{"id":"https://openalex.org/W4309675539","doi":"https://doi.org/10.1109/smc53654.2022.9945390","title":"DandelionTouch: High Fidelity Haptic Rendering of Soft Objects in VR by a Swarm of Drones","display_name":"DandelionTouch: High Fidelity Haptic Rendering of Soft Objects in VR by a Swarm of Drones","publication_year":2022,"publication_date":"2022-10-09","ids":{"openalex":"https://openalex.org/W4309675539","doi":"https://doi.org/10.1109/smc53654.2022.9945390"},"language":"en","primary_location":{"id":"doi:10.1109/smc53654.2022.9945390","is_oa":false,"landing_page_url":"https://doi.org/10.1109/smc53654.2022.9945390","pdf_url":null,"source":{"id":"https://openalex.org/S4363607746","display_name":"2022 IEEE International Conference on Systems, Man, and Cybernetics (SMC)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE International Conference on Systems, Man, and Cybernetics (SMC)","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/A5052797806","display_name":"Aleksey Fedoseev","orcid":"https://orcid.org/0000-0003-2506-9111"},"institutions":[{"id":"https://openalex.org/I125989756","display_name":"Skolkovo Institute of Science and Technology","ror":"https://ror.org/03f9nc143","country_code":"RU","type":"education","lineage":["https://openalex.org/I125989756"]},{"id":"https://openalex.org/I4210123104","display_name":"Russian Space Systems","ror":"https://ror.org/02t41e292","country_code":"RU","type":"facility","lineage":["https://openalex.org/I4210123104"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Aleksey Fedoseev","raw_affiliation_strings":["Intelligent Space Robotics Laboratory Skoltech,Moscow,Russian Federation","Intelligent Space Robotics Laboratory Skoltech, Moscow, Russian Federation"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Space Robotics Laboratory Skoltech,Moscow,Russian Federation","institution_ids":["https://openalex.org/I4210123104"]},{"raw_affiliation_string":"Intelligent Space Robotics Laboratory Skoltech, Moscow, Russian Federation","institution_ids":["https://openalex.org/I125989756","https://openalex.org/I4210123104"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051379534","display_name":"Ahmed Baza","orcid":null},"institutions":[{"id":"https://openalex.org/I125989756","display_name":"Skolkovo Institute of Science and Technology","ror":"https://ror.org/03f9nc143","country_code":"RU","type":"education","lineage":["https://openalex.org/I125989756"]},{"id":"https://openalex.org/I4210123104","display_name":"Russian Space Systems","ror":"https://ror.org/02t41e292","country_code":"RU","type":"facility","lineage":["https://openalex.org/I4210123104"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Ahmed Baza","raw_affiliation_strings":["Intelligent Space Robotics Laboratory Skoltech,Moscow,Russian Federation","Intelligent Space Robotics Laboratory Skoltech, Moscow, Russian Federation"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Space Robotics Laboratory Skoltech,Moscow,Russian Federation","institution_ids":["https://openalex.org/I4210123104"]},{"raw_affiliation_string":"Intelligent Space Robotics Laboratory Skoltech, Moscow, Russian Federation","institution_ids":["https://openalex.org/I125989756","https://openalex.org/I4210123104"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031859288","display_name":"Ayush Gupta","orcid":null},"institutions":[{"id":"https://openalex.org/I125989756","display_name":"Skolkovo Institute of Science and Technology","ror":"https://ror.org/03f9nc143","country_code":"RU","type":"education","lineage":["https://openalex.org/I125989756"]},{"id":"https://openalex.org/I4210123104","display_name":"Russian Space Systems","ror":"https://ror.org/02t41e292","country_code":"RU","type":"facility","lineage":["https://openalex.org/I4210123104"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Ayush Gupta","raw_affiliation_strings":["Intelligent Space Robotics Laboratory Skoltech,Moscow,Russian Federation","Intelligent Space Robotics Laboratory Skoltech, Moscow, Russian Federation"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Space Robotics Laboratory Skoltech,Moscow,Russian Federation","institution_ids":["https://openalex.org/I4210123104"]},{"raw_affiliation_string":"Intelligent Space Robotics Laboratory Skoltech, Moscow, Russian Federation","institution_ids":["https://openalex.org/I125989756","https://openalex.org/I4210123104"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027122790","display_name":"Ekaterina Dorzhieva","orcid":null},"institutions":[{"id":"https://openalex.org/I125989756","display_name":"Skolkovo Institute of Science and Technology","ror":"https://ror.org/03f9nc143","country_code":"RU","type":"education","lineage":["https://openalex.org/I125989756"]},{"id":"https://openalex.org/I4210123104","display_name":"Russian Space Systems","ror":"https://ror.org/02t41e292","country_code":"RU","type":"facility","lineage":["https://openalex.org/I4210123104"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Ekaterina Dorzhieva","raw_affiliation_strings":["Intelligent