{"id":"https://openalex.org/W3195181934","doi":"https://doi.org/10.1145/3472749.3474821","title":"HapticBots: Distributed Encountered-type Haptics for VR with Multiple Shape-changing Mobile Robots","display_name":"HapticBots: Distributed Encountered-type Haptics for VR with Multiple Shape-changing Mobile Robots","publication_year":2021,"publication_date":"2021-10-10","ids":{"openalex":"https://openalex.org/W3195181934","doi":"https://doi.org/10.1145/3472749.3474821","mag":"3195181934"},"language":"en","primary_location":{"id":"doi:10.1145/3472749.3474821","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3472749.3474821","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The 34th Annual ACM Symposium on User Interface Software and Technology","raw_type":"proceedings-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2108.10829","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Ryo Suzuki","orcid":null},"institutions":[{"id":"https://openalex.org/I168635309","display_name":"University of Calgary","ror":"https://ror.org/03yjb2x39","country_code":"CA","type":"education","lineage":["https://openalex.org/I168635309"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Ryo Suzuki","raw_affiliation_strings":["University of Calgary, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Calgary, Canada","institution_ids":["https://openalex.org/I168635309"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Eyal Ofek","orcid":null},"institutions":[{"id":"https://openalex.org/I1290206253","display_name":"Microsoft (United States)","ror":"https://ror.org/00d0nc645","country_code":"US","type":"company","lineage":["https://openalex.org/I1290206253"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Eyal Ofek","raw_affiliation_strings":["Microsoft Research, United States"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Microsoft Research, United States","institution_ids":["https://openalex.org/I1290206253"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Mike Sinclair","orcid":null},"institutions":[{"id":"https://openalex.org/I1290206253","display_name":"Microsoft (United States)","ror":"https://ror.org/00d0nc645","country_code":"US","type":"company","lineage":["https://openalex.org/I1290206253"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mike Sinclair","raw_affiliation_strings":["Microsoft Research Microsoft, United States"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Microsoft Research Microsoft, United States","institution_ids":["https://openalex.org/I1290206253"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Daniel Leithinger","orcid":null},"institutions":[{"id":"https://openalex.org/I188538660","display_name":"University of Colorado Boulder","ror":"https://ror.org/02ttsq026","country_code":"US","type":"education","lineage":["https://openalex.org/I188538660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Daniel Leithinger","raw_affiliation_strings":["ATLAS Institute University of Colorado, Boulder, United States"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ATLAS Institute University of Colorado, Boulder, United States","institution_ids":["https://openalex.org/I188538660"]}]},{"author_position":"last","author":{"id":null,"display_name":"Mar Gonzalez-Franco","orcid":null},"institutions":[{"id":"https://openalex.org/I1290206253","display_name":"Microsoft (United States)","ror":"https://ror.org/00d0nc645","country_code":"US","type":"company","lineage":["https://openalex.org/I1290206253"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mar Gonzalez-Franco","raw_affiliation_strings":["Microsoft Research, United States"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Microsoft Research, United States","institution_ids":["https://openalex.org/I1290206253"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.3831,"has_fulltext":false,"cited_by_count":65,"citation_normalized_percentile":{"value":0.92735892,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"1269","last_page":"1281"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9995999932289124,"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"}},"topics":[{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9995999932289124,"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/T10914","display_name":"Tactile and Sensory Interactions","score":0.9969000220298767,"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/T10648","display_name":"Virtual Reality Applications and Impacts","score":0.995199978351593,"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":0.7595999836921692},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6517000198364258},{"id":"https://openalex.org/keywords/virtual-reality","display_name":"Virtual