46],"collaborate":[47],"each":[49],"other.":[50],"In":[51],"this":[52],"study,":[53],"we":[54],"investigated":[55],"role":[57,71,92],"in":[61,68],"Human-Robot":[63],"Interaction":[64],"(pHRI)":[65],"tasks,":[66],"especially":[67],"leader-follower":[70],"distribution.":[72],"We":[73],"participants":[77],"adopted":[78],"different":[79,84],"roles":[80],"when":[81,109],"working":[82],"agents.":[85],"Haptic":[86],"promotes":[88],"more":[90],"balanced":[91],"distribution":[93],"between":[94,104],"leaders":[95],"followers.":[97,113],"Moreover,":[98],"only":[101],"improved":[102],"coordination":[103],"artificial":[107],"agents":[108],"acted":[111],"Our":[114],"findings":[115],"can":[116],"potentially":[117],"robots'":[119],"ability":[120],"anticipate":[122],"adaptation":[124],"improve":[126],"their":[127],"understanding":[128],"through":[131],"communication.":[133]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":1}],"updated_date":"2026-02-24T08:05:00.420983","created_date":"2023-08-22T00:00:00"}