Space Robotics Laboratory Skoltech,Moscow,Russian Federation","Intelligent Space Robotics Laboratory Skoltech, Moscow, Russian Federation"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Space Robotics Laboratory Skoltech,Moscow,Russian Federation","institution_ids":["https://openalex.org/I4210123104"]},{"raw_affiliation_string":"Intelligent Space Robotics Laboratory Skoltech, Moscow, Russian Federation","institution_ids":["https://openalex.org/I125989756","https://openalex.org/I4210123104"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006670097","display_name":"Riya Neelesh Gujarathi","orcid":null},"institutions":[{"id":"https://openalex.org/I4210128688","display_name":"Imperial Consultants","ror":"https://ror.org/0376hjh49","country_code":"GB","type":"company","lineage":["https://openalex.org/I4210128688"]},{"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":"Riya Neelesh Gujarathi","raw_affiliation_strings":["Imperial College London Exhibition Road,South Kensington,London,United Kingdom","Imperial College London Exhibition Road,South Kensington, London, United Kingdom"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Imperial College London Exhibition Road,South Kensington,London,United Kingdom","institution_ids":["https://openalex.org/I47508984"]},{"raw_affiliation_string":"Imperial College London Exhibition Road,South Kensington, London, United Kingdom","institution_ids":["https://openalex.org/I4210128688","https://openalex.org/I47508984"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5056458774","display_name":"Dzmitry Tsetserukou","orcid":"https://orcid.org/0000-0001-8055-5345"},"institutions":[{"id":"https://openalex.org/I125989756","display_name":"Skolkovo Institute of Science and Technology","ror":"https://ror.org/03f9nc143","country_code":"RU","type":"education","lineage":["https://openalex.org/I125989756"]},{"id":"https://openalex.org/I4210123104","display_name":"Russian Space Systems","ror":"https://ror.org/02t41e292","country_code":"RU","type":"facility","lineage":["https://openalex.org/I4210123104"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Dzmitry Tsetserukou","raw_affiliation_strings":["Intelligent Space Robotics Laboratory Skoltech,Moscow,Russian Federation","Intelligent Space Robotics Laboratory Skoltech, Moscow, Russian Federation"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Space Robotics Laboratory Skoltech,Moscow,Russian Federation","institution_ids":["https://openalex.org/I4210123104"]},{"raw_affiliation_string":"Intelligent Space Robotics Laboratory Skoltech, Moscow, Russian Federation","institution_ids":["https://openalex.org/I125989756","https://openalex.org/I4210123104"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1078","last_page":"1083"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10914","display_name":"Tactile and Sensory Interactions","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9987999796867371,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9962999820709229,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/swarm-behaviour","display_name":"Swarm behaviour","score":0.7966901063919067},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6876922845840454},{"id":"https://openalex.org/keywords/drone","display_name":"Drone","score":0.5846190452575684},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.5754212141036987},{"id":"https://openalex.org/keywords/rendering","display_name":"Rendering (computer graphics)","score":0.543594241142273},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5331814289093018},{"id":"https://openalex.org/keywords/network-topology","display_name":"Network topology","score":0.46262121200561523},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.46197474002838135},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4425913393497467},{"id":"https://openalex.org/keywords/particle-swarm-optimization","display_name":"Particle swarm optimization","score":0.441944420337677},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4317781627178192},{"id":"https://openalex.org/keywords/haptic-perception","display_name":"Haptic perception","score":0.422479510307312},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.15198898315429688}],"concepts":[{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.7966901063919067},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6876922845840454},{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.5846190452575684},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.5754212141036987},{"id":"https://openalex.org/C205711294","wikidata":"https://www.wikidata.org/wiki/Q176953","display_name":"Rendering (computer graphics)","level":2,"score":0.543594241142273},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5331814289093018},{"id":"https://openalex.org/C199845137","wikidata":"https://www.wikidata.org/wiki/Q145490","display_name":"Network topology","level":2,"score":0.46262121200561523},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.46197474002838135},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4425913393497467},{"id":"https://openalex.org/C85617194","wikidata":"https://www.wikidata.org/wiki/Q2072794","display_name":"Particle