{"id":"https://openalex.org/W3144364082","doi":"https://doi.org/10.1109/toh.2021.3069976","title":"AUTD3: Scalable Airborne Ultrasound Tactile Display","display_name":"AUTD3: Scalable Airborne Ultrasound Tactile Display","publication_year":2021,"publication_date":"2021-03-31","ids":{"openalex":"https://openalex.org/W3144364082","doi":"https://doi.org/10.1109/toh.2021.3069976","mag":"3144364082","pmid":"https://pubmed.ncbi.nlm.nih.gov/33788691"},"language":"en","primary_location":{"id":"doi:10.1109/toh.2021.3069976","is_oa":true,"landing_page_url":"https://doi.org/10.1109/toh.2021.3069976","pdf_url":"https://ieeexplore.ieee.org/ielx7/4543165/9653188/09392322.pdf","source":{"id":"https://openalex.org/S38993383","display_name":"IEEE Transactions on Haptics","issn_l":"1939-1412","issn":["1939-1412","2329-4051","2334-0134"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Haptics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","pubmed"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://ieeexplore.ieee.org/ielx7/4543165/9653188/09392322.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Shun Suzuki","orcid":"https://orcid.org/0000-0002-8431-6664"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shun Suzuki","raw_affiliation_strings":["Graduate School of Frontier Sciences, The University of Tokyo, Kashiwa-shi, Chiba, Japan"],"raw_orcid":"https://orcid.org/0000-0002-8431-6664","affiliations":[{"raw_affiliation_string":"Graduate School of Frontier Sciences, The University of Tokyo, Kashiwa-shi, Chiba, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Seki Inoue","orcid":"https://orcid.org/0000-0002-9713-0551"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Seki Inoue","raw_affiliation_strings":["Graduate School of Frontier Sciences, The University of Tokyo, Kashiwa-shi, Chiba, Japan"],"raw_orcid":"https://orcid.org/0000-0002-9713-0551","affiliations":[{"raw_affiliation_string":"Graduate School of Frontier Sciences, The University of Tokyo, Kashiwa-shi, Chiba, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Masahiro Fujiwara","orcid":"https://orcid.org/0000-0002-5042-1773"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masahiro Fujiwara","raw_affiliation_strings":["Graduate School of Frontier Sciences, The University of Tokyo, Kashiwa-shi, Chiba, Japan"],"raw_orcid":"https://orcid.org/0000-0002-5042-1773","affiliations":[{"raw_affiliation_string":"Graduate School of Frontier Sciences, The University of Tokyo, Kashiwa-shi, Chiba, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Yasutoshi Makino","orcid":"https://orcid.org/0000-0002-9362-4407"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yasutoshi Makino","raw_affiliation_strings":["Graduate School of Frontier Sciences, The University of Tokyo, Kashiwa-shi, Chiba, Japan"],"raw_orcid":"https://orcid.org/0000-0002-9362-4407","affiliations":[{"raw_affiliation_string":"Graduate School of Frontier Sciences, The University of Tokyo, Kashiwa-shi, Chiba, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"last","author":{"id":null,"display_name":"Hiroyuki Shinoda","orcid":"https://orcid.org/0000-0002-3006-430X"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hiroyuki Shinoda","raw_affiliation_strings":["Graduate School of Frontier Sciences, The University of Tokyo, Kashiwa-shi, Chiba, Japan"],"raw_orcid":"https://orcid.org/0000-0002-3006-430X","affiliations":[{"raw_affiliation_string":"Graduate School of Frontier Sciences, The University of Tokyo, Kashiwa-shi, Chiba, Japan","institution_ids":["https://openalex.org/I74801974"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":7.0278,"has_fulltext":true,"cited_by_count":75,"citation_normalized_percentile":{"value":0.97627282,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":"14","issue":"4","first_page":"740","last_page":"749"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10727","display_name":"Ultrasound Imaging and Elastography","score":0.2597000002861023,"subfield":{"id":"https://openalex.org/subfields/2741","display_name":"Radiology, Nuclear Medicine and Imaging"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},"topics":[{"id":"https://openalex.org/T10727","display_name":"Ultrasound Imaging and Elastography","score":0.2597000002861023,"subfield":{"id":"https://openalex.org/subfields/2741","display_name":"Radiology, Nuclear Medicine and Imaging"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T11255","display_name":"Microfluidic and Bio-sensing Technologies","score":0.1793999969959259,"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/T10914","display_name":"Tactile and Sensory Interactions","score":0.15610000491142273,"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/synchronization","display_name":"Synchronization (alternating