{"id":"https://openalex.org/W4388624015","doi":"https://doi.org/10.1109/ro-man57019.2023.10309476","title":"A Two-layer Haptic Device for Presenting a Wide Range of Softness and Hardness Using a Pneumatic Balloon and a Mechanical Piston","display_name":"A Two-layer Haptic Device for Presenting a Wide Range of Softness and Hardness Using a Pneumatic Balloon and a Mechanical Piston","publication_year":2023,"publication_date":"2023-08-28","ids":{"openalex":"https://openalex.org/W4388624015","doi":"https://doi.org/10.1109/ro-man57019.2023.10309476"},"language":"en","primary_location":{"id":"doi:10.1109/ro-man57019.2023.10309476","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/ro-man57019.2023.10309476","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 32nd IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)","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/A5101004548","display_name":"Takuya Sasaki","orcid":null},"institutions":[{"id":"https://openalex.org/I146399215","display_name":"University of Tsukuba","ror":"https://ror.org/02956yf07","country_code":"JP","type":"education","lineage":["https://openalex.org/I146399215"]},{"id":"https://openalex.org/I75917431","display_name":"Nara Institute of Science and Technology","ror":"https://ror.org/05bhada84","country_code":"JP","type":"education","lineage":["https://openalex.org/I75917431"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Takuya Sasaki","raw_affiliation_strings":["Nara Institute of Science and Technology Japan, and University of Tsukuba,Division of Information Science, Graduate School of Science and Technology,Japan","Division of Information Science, Graduate School of Science and Technology, Nara Institute of Science and Technology Japan, and University of Tsukuba, Japan"],"affiliations":[{"raw_affiliation_string":"Nara Institute of Science and Technology Japan, and University of Tsukuba,Division of Information Science, Graduate School of Science and Technology,Japan","institution_ids":["https://openalex.org/I75917431","https://openalex.org/I146399215"]},{"raw_affiliation_string":"Division of Information Science, Graduate School of Science and Technology, Nara Institute of Science and Technology Japan, and University of Tsukuba, Japan","institution_ids":["https://openalex.org/I75917431","https://openalex.org/I146399215"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017424386","display_name":"Daiki Hagimori","orcid":"https://orcid.org/0000-0003-2140-7021"},"institutions":[{"id":"https://openalex.org/I146399215","display_name":"University of Tsukuba","ror":"https://ror.org/02956yf07","country_code":"JP","type":"education","lineage":["https://openalex.org/I146399215"]},{"id":"https://openalex.org/I75917431","display_name":"Nara Institute of Science and Technology","ror":"https://ror.org/05bhada84","country_code":"JP","type":"education","lineage":["https://openalex.org/I75917431"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Daiki Hagimori","raw_affiliation_strings":["Nara Institute of Science and Technology Japan, and University of Tsukuba,Division of Information Science, Graduate School of Science and Technology,Japan","Division of Information Science, Graduate School of Science and Technology, Nara Institute of Science and Technology Japan, and University of Tsukuba, Japan"],"affiliations":[{"raw_affiliation_string":"Nara Institute of Science and Technology Japan, and University of Tsukuba,Division of Information Science, Graduate School of Science and Technology,Japan","institution_ids":["https://openalex.org/I75917431","https://openalex.org/I146399215"]},{"raw_affiliation_string":"Division of Information Science, Graduate School of Science and Technology, Nara Institute of Science and Technology Japan, and University of Tsukuba, Japan","institution_ids":["https://openalex.org/I75917431","https://openalex.org/I146399215"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076689421","display_name":"Monica Perusqu\u00eda-Hern\u00e1ndez","orcid":"https://orcid.org/0000-0002-0486-1743"},"institutions":[{"id":"https://openalex.org/I146399215","display_name":"University of Tsukuba","ror":"https://ror.org/02956yf07","country_code":"JP","type":"education","lineage":["https://openalex.org/I146399215"]},{"id":"https://openalex.org/I75917431","display_name":"Nara Institute of Science and Technology","ror":"https://ror.org/05bhada84","country_code":"JP","type":"education","lineage":["https://openalex.org/I75917431"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Monica Perusqu\u00eda-Hern\u00e1ndez","raw_affiliation_strings":["Nara Institute of Science and Technology Japan, and University of Tsukuba,Division of Information Science, Graduate School of Science and Technology,Japan","Division of Information Science, Graduate School of Science and Technology, Nara Institute of Science and Technology Japan, and University of Tsukuba, Japan"],"affiliations":[{"raw_affiliation_string":"Nara Institute of Science and Technology Japan, and University of Tsukuba,Division of Information Science, Graduate School of Science and Technology,Japan","institution_ids":["https://openalex.org/I75917431","https://openalex.org/I146399215"]},{"raw_affiliation_string":"Division of Information Science, Graduate School of Science and Technology, Nara Institute of Science and Technology Japan, and University of Tsukuba, Japan","institution_ids":["https://openalex.org/I75917431","https://openalex.org/I146399215"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035158731","display_name":"Naoya Isoyama","orcid":"https://orcid.org/0000-0002-6535-8439"},"institutions":[{"id":"https://openalex.org/I75917431","display_name":"Nara Institute of Science and