swarm optimization","level":2,"score":0.441944420337677},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4317781627178192},{"id":"https://openalex.org/C2778360479","wikidata":"https://www.wikidata.org/wiki/Q1289489","display_name":"Haptic perception","level":3,"score":0.422479510307312},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.15198898315429688},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/smc53654.2022.9945390","is_oa":false,"landing_page_url":"https://doi.org/10.1109/smc53654.2022.9945390","pdf_url":null,"source":{"id":"https://openalex.org/S4363607746","display_name":"2022 IEEE International Conference on Systems, Man, and Cybernetics (SMC)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE International Conference on Systems, Man, and Cybernetics (SMC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1978023077","https://openalex.org/W2056108016","https://openalex.org/W2394570920","https://openalex.org/W2529089045","https://openalex.org/W2750735917","https://openalex.org/W2801291508","https://openalex.org/W2896945552","https://openalex.org/W2905238358","https://openalex.org/W2971417620","https://openalex.org/W2981021419","https://openalex.org/W2982814313","https://openalex.org/W2985607215","https://openalex.org/W2987506655","https://openalex.org/W2997586266","https://openalex.org/W3018187588","https://openalex.org/W3104207930","https://openalex.org/W3104641821","https://openalex.org/W3105365169","https://openalex.org/W3113399277","https://openalex.org/W3133903794","https://openalex.org/W3142938931"],"related_works":["https://openalex.org/W2743170747","https://openalex.org/W4385625905","https://openalex.org/W2146087280","https://openalex.org/W2156701455","https://openalex.org/W2427793137","https://openalex.org/W2998207585","https://openalex.org/W2439615175","https://openalex.org/W2128748088","https://openalex.org/W61839518","https://openalex.org/W2727515034"],"abstract_inverted_index":{"To":[0],"achieve":[1],"high":[2,11],"fidelity":[3],"haptic":[4,19,238],"rendering":[5],"of":[6,30,36,39,43,93,159,183,204,227,230,237],"soft":[7],"objects":[8],"in":[9,47,101,106,118,124,140,149,162,189,221,240],"a":[10,17,34,48,110,115,125,190,234],"mobility":[12],"virtual":[13,71],"environment,":[14],"we":[15],"propose":[16],"novel":[18],"display":[20],"DandelionTouch.":[21],"The":[22,104,156,196],"tactile":[23,45],"actuators":[24],"are":[25,41],"delivered":[26],"to":[27,212],"the":[28,31,56,81,90,129,160,173,177,181,201,215],"fingertips":[29],"user":[32,191],"by":[33,55,138,147],"swarm":[35,76,82,97,154,174],"drones.":[37],"Users":[38],"DandelionTouch":[40],"capable":[42],"experiencing":[44],"feedback":[46,239],"large":[49],"space":[50],"that":[51,121,200],"is":[52,249],"not":[53,63],"limited":[54],"device\u2019s":[57],"working":[58],"area.":[59],"Importantly,":[60],"they":[61],"will":[62],"experience":[64],"muscle":[65],"fatigue":[66],"during":[67],"long":[68],"interactions":[69],"with":[70,83,131,142,151,165,176,193],"objects.":[72],"Hand":[73],"tracking":[74],"and":[75,86,146,207,218],"control":[77],"algorithm":[78],"allow":[79],"guiding":[80],"hand":[84],"motions":[85],"avoid":[87],"collisions":[88],"inside":[89],"formation.Several":[91],"topologies":[92,145],"impedance":[94,144,166],"connection":[95],"between":[96],"units":[98],"were":[99,168],"investigated":[100],"this":[102],"research.":[103],"experiment,":[105],"which":[107],"drones":[108,122,161],"performed":[109,128],"point":[111],"following":[112],"task":[113],"on":[114],"square":[116],"trajectory":[117,130],"real-time,":[119],"revealed":[120],"connected":[123],"Star":[126],"topology":[127],"low":[132],"mean":[133],"positional":[134],"error":[135],"(RMSE":[136],"decreased":[137],"20.6%":[139],"comparison":[141,150],"other":[143],"40.9%":[148],"potential":[152,178],"field-based":[153],"control).":[155],"achieved":[157],"velocities":[158],"all":[163],"formations":[164],"behavior":[167],"28%":[169],"higher":[170],"than":[171],"for":[172],"controlled":[175],"field":[179],"algorithm.Additionally,":[180],"perception":[182],"several":[184],"vibrotactile":[185],"patterns":[186],"was":[187],"evaluated":[188],"study":[192,197],"7":[194],"participants.":[195],"has":[198],"shown":[199],"proposed":[202],"combination":[203],"temporal":[205],"delay":[206],"frequency":[208],"modulation":[209],"allows":[210],"users":[211],"successfully":[213],"recognize":[214],"surface":[216],"property":[217],"motion":[219],"direction":[220],"VR":[222,241],"simultaneously":[223],"(mean":[224],"recognition":[225],"rate":[226],"70%,":[228],"maximum":[229],"93%).":[231],"Dandelion-Touch":[232],"suggests":[233],"new":[235],"type":[236],"systems":[242],"where":[243],"no":[244],"hand-held":[245],"or":[246],"wearable":[247],"interface":[248],"required.":[250]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":2}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}