current)","score":0.6341999769210815},{"id":"https://openalex.org/keywords/ethernet","display_name":"Ethernet","score":0.6089000105857849},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.5530999898910522},{"id":"https://openalex.org/keywords/phased-array","display_name":"Phased array","score":0.5432999730110168},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.5418000221252441},{"id":"https://openalex.org/keywords/transducer","display_name":"Transducer","score":0.42879998683929443},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.3797000050544739}],"concepts":[{"id":"https://openalex.org/C2778562939","wikidata":"https://www.wikidata.org/wiki/Q1298791","display_name":"Synchronization (alternating current)","level":3,"score":0.6341999769210815},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6137999892234802},{"id":"https://openalex.org/C172173386","wikidata":"https://www.wikidata.org/wiki/Q79984","display_name":"Ethernet","level":2,"score":0.6089000105857849},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.5530999898910522},{"id":"https://openalex.org/C9390403","wikidata":"https://www.wikidata.org/wiki/Q3966","display_name":"Computer hardware","level":1,"score":0.546500027179718},{"id":"https://openalex.org/C55494473","wikidata":"https://www.wikidata.org/wiki/Q727898","display_name":"Phased array","level":3,"score":0.5432999730110168},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.5418000221252441},{"id":"https://openalex.org/C56318395","wikidata":"https://www.wikidata.org/wiki/Q215928","display_name":"Transducer","level":2,"score":0.42879998683929443},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.3797000050544739},{"id":"https://openalex.org/C81288441","wikidata":"https://www.wikidata.org/wiki/Q20736125","display_name":"Ultrasonic sensor","level":2,"score":0.3637999892234802},{"id":"https://openalex.org/C180205008","wikidata":"https://www.wikidata.org/wiki/Q159190","display_name":"Amplitude","level":2,"score":0.35839998722076416},{"id":"https://openalex.org/C24326235","wikidata":"https://www.wikidata.org/wiki/Q126095","display_name":"Electronic engineering","level":1,"score":0.3564000129699707},{"id":"https://openalex.org/C44280652","wikidata":"https://www.wikidata.org/wiki/Q104837","display_name":"Phase (matter)","level":2,"score":0.34040001034736633},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.30959999561309814},{"id":"https://openalex.org/C126831891","wikidata":"https://www.wikidata.org/wiki/Q221673","display_name":"Host (biology)","level":2,"score":0.2937000095844269},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.2903999984264374},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.29019999504089355},{"id":"https://openalex.org/C194027367","wikidata":"https://www.wikidata.org/wiki/Q4420475","display_name":"Phase synchronization","level":3,"score":0.28850001096725464},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.2784999907016754},{"id":"https://openalex.org/C98025372","wikidata":"https://www.wikidata.org/wiki/Q477538","display_name":"Systems architecture","level":3,"score":0.262800008058548},{"id":"https://openalex.org/C104267543","wikidata":"https://www.wikidata.org/wiki/Q208163","display_name":"Signal processing","level":3,"score":0.2508000135421753}],"mesh":[{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D014159","descriptor_name":"Transducers","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D014159","descriptor_name":"Transducers","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D014159","descriptor_name":"Transducers","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D014463","descriptor_name":"Ultrasonography","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D014463","descriptor_name":"Ultrasonography","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D014463","descriptor_name":"Ultrasonography","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false}],"locations_count":2,"locations":[{"id":"doi:10.1109/toh.2021.3069976","is_oa":true,"landing_page_url":"https://doi.org/10.1109/toh.2021.3069976","pdf_url":"https://ieeexplore.ieee.org/ielx7/4543165/9653188/09392322.pdf","source":{"id":"https://openalex.org/S38993383","display_name":"IEEE Transactions on Haptics","issn_l":"1939-1412","issn":["1939-1412","2329-4051","2334-0134"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Haptics","raw_type":"journal-article"},{"id":"pmid:33788691","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/33788691","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE transactions on haptics","raw_type":null}],"best_oa_location":{"id":"doi:10.1109/toh.2021.3069976","is_oa":true,"landing_page_url":"https://doi.org/10.1109/toh.2021.3069976","pdf_url":"https://ieeexplore.ieee.org/ielx7/4543165/9653188/09392322.pdf","source":{"id":"https://openalex.org/S38993383","display_name":"IEEE Transactions on