reality","score":0.6085000038146973},{"id":"https://openalex.org/keywords/rendering","display_name":"Rendering (computer graphics)","score":0.5281999707221985},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4499000012874603},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.428600013256073},{"id":"https://openalex.org/keywords/mobile-device","display_name":"Mobile device","score":0.36399999260902405},{"id":"https://openalex.org/keywords/stereotaxy","display_name":"Stereotaxy","score":0.3343999981880188}],"concepts":[{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.7595999836921692},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7516000270843506},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6517000198364258},{"id":"https://openalex.org/C194969405","wikidata":"https://www.wikidata.org/wiki/Q170519","display_name":"Virtual reality","level":2,"score":0.6085000038146973},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5412999987602234},{"id":"https://openalex.org/C205711294","wikidata":"https://www.wikidata.org/wiki/Q176953","display_name":"Rendering (computer graphics)","level":2,"score":0.5281999707221985},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4499000012874603},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4350999891757965},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.428600013256073},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4277999997138977},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.3959999978542328},{"id":"https://openalex.org/C186967261","wikidata":"https://www.wikidata.org/wiki/Q5082128","display_name":"Mobile device","level":2,"score":0.36399999260902405},{"id":"https://openalex.org/C176700471","wikidata":"https://www.wikidata.org/wiki/Q7611272","display_name":"Stereotaxy","level":3,"score":0.3343999981880188},{"id":"https://openalex.org/C25344961","wikidata":"https://www.wikidata.org/wiki/Q192726","display_name":"Virtual machine","level":2,"score":0.33399999141693115},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.3052000105381012},{"id":"https://openalex.org/C108882727","wikidata":"https://www.wikidata.org/wiki/Q2991685","display_name":"Solid modeling","level":2,"score":0.3021000027656555},{"id":"https://openalex.org/C2776977519","wikidata":"https://www.wikidata.org/wiki/Q4636326","display_name":"3D interaction","level":3,"score":0.29660001397132874},{"id":"https://openalex.org/C153715457","wikidata":"https://www.wikidata.org/wiki/Q254183","display_name":"Augmented reality","level":2,"score":0.2921999990940094},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.2847999930381775},{"id":"https://openalex.org/C77660652","wikidata":"https://www.wikidata.org/wiki/Q150971","display_name":"Computer graphics","level":2,"score":0.2818000018596649},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.28029999136924744},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.27300000190734863},{"id":"https://openalex.org/C51970089","wikidata":"https://www.wikidata.org/wiki/Q44415","display_name":"Virtual image","level":2,"score":0.26840001344680786},{"id":"https://openalex.org/C196467688","wikidata":"https://www.wikidata.org/wiki/Q1851985","display_name":"Telerobotics","level":4,"score":0.26759999990463257},{"id":"https://openalex.org/C206776904","wikidata":"https://www.wikidata.org/wiki/Q1758389","display_name":"Mixed reality","level":3,"score":0.263700008392334}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1145/3472749.3474821","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3472749.3474821","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The 34th Annual ACM Symposium on User Interface Software and Technology","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2108.10829","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2108.10829","pdf_url":"https://arxiv.org/pdf/2108.10829","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"pmh:oai:pure.atira.dk:openaire_cris_publications/e6568b58-22d8-41cf-b71c-52f3cffe5ed3","is_oa":false,"landing_page_url":"https://research.birmingham.ac.uk/en/publications/e6568b58-22d8-41cf-b71c-52f3cffe5ed3","pdf_url":null,"source":{"id":"https://openalex.org/S4306402634","display_name":"University of Birmingham Research Portal (University of Birmingham)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79619799","host_organization_name":"University of Birmingham","host_organization_lineage":["https://openalex.org/I79619799"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Suzuki, R, Ofek, E, Sinclair, M, Leithinger, D & Gonzalez-Franco, M 2021, Hapticbots : Distributed encountered-type haptics for vr with multiple shape-changing mobile robots. in