{"id":"https://openalex.org/W2939421818","doi":"https://doi.org/10.1145/3310356","title":"Blossom","display_name":"Blossom","publication_year":2019,"publication_date":"2019-03-13","ids":{"openalex":"https://openalex.org/W2939421818","doi":"https://doi.org/10.1145/3310356","mag":"2939421818"},"language":"en","primary_location":{"id":"doi:10.1145/3310356","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3310356","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3310356","source":{"id":"https://openalex.org/S4210193251","display_name":"ACM Transactions on Human-Robot Interaction","issn_l":"2573-9522","issn":["2573-9522"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319798","host_organization_name":"Association for Computing Machinery","host_organization_lineage":["https://openalex.org/P4310319798"],"host_organization_lineage_names":["Association for Computing Machinery"],"type":"journal"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ACM Transactions on Human-Robot Interaction","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://dl.acm.org/doi/pdf/10.1145/3310356","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5009727698","display_name":"Michael Suguitan","orcid":"https://orcid.org/0000-0001-7998-2745"},"institutions":[{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Michael Suguitan","raw_affiliation_strings":["Cornell University, Ithaca NY, USA"],"affiliations":[{"raw_affiliation_string":"Cornell University, Ithaca NY, USA","institution_ids":["https://openalex.org/I205783295"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5039553919","display_name":"Guy Hoffman","orcid":"https://orcid.org/0000-0002-0404-6159"},"institutions":[{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Guy Hoffman","raw_affiliation_strings":["Cornell University, Ithaca NY, USA"],"affiliations":[{"raw_affiliation_string":"Cornell University, Ithaca NY, USA","institution_ids":["https://openalex.org/I205783295"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5009727698"],"corresponding_institution_ids":["https://openalex.org/I205783295"],"apc_list":null,"apc_paid":null,"fwci":7.3082,"has_fulltext":true,"cited_by_count":67,"citation_normalized_percentile":{"value":0.97097048,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":"8","issue":"1","first_page":"1","last_page":"27"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},"topics":[{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9991000294685364,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9972000122070312,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.6645151972770691},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.644086480140686},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.64018714427948},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6136926412582397},{"id":"https://openalex.org/keywords/software-deployment","display_name":"Software deployment","score":0.6079937219619751},{"id":"https://openalex.org/keywords/gesture","display_name":"Gesture","score":0.5210784673690796},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.5028263926506042},{"id":"https://openalex.org/keywords/animation","display_name":"Animation","score":0.47832560539245605},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.455564022064209},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3956952691078186},{"id":"https://openalex.org/keywords/software-engineering","display_name":"Software engineering","score":0.2158064842224121},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.17867890000343323}],"concepts":[{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.6645151972770691},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.644086480140686},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.64018714427948},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6136926412582397},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.6079937219619751},{"id":"https://openalex.org/C207347870","wikidata":"https://www.wikidata.org/wiki/Q371174","display_name":"Gesture","level":2,"score":0.5210784673690796},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.5028263926506042},{"id":"https://openalex.org/C502989409","wikidata":"https://www.wikidata.org/wiki/Q11425","display_name":"Animation","level":2,"score":0.47832560539245605},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.455564022064209},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3956952691078186},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.2158064842224121},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.17867890000343323},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/3310356","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3310356","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3310356","source":{"id":"https://openalex.org/S4210193251","display_name":"ACM Transactions on Human-Robot Interaction","issn_l":"2573-9522","issn":["2573-9522"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319798","host_organization_name":"Association for Computing Machinery","host_organization_lineage":["https://openalex.org/P4310319798"],"host_organization_lineage_names":["Association for Computing Machinery"],"type":"journal"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ACM Transactions on Human-Robot Interaction","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1145/3310356","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3310356","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3310356","source":{"id":"https://openalex.org/S4210193251","display_name":"ACM Transactions on Human-Robot Interaction","issn_l":"2573-9522","issn":["2573-9522"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319798","host_organization_name":"Association for Computing Machinery","host_organization_lineage":["https://openalex.org/P4310319798"],"host_organization_lineage_names":["Association for Computing Machinery"],"type":"journal"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ACM