{"id":"https://openalex.org/W4313464401","doi":"https://doi.org/10.1145/3526110","title":"In the Arms of a Robot: Designing Autonomous Hugging Robots with Intra-Hug Gestures","display_name":"In the Arms of a Robot: Designing Autonomous Hugging Robots with Intra-Hug Gestures","publication_year":2023,"publication_date":"2023-01-03","ids":{"openalex":"https://openalex.org/W4313464401","doi":"https://doi.org/10.1145/3526110"},"language":"en","primary_location":{"id":"doi:10.1145/3526110","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3526110","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3526110","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","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/10.1145/3526110","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5034405410","display_name":"Alexis E. Block","orcid":"https://orcid.org/0000-0001-9841-0769"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":true,"raw_author_name":"Alexis E. Block","raw_affiliation_strings":["Max Planck Institute for Intelligent Systems and ETH Z\u00fcrich, Z\u00fcrich, Switzerland"],"raw_orcid":"https://orcid.org/0000-0001-9841-0769","affiliations":[{"raw_affiliation_string":"Max Planck Institute for Intelligent Systems and ETH Z\u00fcrich, Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043917822","display_name":"Hasti Seifi","orcid":"https://orcid.org/0000-0001-6437-0463"},"institutions":[{"id":"https://openalex.org/I124055696","display_name":"University of Copenhagen","ror":"https://ror.org/035b05819","country_code":"DK","type":"education","lineage":["https://openalex.org/I124055696"]}],"countries":["DK"],"is_corresponding":false,"raw_author_name":"Hasti Seifi","raw_affiliation_strings":["University of Copenhagen, K\u00f8benhavn, Denmark"],"raw_orcid":"https://orcid.org/0000-0001-6437-0463","affiliations":[{"raw_affiliation_string":"University of Copenhagen, K\u00f8benhavn, Denmark","institution_ids":["https://openalex.org/I124055696"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025000908","display_name":"Otmar Hilliges","orcid":"https://orcid.org/0000-0002-5068-3474"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Otmar Hilliges","raw_affiliation_strings":["ETH Z\u00fcrich, Z\u00fcrich, Switzerland"],"raw_orcid":"https://orcid.org/0000-0002-5068-3474","affiliations":[{"raw_affiliation_string":"ETH Z\u00fcrich, Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028092015","display_name":"Roger Gassert","orcid":"https://orcid.org/0000-0002-6373-8518"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Roger Gassert","raw_affiliation_strings":["ETH Z\u00fcrich, Z\u00fcrich, Switzerland"],"raw_orcid":"https://orcid.org/0000-0002-6373-8518","affiliations":[{"raw_affiliation_string":"ETH Z\u00fcrich, Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5080962480","display_name":"Katherine J. Kuchenbecker","orcid":"https://orcid.org/0000-0002-5004-0313"},"institutions":[{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Katherine J. Kuchenbecker","raw_affiliation_strings":["Max Planck Institute for Intelligent Systems, Stuttgart, Germany"],"raw_orcid":"https://orcid.org/0000-0002-5004-0313","affiliations":[{"raw_affiliation_string":"Max Planck Institute for Intelligent Systems, Stuttgart, Germany","institution_ids":["https://openalex.org/I4210135521"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5034405410"],"corresponding_institution_ids":["https://openalex.org/I35440088"],"apc_list":null,"apc_paid":null,"fwci":15.4949,"has_fulltext":true,"cited_by_count":51,"citation_normalized_percentile":{"value":0.99407367,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"12","issue":"2","first_page":"1","last_page":"49"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.9994000196456909,"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":0.9994000196456909,"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":0.9958000183105469,"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/T10803","display_name":"Innovative Human-Technology