UIST '21 : The 34th Annual ACM Symposium on User Interface Software and Technology. Association for Computing Machinery (ACM), pp. 1269-1281, UIST '21, Online, 10/10/21. https://doi.org/10.1145/3472749.3474821","raw_type":"contributionToPeriodical"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2108.10829","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2108.10829","pdf_url":"https://arxiv.org/pdf/2108.10829","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":54,"referenced_works":["https://openalex.org/W1922794747","https://openalex.org/W1994407918","https://openalex.org/W2014625471","https://openalex.org/W2019375712","https://openalex.org/W2079512759","https://openalex.org/W2083388465","https://openalex.org/W2127177812","https://openalex.org/W2130117351","https://openalex.org/W2131428713","https://openalex.org/W2142943472","https://openalex.org/W2143131345","https://openalex.org/W2150576841","https://openalex.org/W2153054042","https://openalex.org/W2168881048","https://openalex.org/W2286501983","https://openalex.org/W2403959797","https://openalex.org/W2405777275","https://openalex.org/W2533619018","https://openalex.org/W2536013731","https://openalex.org/W2565842466","https://openalex.org/W2610808162","https://openalex.org/W2738152005","https://openalex.org/W2747090535","https://openalex.org/W2754990119","https://openalex.org/W2762517015","https://openalex.org/W2791390850","https://openalex.org/W2793637051","https://openalex.org/W2795580332","https://openalex.org/W2795636899","https://openalex.org/W2796014682","https://openalex.org/W2897976513","https://openalex.org/W2905238358","https://openalex.org/W2921465830","https://openalex.org/W2940592368","https://openalex.org/W2940675184","https://openalex.org/W2941288941","https://openalex.org/W2941527220","https://openalex.org/W2942268778","https://openalex.org/W2942440020","https://openalex.org/W2963817657","https://openalex.org/W2971672377","https://openalex.org/W2980509777","https://openalex.org/W2980991128","https://openalex.org/W2981593056","https://openalex.org/W3000517022","https://openalex.org/W3029810276","https://openalex.org/W3030262722","https://openalex.org/W3031927435","https://openalex.org/W3093567147","https://openalex.org/W3093629774","https://openalex.org/W3093744613","https://openalex.org/W3094332158","https://openalex.org/W3190881839","https://openalex.org/W4244658351"],"related_works":[],"abstract_inverted_index":{"HapticBots":[0,149],"introduces":[1],"a":[2,21,79,94],"novel":[3,95],"encountered-type":[4,40],"haptic":[5,41],"approach":[6,51],"for":[7,108],"Virtual":[8],"Reality":[9],"(VR)":[10],"based":[11],"on":[12,20,115],"multiple":[13,74],"tabletop-size":[14],"shape-changing":[15],"robots.":[16,89],"These":[17],"robots":[18,60,102],"move":[19,139],"tabletop":[22],"and":[23,27,34,58,92,127,130,138,157,160,163,165],"change":[24],"their":[25,67],"height":[26,126],"orientation":[28],"to":[29,38,66,83,135],"haptically":[30],"render":[31],"various":[32,151],"surfaces":[33,122],"objects":[35,110,141],"on-demand.":[36],"Compared":[37],"previous":[39],"approaches":[42],"like":[43],"shape":[44],"displays":[45],"or":[46],"robotic":[47],"arms,":[48],"our":[49],"proposed":[50],"has":[52],"an":[53],"advantage":[54],"in":[55,78],"deployability,":[56],"scalability,":[57],"generalizability\u2014these":[59],"can":[61,72],"be":[62],"easily":[63],"deployed":[64],"due":[65],"compact":[68],"form":[69],"factor.":[70],"They":[71],"support":[73],"concurrent":[75,125],"touch":[76],"points":[77],"large":[80],"area":[81],"thanks":[82],"the":[84,88,116,124,133],"distributed":[85],"nature":[86],"of":[87,97],"We":[90],"propose":[91],"evaluate":[93],"set":[96],"interactions":[98],"enabled":[99],"by":[100,111],"these":[101],"which":[103],"include:":[104],"1)":[105],"rendering":[106],"haptics":[107],"VR":[109,140],"providing":[112],"just-in-time":[113],"touch-points":[114],"user\u2019s":[117],"hand,":[118],"2)":[119],"simulating":[120],"continuous":[121],"with":[123,150],"position":[128],"change,":[129],"3)":[131],"enabling":[132],"user":[134],"pick":[136],"up":[137],"through":[142],"graspable":[143],"proxy":[144],"objects.":[145],"Finally,":[146],"we":[147],"demonstrate":[148],"applications,":[152],"including":[153],"remote":[154],"collaboration,":[155],"education":[156],"training,":[158],"design":[159],"3D":[161],"modeling,":[162],"gaming":[164],"entertainment.":[166]},"counts_by_year":[{"year":2026,"cited_by_count":10},{"year":2025,"cited_by_count":25},{"year":2024,"cited_by_count":16},{"year":2023,"cited_by_count":9},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":2}],"updated_date":"2026-06-13T07:54:00.901334","created_date":"2021-08-30T00:00:00"}
