{"id":"https://openalex.org/W4401943638","doi":"https://doi.org/10.1109/mra.2024.3417090","title":"HuBotVerse: Toward Internet of Human and Intelligent Robotic Things With a Digital Twin-Based Mixed Reality Framework","display_name":"HuBotVerse: Toward Internet of Human and Intelligent Robotic Things With a Digital Twin-Based Mixed Reality Framework","publication_year":2024,"publication_date":"2024-08-28","ids":{"openalex":"https://openalex.org/W4401943638","doi":"https://doi.org/10.1109/mra.2024.3417090"},"language":"en","primary_location":{"id":"doi:10.1109/mra.2024.3417090","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mra.2024.3417090","pdf_url":null,"source":{"id":"https://openalex.org/S132261465","display_name":"IEEE Robotics & Automation Magazine","issn_l":"1070-9932","issn":["1070-9932","1558-223X"],"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 &amp; Automation Magazine","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hdl.handle.net/1983/26f53988-feac-484b-8268-bb77bba5902f","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100386760","display_name":"Dandan Zhang","orcid":"https://orcid.org/0000-0001-7649-7605"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Dandan Zhang","raw_affiliation_strings":["Department of Bioengineering, Imperial College London, London, U.K"],"raw_orcid":"https://orcid.org/0000-0001-7649-7605","affiliations":[{"raw_affiliation_string":"Department of Bioengineering, Imperial College London, London, U.K","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005377968","display_name":"Ziniu Wu","orcid":"https://orcid.org/0000-0003-1710-8598"},"institutions":[{"id":"https://openalex.org/I36234482","display_name":"University of Bristol","ror":"https://ror.org/0524sp257","country_code":"GB","type":"education","lineage":["https://openalex.org/I36234482"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Ziniu Wu","raw_affiliation_strings":["Department of Engineering Mathematics, University of Bristol, Bristol, U.K"],"raw_orcid":"https://orcid.org/0000-0003-1710-8598","affiliations":[{"raw_affiliation_string":"Department of Engineering Mathematics, University of Bristol, Bristol, U.K","institution_ids":["https://openalex.org/I36234482"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Jin Zheng","orcid":"https://orcid.org/0000-0002-1783-1375"},"institutions":[{"id":"https://openalex.org/I36234482","display_name":"University of Bristol","ror":"https://ror.org/0524sp257","country_code":"GB","type":"education","lineage":["https://openalex.org/I36234482"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Jin Zheng","raw_affiliation_strings":["Department of Engineering Mathematics, University of Bristol, Bristol, U.K"],"raw_orcid":"https://orcid.org/0000-0002-1783-1375","affiliations":[{"raw_affiliation_string":"Department of Engineering Mathematics, University of Bristol, Bristol, U.K","institution_ids":["https://openalex.org/I36234482"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Yifan Li","orcid":"https://orcid.org/0009-0000-6677-4824"},"institutions":[{"id":"https://openalex.org/I36234482","display_name":"University of Bristol","ror":"https://ror.org/0524sp257","country_code":"GB","type":"education","lineage":["https://openalex.org/I36234482"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Yifan Li","raw_affiliation_strings":["Department of Engineering Mathematics, University of Bristol, Bristol, U.K"],"raw_orcid":"https://orcid.org/0009-0000-6677-4824","affiliations":[{"raw_affiliation_string":"Department of Engineering Mathematics, University of Bristol, Bristol, U.K","institution_ids":["https://openalex.org/I36234482"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062514822","display_name":"Zheng Dong","orcid":"https://orcid.org/0000-0002-0692-7486"},"institutions":[{"id":"https://openalex.org/I36234482","display_name":"University of Bristol","ror":"https://ror.org/0524sp257","country_code":"GB","type":"education","lineage":["https://openalex.org/I36234482"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Zheng Dong","raw_affiliation_strings":["Department of Engineering Mathematics, University of Bristol, Bristol, U.K"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Engineering Mathematics, University of Bristol, Bristol, U.K","institution_ids":["https://openalex.org/I36234482"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5062633475","display_name":"Jialin Lin","orcid":"https://orcid.org/0000-0001-6614-825X"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Jialin Lin","raw_affiliation_strings":["Department of Bioengineering, Imperial College London, London, U.K"],"raw_orcid":"https://orcid.org/0000-0001-6614-825X","affiliations":[{"raw_affiliation_string":"Department of Bioengineering, Imperial College