Technology","ror":"https://ror.org/05bhada84","country_code":"JP","type":"education","lineage":["https://openalex.org/I75917431"]},{"id":"https://openalex.org/I146399215","display_name":"University of Tsukuba","ror":"https://ror.org/02956yf07","country_code":"JP","type":"education","lineage":["https://openalex.org/I146399215"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Naoya Isoyama","raw_affiliation_strings":["Nara Institute of Science and Technology Japan, and University of Tsukuba,Division of Information Science, Graduate School of Science and Technology,Japan","Division of Information Science, Graduate School of Science and Technology, Nara Institute of Science and Technology Japan, and University of Tsukuba, Japan"],"affiliations":[{"raw_affiliation_string":"Nara Institute of Science and Technology Japan, and University of Tsukuba,Division of Information Science, Graduate School of Science and Technology,Japan","institution_ids":["https://openalex.org/I75917431","https://openalex.org/I146399215"]},{"raw_affiliation_string":"Division of Information Science, Graduate School of Science and Technology, Nara Institute of Science and Technology Japan, and University of Tsukuba, Japan","institution_ids":["https://openalex.org/I75917431","https://openalex.org/I146399215"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056399333","display_name":"Hideaki Uchiyama","orcid":"https://orcid.org/0000-0002-6119-1184"},"institutions":[{"id":"https://openalex.org/I75917431","display_name":"Nara Institute of Science and Technology","ror":"https://ror.org/05bhada84","country_code":"JP","type":"education","lineage":["https://openalex.org/I75917431"]},{"id":"https://openalex.org/I146399215","display_name":"University of Tsukuba","ror":"https://ror.org/02956yf07","country_code":"JP","type":"education","lineage":["https://openalex.org/I146399215"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hideaki Uchiyama","raw_affiliation_strings":["Nara Institute of Science and Technology Japan, and University of Tsukuba,Division of Information Science, Graduate School of Science and Technology,Japan","Division of Information Science, Graduate School of Science and Technology, Nara Institute of Science and Technology Japan, and University of Tsukuba, Japan"],"affiliations":[{"raw_affiliation_string":"Nara Institute of Science and Technology Japan, and University of Tsukuba,Division of Information Science, Graduate School of Science and Technology,Japan","institution_ids":["https://openalex.org/I75917431","https://openalex.org/I146399215"]},{"raw_affiliation_string":"Division of Information Science, Graduate School of Science and Technology, Nara Institute of Science and Technology Japan, and University of Tsukuba, Japan","institution_ids":["https://openalex.org/I75917431","https://openalex.org/I146399215"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022749721","display_name":"Kiyoshi Kiyokawa","orcid":"https://orcid.org/0000-0003-2260-1707"},"institutions":[{"id":"https://openalex.org/I75917431","display_name":"Nara Institute of Science and Technology","ror":"https://ror.org/05bhada84","country_code":"JP","type":"education","lineage":["https://openalex.org/I75917431"]},{"id":"https://openalex.org/I146399215","display_name":"University of Tsukuba","ror":"https://ror.org/02956yf07","country_code":"JP","type":"education","lineage":["https://openalex.org/I146399215"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kiyoshi Kiyokawa","raw_affiliation_strings":["Nara Institute of Science and Technology Japan, and University of Tsukuba,Division of Information Science, Graduate School of Science and Technology,Japan","Division of Information Science, Graduate School of Science and Technology, Nara Institute of Science and Technology Japan, and University of Tsukuba, Japan"],"affiliations":[{"raw_affiliation_string":"Nara Institute of Science and Technology Japan, and University of Tsukuba,Division of Information Science, Graduate School of Science and Technology,Japan","institution_ids":["https://openalex.org/I75917431","https://openalex.org/I146399215"]},{"raw_affiliation_string":"Division of Information Science, Graduate School of Science and Technology, Nara Institute of Science and Technology Japan, and University of Tsukuba, Japan","institution_ids":["https://openalex.org/I75917431","https://openalex.org/I146399215"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5025834544","display_name":"Yoshihiro Kuroda","orcid":"https://orcid.org/0000-0003-4511-8195"},"institutions":[{"id":"https://openalex.org/I75917431","display_name":"Nara Institute of Science and Technology","ror":"https://ror.org/05bhada84","country_code":"JP","type":"education","lineage":["https://openalex.org/I75917431"]},{"id":"https://openalex.org/I146399215","display_name":"University of Tsukuba","ror":"https://ror.org/02956yf07","country_code":"JP","type":"education","lineage":["https://openalex.org/I146399215"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yoshihiro Kuroda","raw_affiliation_strings":["Nara Institute of Science and Technology Japan, and University of Tsukuba,Division of Information Science, Graduate School of Science and Technology,Japan","Division of Information Science, Graduate School of Science and Technology, Nara Institute of Science and Technology Japan, and University of Tsukuba, Japan"],"affiliations":[{"raw_affiliation_string":"Nara Institute of Science and Technology Japan, and University of Tsukuba,Division of Information Science, Graduate School of Science and Technology,Japan","institution_ids":["https://openalex.org/I75917431","https://openalex.org/I146399215"]},{"raw_affiliation_string":"Division of Information Science, Graduate