Interaction","score":0.989799976348877,"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/gesture","display_name":"Gesture","score":0.7749841213226318},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.756192147731781},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.510363757610321},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.49890732765197754},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.43549564480781555},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.38846713304519653},{"id":"https://openalex.org/keywords/communication","display_name":"Communication","score":0.3512604236602783}],"concepts":[{"id":"https://openalex.org/C207347870","wikidata":"https://www.wikidata.org/wiki/Q371174","display_name":"Gesture","level":2,"score":0.7749841213226318},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.756192147731781},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.510363757610321},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.49890732765197754},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.43549564480781555},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.38846713304519653},{"id":"https://openalex.org/C46312422","wikidata":"https://www.wikidata.org/wiki/Q11024","display_name":"Communication","level":1,"score":0.3512604236602783}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1145/3526110","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3526110","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3526110","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ACM Transactions on Human-Robot Interaction","raw_type":"journal-article"},{"id":"pmh:oai:pure.atira.dk:openaire_cris_publications/e54dc1b4-9042-4be8-9108-5f6fb2604659","is_oa":true,"landing_page_url":"https://researchprofiles.ku.dk/da/publications/e54dc1b4-9042-4be8-9108-5f6fb2604659","pdf_url":"https://curis.ku.dk/ws/files/373668583/3526110.pdf","source":{"id":"https://openalex.org/S4306401983","display_name":"Research at the University of Copenhagen (University of Copenhagen)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I124055696","host_organization_name":"University of Copenhagen","host_organization_lineage":["https://openalex.org/I124055696"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Block , A E , Seifi , H , Hilliges , O , Gassert , R & Kuchenbecker , K J 2023 , ' In the Arms of a Robot : Designing Autonomous Hugging Robots with Intra-Hug Gestures ' , ACM Transactions on Human-Robot Interaction , vol. 12 , no. 2 , 3526110 . https://doi.org/10.1145/3526110","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1145/3526110","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3526110","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3526110","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","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/F4320331705","display_name":"Max Planck ETH Center for Learning Systems","ror":null}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4313464401.pdf","grobid_xml":"https://content.openalex.org/works/W4313464401.grobid-xml"},"referenced_works_count":72,"referenced_works":["https://openalex.org/W1593810090","https://openalex.org/W1604092692","https://openalex.org/W1968849589","https://openalex.org/W1970572311","https://openalex.org/W1982044027","https://openalex.org/W1982857422","https://openalex.org/W1984334684","https://openalex.org/W1997769138","https://openalex.org/W1999995723","https://openalex.org/W2003522562","https://openalex.org/W2003826716","https://openalex.org/W2020639717","https://openalex.org/W2036472487","https://openalex.org/W2037180003","https://openalex.org/W2038989082","https://openalex.org/W2043458918","https://openalex.org/W2046421773","https://openalex.org/W2046705642","https://openalex.org/W2072595095","https://openalex.org/W2074577226","https://openalex.org/W2076646346","https://openalex.org/W2091512406","https://openalex.org/W2107900346","https://openalex.org/W2108109291","https://openalex.org/W2108383447","https://openalex.org/W2113112808","https://openalex.org/W2121044470","https://openalex.org/W2136179834","https://openalex.org/W2141211757","https://openalex.org/W2144847963","https://openalex.org/W2148459629","https://openalex.org/W2150238850","https://openalex.org/W2155467980","https://openalex.org/W2158101081","https://openalex.org/W2164284962","https://openalex.org/W2164490004","https://openalex.org/W2170796144","https://