London, London, U.K","institution_ids":["https://openalex.org/I47508984"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.6886,"has_fulltext":true,"cited_by_count":6,"citation_normalized_percentile":{"value":0.85609844,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"32","issue":"3","first_page":"114","last_page":"124"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10763","display_name":"Digital Transformation in Industry","score":0.9750999808311462,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10763","display_name":"Digital Transformation in Industry","score":0.9750999808311462,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/T13382","display_name":"Robotics and Automated Systems","score":0.9082000255584717,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T10888","display_name":"Augmented Reality Applications","score":0.9020000100135803,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/mixed-reality","display_name":"Mixed reality","score":0.7544594407081604},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.6372829675674438},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5825803279876709},{"id":"https://openalex.org/keywords/internet-of-things","display_name":"Internet of Things","score":0.5529537200927734},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4792190194129944},{"id":"https://openalex.org/keywords/augmented-reality","display_name":"Augmented reality","score":0.4647459387779236},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.4520799517631531},{"id":"https://openalex.org/keywords/the-internet","display_name":"The Internet","score":0.45185673236846924},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3297796845436096},{"id":"https://openalex.org/keywords/world-wide-web","display_name":"World Wide Web","score":0.19260933995246887}],"concepts":[{"id":"https://openalex.org/C206776904","wikidata":"https://www.wikidata.org/wiki/Q1758389","display_name":"Mixed reality","level":3,"score":0.7544594407081604},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.6372829675674438},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5825803279876709},{"id":"https://openalex.org/C81860439","wikidata":"https://www.wikidata.org/wiki/Q251212","display_name":"Internet of Things","level":2,"score":0.5529537200927734},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4792190194129944},{"id":"https://openalex.org/C153715457","wikidata":"https://www.wikidata.org/wiki/Q254183","display_name":"Augmented reality","level":2,"score":0.4647459387779236},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.4520799517631531},{"id":"https://openalex.org/C110875604","wikidata":"https://www.wikidata.org/wiki/Q75","display_name":"The Internet","level":2,"score":0.45185673236846924},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3297796845436096},{"id":"https://openalex.org/C136764020","wikidata":"https://www.wikidata.org/wiki/Q466","display_name":"World Wide Web","level":1,"score":0.19260933995246887}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/mra.2024.3417090","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mra.2024.3417090","pdf_url":null,"source":{"id":"https://openalex.org/S132261465","display_name":"IEEE Robotics & Automation Magazine","issn_l":"1070-9932","issn":["1070-9932","1558-223X"],"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 &amp; Automation Magazine","raw_type":"journal-article"},{"id":"pmh:oai:research-information.bris.ac.uk:openaire/26f53988-feac-484b-8268-bb77bba5902f","is_oa":true,"landing_page_url":"https://hdl.handle.net/1983/26f53988-feac-484b-8268-bb77bba5902f","pdf_url":null,"source":{"id":"https://openalex.org/S4306400895","display_name":"Bristol Research (University of Bristol)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I36234482","host_organization_name":"University of Bristol","host_organization_lineage":["https://openalex.org/I36234482"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"Zhang, D, Wu, Z, Zheng, J, Li, Y, Dong, Z & Lin, J 2024, 'HubotVerse : Towards Internet of Human and Intelligent Robotic Things with a Digital Twin-Based Mixed Reality Framework', IEEE Robotics and Automation Magazine, pp. 2-12. https://doi.org/10.1109/MRA.2024.3417090","raw_type":"info:eu-repo/semantics/publishedVersion"},{"id":"pmh:oai:research-information.bris.ac.uk:openaire_cris_publications/26f53988-feac-484b-8268-bb77bba5902f","is_oa":true,"landing_page_url":"https://research-information.bris.ac.uk/en/publications/26f53988-feac-484b-8268-bb77bba5902f","pdf_url":"https://research-information.bris.ac.uk/files/432659473/23-0139_03_MS.pdf","source":{"id":"https://openalex.org/S4306400895","display_name":"Bristol Research (University of Bristol)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I36234482","host_organization_name":"University of Bristol","host_organization_lineage":["https://openalex.org/I36234482"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Zhang, D, Wu, Z, Zheng, J, Li, Y, Dong, Z & Lin, J 2024, 'HubotVerse : Towards Internet of Human and Intelligent Robotic Things with a Digital Twin-Based Mixed Reality Framework', IEEE