School of Science and Technology, Nara Institute of Science and Technology Japan, and University of Tsukuba, Japan","institution_ids":["https://openalex.org/I75917431","https://openalex.org/I146399215"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5101004548"],"corresponding_institution_ids":["https://openalex.org/I146399215","https://openalex.org/I75917431"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.17898137,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"11","issue":null,"first_page":"343","last_page":"350"},"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9991000294685364,"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"}},{"id":"https://openalex.org/T10648","display_name":"Virtual Reality Applications and Impacts","score":0.9940000176429749,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"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/haptic-technology","display_name":"Haptic technology","score":0.8948335647583008},{"id":"https://openalex.org/keywords/piston","display_name":"Piston (optics)","score":0.7501640319824219},{"id":"https://openalex.org/keywords/virtual-reality","display_name":"Virtual reality","score":0.6161589026451111},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5051262974739075},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.44331467151641846},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.42063817381858826},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.3653193712234497},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3253830075263977},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.20458078384399414},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.18665805459022522},{"id":"https://openalex.org/keywords/composite-material","display_name":"Composite material","score":0.14256826043128967},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08370953798294067},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.07771843671798706}],"concepts":[{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.8948335647583008},{"id":"https://openalex.org/C199524791","wikidata":"https://www.wikidata.org/wiki/Q7198512","display_name":"Piston (optics)","level":3,"score":0.7501640319824219},{"id":"https://openalex.org/C194969405","wikidata":"https://www.wikidata.org/wiki/Q170519","display_name":"Virtual reality","level":2,"score":0.6161589026451111},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5051262974739075},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.44331467151641846},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.42063817381858826},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.3653193712234497},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3253830075263977},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.20458078384399414},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.18665805459022522},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.14256826043128967},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08370953798294067},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.07771843671798706},{"id":"https://openalex.org/C165699331","wikidata":"https://www.wikidata.org/wiki/Q461533","display_name":"Wavefront","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ro-man57019.2023.10309476","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/ro-man57019.2023.10309476","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 32nd IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.5099999904632568,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1997137371","https://openalex.org/W2071206549","https://openalex.org/W2071356986","https://openalex.org/W2079316448","https://openalex.org/W2108523872","https://openalex.org/W2150606742","https://openalex.org/W2163172268","https://openalex.org/W2217371521","https://openalex.org/W2408357557","https://openalex.org/W2536013731","https://openalex.org/W2766641313","https://openalex.org/W2768204746","https://openalex.org/W2791390850","https://openalex.org/W2795381942","https://openalex.org/W2941315263","https://openalex.org/W3001543666","https://openalex.org/W3031927435","https://openalex.org/W3093744613","https://openalex.org/W3162402113"],"related_works":["https://openalex.org/W156716224","https://openalex.org/W2111871955","https://openalex.org/W3175380930","https://openalex.org/W4233260495","https://openalex.org/W1989694608","https://openalex.org/W2139876914","https://openalex.org/W2348224808","https://openalex.org/W4309505616","https://openalex.org/W2731583012","https://openalex.org/W2116848172"],"abstract_inverted_index":{"Although":[0],"a":[1,20,34,40,47,52,56,60,101],"variety":[2,102],"of":[3,23,25,28,43,51,62,74,79,92,103],"haptic":[4,35],"devices":[5],"are":[6],"used":[7],"for":[8,97],"virtual":[9,30,98],"reality":[10,14],"(VR)":[11],"and":[12,55,76,81,95],"augmented":[13],"(AR)":[15],"experiences,":[16],"few":[17],"can":[18,38,70],"present":[19,39,71],"wide":[21,41],"range":[22,42],"softness-hardness":[24,44],"the":[26,29,68,83,87],"surface":[27],"objects.":[31],"We":[32],"propose":[33],"device":[36,85],"that":[37,67,82],"by":[45],"using":[46],"two-layered":[48],"structure":[49],"consisting":[50],"pneumatic":[53],"balloon":[54],"mechanical":[57],"piston.":[58],"Through":[59],"series":[61],"user":[63],"studies,":[64],"we":[65],"confirmed":[66],"prototype":[69,84],"five":[72],"levels":[73,78],"softness":[75],"three":[77],"hardness,":[80],"improves":[86],"VR":[88],"experience":[89],"in":[90],"terms":[91],"realism,":[93],"enjoyment,":[94],"comfort":[96],"objects":[99],"with":[100],"softness/hardness.":[104]},"counts_by_year":[],"updated_date":"2025-12-25T23:11:45.687758","created_date":"2025-10-10T00:00:00"}