Haptics","issn_l":"1939-1412","issn":["1939-1412","2329-4051","2334-0134"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Haptics","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G6328055928","display_name":null,"funder_award_id":"16H06303","funder_id":"https://openalex.org/F4320334764","funder_display_name":"Japan Society for the Promotion of Science"},{"id":"https://openalex.org/G6718509927","display_name":null,"funder_award_id":"CREST","funder_id":"https://openalex.org/F4320334764","funder_display_name":"Japan Society for the Promotion of Science"},{"id":"https://openalex.org/G7338797862","display_name":null,"funder_award_id":"Scientific Research (S) 16H06303","funder_id":"https://openalex.org/F4320334764","funder_display_name":"Japan Society for the Promotion of Science"},{"id":"https://openalex.org/G7821282032","display_name":null,"funder_award_id":"JPMJCR18A2","funder_id":"https://openalex.org/F4320338075","funder_display_name":"Core Research for Evolutional Science and Technology"}],"funders":[{"id":"https://openalex.org/F4320322832","display_name":"University of Tokyo","ror":"https://ror.org/057zh3y96"},{"id":"https://openalex.org/F4320334764","display_name":"Japan Society for the Promotion of Science","ror":"https://ror.org/00hhkn466"},{"id":"https://openalex.org/F4320336948","display_name":"Graduate School of Frontier Sciences, University of Tokyo","ror":null},{"id":"https://openalex.org/F4320338075","display_name":"Core Research for Evolutional Science and Technology","ror":"https://ror.org/00097mb19"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3144364082.pdf","grobid_xml":"https://content.openalex.org/works/W3144364082.grobid-xml"},"referenced_works_count":33,"referenced_works":["https://openalex.org/W1521250003","https://openalex.org/W1936889252","https://openalex.org/W1982620721","https://openalex.org/W1989062072","https://openalex.org/W2031633662","https://openalex.org/W2043579144","https://openalex.org/W2053665797","https://openalex.org/W2077250325","https://openalex.org/W2089029067","https://openalex.org/W2103802786","https://openalex.org/W2123917150","https://openalex.org/W2218541975","https://openalex.org/W2520459367","https://openalex.org/W2611432976","https://openalex.org/W2742899848","https://openalex.org/W2766080216","https://openalex.org/W2785537511","https://openalex.org/W2785544215","https://openalex.org/W2802289587","https://openalex.org/W2806113376","https://openalex.org/W2898984428","https://openalex.org/W2900364947","https://openalex.org/W2967260288","https://openalex.org/W2979739534","https://openalex.org/W2981021419","https://openalex.org/W2985791623","https://openalex.org/W2988968828","https://openalex.org/W2999429860","https://openalex.org/W3048425039","https://openalex.org/W3086166273","https://openalex.org/W3099602168","https://openalex.org/W6633238097","https://openalex.org/W6740202698"],"related_works":[],"abstract_inverted_index":{"Through":[0],"nonlinear":[1],"effects,":[2],"airborne":[3],"ultrasound":[4],"phased":[5,28],"arrays":[6],"enable":[7],"mid-air":[8],"tactile":[9],"presentations,":[10],"as":[11,13],"well":[12],"auditory":[14],"presentation":[15],"and":[16,41,55,64,96,103,120,123],"acoustic":[17],"levitation.":[18],"To":[19],"create":[20],"workplaces":[21],"flexibly,":[22],"we":[23,89,137,140],"have":[24],"developed":[25,101],"a":[26,44,143],"scalable":[27],"array":[29,158],"system":[30,77,102],"in":[31],"which":[32],"multiple":[33],"modules":[34,113],"can":[35,59,125],"be":[36,126],"connected":[37,70,84],"via":[38],"Ethernet":[39],"cables":[40],"controlled":[42],"from":[43],"PC":[45],"or":[46],"other":[47],"host":[48],"device.":[49],"Each":[50],"module":[51],"has":[52],"249":[53],"transducers":[54],"the":[56,62,69,76,83,91,94,100,109,121,147,151,157],"software":[57,97],"used":[58],"individually":[60],"specify":[61],"phase":[63,122],"amplitude":[65,124],"of":[66,68,93,99,111,117,146],"each":[67],"transducers.":[71],"Using":[72],"EtherCAT":[73],"for":[74],"communication,":[75],"achieves":[78],"high":[79],"accuracy":[80,116],"synchronization":[81,110],"among":[82],"modules.":[85],"In":[86,132],"this":[87],"article,":[88],"describe":[90],"details":[92],"hardware":[95],"architecture":[98],"evaluate":[104],"it.":[105],"We":[106],"experimentally":[107],"confirmed":[108,138],"20":[112],"within":[114],"an":[115],"0.1":[118],"\u03bcs":[119],"specified":[127],"at":[128,153],"8":[129],"bits":[130],"resolution.":[131],"addition,":[133],"using":[134],"nine":[135],"modules,":[136],"that":[139],"could":[141],"make":[142],"focal":[144],"point":[145],"size":[148],"consistent":[149],"with":[150],"theory":[152],"500":[154],"mm":[155],"above":[156],"surface.":[159]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":23},{"year":2024,"cited_by_count":18},{"year":2023,"cited_by_count":11},{"year":2022,"cited_by_count":15},{"year":2021,"cited_by_count":5}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2021-04-13T00:00:00"}