Robotics and Automation Magazine, pp. 2-12. https://doi.org/10.1109/MRA.2024.3417090","raw_type":"info:eu-repo/semantics/publishedVersion"}],"best_oa_location":{"id":"pmh:oai:research-information.bris.ac.uk:openaire/26f53988-feac-484b-8268-bb77bba5902f","is_oa":true,"landing_page_url":"https://hdl.handle.net/1983/26f53988-feac-484b-8268-bb77bba5902f","pdf_url":null,"source":{"id":"https://openalex.org/S4306400895","display_name":"Bristol Research (University of Bristol)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I36234482","host_organization_name":"University of Bristol","host_organization_lineage":["https://openalex.org/I36234482"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"Zhang, D, Wu, Z, Zheng, J, Li, Y, Dong, Z & Lin, J 2024, 'HubotVerse : Towards Internet of Human and Intelligent Robotic Things with a Digital Twin-Based Mixed Reality Framework', IEEE Robotics and Automation Magazine, pp. 2-12. https://doi.org/10.1109/MRA.2024.3417090","raw_type":"info:eu-repo/semantics/publishedVersion"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W95067517","https://openalex.org/W2154034063","https://openalex.org/W2560709470","https://openalex.org/W2565718660","https://openalex.org/W2756029264","https://openalex.org/W2908447022","https://openalex.org/W2909246528","https://openalex.org/W2989886745","https://openalex.org/W2990255366","https://openalex.org/W2998855295","https://openalex.org/W3000670522","https://openalex.org/W3015294072","https://openalex.org/W3123572908","https://openalex.org/W4224938351","https://openalex.org/W4226301444","https://openalex.org/W4283768231","https://openalex.org/W4387729932","https://openalex.org/W4389665575","https://openalex.org/W4389666205"],"related_works":["https://openalex.org/W4315498436","https://openalex.org/W4236000927","https://openalex.org/W2394424449","https://openalex.org/W4229456911","https://openalex.org/W2471972198","https://openalex.org/W2624249381","https://openalex.org/W2915381807","https://openalex.org/W9783058","https://openalex.org/W2905138457","https://openalex.org/W4378228679"],"abstract_inverted_index":{"Although":[0],"the":[1,9,17,40,43,113,143,152,164,172,176,179],"Internet":[2,18,44],"of":[3,11,19,42,45,115,136,154,169,178,184],"Robotic":[4,49],"Things":[5,20,50],"(IoRT)":[6],"has":[7],"enhanced":[8],"productivity":[10],"robotic":[12],"systems":[13],"in":[14,182,190],"conjunction":[15],"with":[16],"(IoT),":[21],"it":[22],"does":[23],"not":[24],"inherently":[25],"support":[26],"seamless":[27],"human-robot":[28],"collaboration.":[29],"This":[30],"paper":[31],"presents":[32],"HuBotVerse,":[33,116],"a":[34,90,123,133,159],"unified":[35],"framework":[36,70,161,181],"designed":[37],"to":[38,56,79,109],"foster":[39],"evolution":[41],"Human":[46],"and":[47,64,85,106,142,156,166,188,204],"Intelligent":[48],"(IoHIRT).":[51],"HuBotVerse":[52,157,180],"is":[53],"advantageous":[54],"due":[55],"its":[57,65],"unique":[58],"features,":[59],"including":[60],"security,":[61],"user-friendliness,":[62,186],"manageability,":[63,187],"open-source":[66],"nature.":[67],"Moreover,":[68,171],"this":[69],"can":[71],"seamlessly":[72],"integrate":[73],"various":[74],"Human-Robot":[75],"Interaction":[76],"(HRI)":[77],"interfaces":[78],"facilitate":[80],"collaborative":[81],"control":[82],"between":[83],"humans":[84],"robots.":[86],"Here,":[87],"we":[88,117],"emphasize":[89],"Digital":[91],"Twin-Based":[92],"Mixed":[93],"Reality":[94],"(MR)":[95],"interface,":[96],"which":[97],"enhances":[98],"teleoperation":[99],"efficiency":[100,165],"by":[101,132],"offering":[102],"users":[103],"an":[104],"intuitive":[105],"immersive":[107],"way":[108],"interact.":[110],"To":[111],"evaluate":[112],"effectiveness":[114],"conducted":[118],"user":[119,140,167],"studies":[120],"based":[121],"on":[122],"pick-and-place":[124],"task.":[125],"Feedback":[126],"was":[127],"gathered":[128],"through":[129],"questionnaires,":[130],"complemented":[131],"quantitative":[134],"analysis":[135],"key":[137],"performance":[138],"metrics,":[139],"experience,":[141],"NASA":[144],"Task":[145],"Load":[146],"Index":[147],"(NASA-TLX).":[148],"Results":[149],"indicate":[150],"that":[151],"fusion":[153],"MR":[155],"within":[158],"comprehensive":[160],"significantly":[162],"improves":[163],"experience":[168],"teleoperation.":[170],"follow-up":[173],"questionnaires":[174],"reflect":[175],"advantages":[177],"terms":[183],"evident":[185],"usability":[189],"homecare":[191],"or":[192],"healthcare":[193],"applications.":[194],"For":[195],"codes,":[196],"project":[197],"videos,":[198],"tutorials,":[199],"technical":[200],"details,":[201],"case":[202],"studies,":[203],"Q&A,":[205],"please":[206],"check":[207],"our":[208],"website":[209],"(<uri":[210],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[211],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">https://sites.google.com/view/iohirtplusmr/home</uri>).":[212]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