Transactions on Human-Robot Interaction","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320309327","display_name":"Google","ror":"https://ror.org/00njsd438"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2939421818.pdf","grobid_xml":"https://content.openalex.org/works/W2939421818.grobid-xml"},"referenced_works_count":73,"referenced_works":["https://openalex.org/W187005120","https://openalex.org/W1021767062","https://openalex.org/W1512996613","https://openalex.org/W1515749184","https://openalex.org/W1561025799","https://openalex.org/W1595732857","https://openalex.org/W1965158745","https://openalex.org/W1965609069","https://openalex.org/W1978720995","https://openalex.org/W1986014385","https://openalex.org/W1988533767","https://openalex.org/W1993548735","https://openalex.org/W2007041320","https://openalex.org/W2007778212","https://openalex.org/W2013355346","https://openalex.org/W2029584689","https://openalex.org/W2030959499","https://openalex.org/W2031461051","https://openalex.org/W2043711811","https://openalex.org/W2047883464","https://openalex.org/W2050731184","https://openalex.org/W2052515590","https://openalex.org/W2070126461","https://openalex.org/W2077106070","https://openalex.org/W2079880452","https://openalex.org/W2083681574","https://openalex.org/W2084944215","https://openalex.org/W2085436006","https://openalex.org/W2094017627","https://openalex.org/W2103991771","https://openalex.org/W2108720330","https://openalex.org/W2109196208","https://openalex.org/W2110525007","https://openalex.org/W2121378366","https://openalex.org/W2126538391","https://openalex.org/W2129928382","https://openalex.org/W2134818908","https://openalex.org/W2140076576","https://openalex.org/W2144001787","https://openalex.org/W2160434794","https://openalex.org/W2161740312","https://openalex.org/W2170984747","https://openalex.org/W2221907518","https://openalex.org/W2253223109","https://openalex.org/W2294164618","https://openalex.org/W2296755157","https://openalex.org/W2323648988","https://openalex.org/W2331794234","https://openalex.org/W2402204276","https://openalex.org/W2406430069","https://openalex.org/W2416813331","https://openalex.org/W2482211786","https://openalex.org/W2518317427","https://openalex.org/W2535073923","https://openalex.org/W2536738366","https://openalex.org/W2554160597","https://openalex.org/W2565501058","https://openalex.org/W2575065550","https://openalex.org/W2579063557","https://openalex.org/W2591052799","https://openalex.org/W2594908799","https://openalex.org/W2606411279","https://openalex.org/W2610658142","https://openalex.org/W2610862153","https://openalex.org/W2775663585","https://openalex.org/W2790776849","https://openalex.org/W2791884825","https://openalex.org/W2792236434","https://openalex.org/W2792617863","https://openalex.org/W2901136733","https://openalex.org/W2946046780","https://openalex.org/W2999276620","https://openalex.org/W3124537122"],"related_works":["https://openalex.org/W2537963312","https://openalex.org/W2066003895","https://openalex.org/W2537762514","https://openalex.org/W2349788282","https://openalex.org/W577271088","https://openalex.org/W2770234245","https://openalex.org/W2120801881","https://openalex.org/W1982853263","https://openalex.org/W1974473538","https://openalex.org/W2020010749"],"abstract_inverted_index":{"Blossom":[0,69],"is":[1,93,158],"an":[2,159],"open-source":[3],"social":[4,21,31,163],"robotics":[5],"platform":[6],"responding":[7],"to":[8,44,46,121,138],"three":[9,72],"challenges":[10],"in":[11,36,145,154],"human-robot":[12],"interaction":[13],"(HRI)":[14],"research:":[15],"(1)":[16],"Designing,":[17],"manufacturing,":[18],"and":[19,38,50,57,77,86,100,114,161,175],"programming":[20,130],"robots":[22],"requires":[23,128],"a":[24,47,115,151],"high":[25],"level":[26],"of":[27,54,172],"technical":[28],"knowledge;":[29],"(2)":[30],"robot":[32,164],"designs":[33],"are":[34,107],"fixed":[35],"appearance":[37,92],"movement":[39],"capabilities,":[40],"making":[41],"them":[42],"hard":[43,58],"adapt":[45],"specific":[48],"application;":[49],"(3)":[51],"the":[52,62,122,146,170,177],"use":[53],"rigid":[55],"mechanisms":[56],"outer":[59],"shells":[60],"limits":[61],"robots\u2019":[63],"expressive":[64],"capabilities.":[65],"Addressing":[66],"these":[67],"challenges,":[68],"aims":[70],"at":[71],"design":[73,147,174],"objectives:":[74],"accessibility,":[75],"flexibility,":[76],"expressiveness.":[78],"The":[79,156],"robot\u2019s":[80],"mechanism":[81],"can":[82],"be":[83],"quickly":[84],"assembled":[85],"partially":[87],"extended":[88],"by":[89,102],"end-users.":[90],"Blossom\u2019s":[91,124,173],"open-ended":[94],"through":[95,180],"handcrafted":[96],"fabric":[97],"exteriors":[98],"created":[99],"customized":[101],"users.":[103],"Smooth":[104],"organic":[105],"movements":[106],"achieved":[108],"with":[109,150],"tensile":[110],"mechanisms,":[111],"elastic":[112],"components,":[113],"soft":[116],"exterior":[117],"cover":[118],"attached":[119],"loosely":[120],"body.":[123],"smartphone-based":[125],"gesture":[126],"generation":[127],"neither":[129],"nor":[131],"character":[132],"animation":[133],"experience,":[134],"allowing":[135],"lay":[136],"users":[137],"create":[139],"their":[140],"own":[141],"behaviors.":[142],"All":[143],"elements":[144],"were":[148],"conceived":[149],"low":[152],"barrier-of-entry":[153],"mind.":[155],"result":[157],"accessible":[160],"customizable":[162],"for":[165],"researchers.":[166],"This":[167],"article":[168],"details":[169],"implementation":[171],"demonstrates":[176],"platform\u2019s":[178],"potential":[179],"four":[181],"field":[182],"deployment":[183],"case":[184],"studies.":[185]},"counts_by_year":[{"year":2026,"cited_by_count":12},{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":10},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":8},{"year":2021,"cited_by_count":10},{"year":2020,"cited_by_count":8},{"year":2019,"cited_by_count":1}],"updated_date":"2026-04-14T08:04:32.555800","created_date":"2019-04-25T00:00:00"}