openalex.org/W2246898682","https://openalex.org/W2341076643","https://openalex.org/W2416022643","https://openalex.org/W2519997358","https://openalex.org/W2556411176","https://openalex.org/W2568076714","https://openalex.org/W2594019521","https://openalex.org/W2606231478","https://openalex.org/W2766180585","https://openalex.org/W2766947180","https://openalex.org/W2771994875","https://openalex.org/W2772391656","https://openalex.org/W2794249132","https://openalex.org/W2802140806","https://openalex.org/W2802505458","https://openalex.org/W2898268881","https://openalex.org/W2901814704","https://openalex.org/W2913210897","https://openalex.org/W2933023361","https://openalex.org/W2948964722","https://openalex.org/W2950936647","https://openalex.org/W3011673826","https://openalex.org/W3012606673","https://openalex.org/W3014235025","https://openalex.org/W3014591220","https://openalex.org/W3022281834","https://openalex.org/W3024333088","https://openalex.org/W3091334941","https://openalex.org/W3115434705","https://openalex.org/W3194994293","https://openalex.org/W4205632023","https://openalex.org/W4206601338","https://openalex.org/W4232780700","https://openalex.org/W4243437205","https://openalex.org/W4294255555"],"related_works":["https://openalex.org/W2946643217","https://openalex.org/W2473026536","https://openalex.org/W14374595","https://openalex.org/W2019233767","https://openalex.org/W2745478210","https://openalex.org/W2142421361","https://openalex.org/W2042499210","https://openalex.org/W4254718650","https://openalex.org/W4244451296","https://openalex.org/W2036100805"],"abstract_inverted_index":{"Hugs":[0],"are":[1],"complex":[2],"affective":[3],"interactions":[4],"that":[5,78,86,125],"often":[6],"include":[7],"gestures":[8,161],"like":[9],"squeezes.":[10],"We":[11,132],"present":[12],"six":[13],"new":[14],"guidelines":[15],"for":[16],"designing":[17],"interactive":[18],"hugging":[19],"robots,":[20],"which":[21],"we":[22,34,119],"validate":[23],"through":[24],"two":[25],"studies":[26],"with":[27,59,90,153],"our":[28],"custom":[29],"robot.":[30],"To":[31],"achieve":[32],"autonomy,":[33],"investigated":[35],"robot":[36,95,107,127,137,168,194],"responses":[37,128,158],"to":[38,81,135,139,200],"four":[39],"human":[40],"intra-hug":[41,113],"gestures:":[42],"holding,":[43],"rubbing,":[44],"patting,":[45],"and":[46,55,69,109,143,150,159,172,195],"squeezing.":[47],"A":[48],"Total":[49],"of":[50,74,98,178],"32":[51],"users":[52],"each":[53],"exchanged":[54],"rated":[56],"16":[57,154],"hugs":[58],"an":[60],"experimenter-controlled":[61],"HuggieBot":[62,141],"2.0.":[63],"The":[64,156],"robot\u2019s":[65,157],"inflated":[66],"torso\u2019s":[67],"microphone":[68],"pressure":[70],"sensor":[71],"collected":[72],"data":[73],"the":[75,106,136,167,175,179,183,186,193],"subjects\u2019":[76],"demonstrations":[77],"were":[79,162,198],"used":[80],"develop":[82],"a":[83,121],"perceptual":[84],"algorithm":[85,124,152],"classifies":[87],"user":[88,117],"actions":[89],"88%":[91],"accuracy.":[92],"Users":[93,165],"enjoyed":[94],"squeezes,":[96],"regardless":[97],"their":[99],"performed":[100],"action,":[101],"they":[102,110,188],"valued":[103],"variety":[104],"in":[105,129,174,182],"response,":[108],"appreciated":[111],"robot-initiated":[112],"gestures.":[114],"From":[115],"average":[116],"ratings,":[118],"created":[120],"probabilistic":[122],"behavior":[123,151],"chooses":[126],"real":[130],"time.":[131],"implemented":[133],"improvements":[134],"platform":[138],"create":[140],"3.0":[142],"then":[144],"validated":[145],"its":[146],"gesture":[147],"perception":[148],"system":[149],"users.":[155],"proactive":[160],"greatly":[163],"enjoyed.":[164],"found":[166],"more":[169,190],"natural,":[170],"enjoyable,":[171],"intelligent":[173],"last":[176],"phase":[177],"experiment":[180],"than":[181],"first.":[184],"After":[185],"study,":[187],"felt":[189],"understood":[191],"by":[192],"thought":[196],"robots":[197],"nicer":[199],"hug.":[201]},"counts_by_year":[{"year":2026,"cited_by_count":6},{"year":2025,"cited_by_count":14},{"year":2024,"cited_by_count":17},{"year":2023,"cited_by_count":12},{"year":2022,"cited_by_count":2}],"updated_date":"2026-05-08T15:41:06.802602","created_date":"2025-10-10T00:00:00"}
