{"id":"https://openalex.org/W4414982986","doi":"https://doi.org/10.1145/3745900.3746080","title":"Cuddle-Fish: Exploring a Soft Floating Robot with Flapping Wings for Physical Interactions","display_name":"Cuddle-Fish: Exploring a Soft Floating Robot with Flapping Wings for Physical Interactions","publication_year":2025,"publication_date":"2025-03-16","ids":{"openalex":"https://openalex.org/W4414982986","doi":"https://doi.org/10.1145/3745900.3746080"},"language":"en","primary_location":{"id":"doi:10.1145/3745900.3746080","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3745900.3746080","pdf_url":null,"source":null,"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the Augmented Humans International Conference 2025","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.1145/3745900.3746080","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Mingyang Xu","orcid":"https://orcid.org/0009-0004-3893-3305"},"institutions":[{"id":"https://openalex.org/I203951103","display_name":"Keio University","ror":"https://ror.org/02kn6nx58","country_code":"JP","type":"education","lineage":["https://openalex.org/I203951103"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Mingyang Xu","raw_affiliation_strings":["Keio University Graduate School of Media Design, Yokohama, Japan"],"raw_orcid":"https://orcid.org/0009-0004-3893-3305","affiliations":[{"raw_affiliation_string":"Keio University Graduate School of Media Design, Yokohama, Japan","institution_ids":["https://openalex.org/I203951103"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Jiayi Shao","orcid":"https://orcid.org/0009-0001-0417-9111"},"institutions":[{"id":"https://openalex.org/I203951103","display_name":"Keio University","ror":"https://ror.org/02kn6nx58","country_code":"JP","type":"education","lineage":["https://openalex.org/I203951103"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Jiayi Shao","raw_affiliation_strings":["Keio University Graduate School of Media Design, Yokohama, Japan"],"raw_orcid":"https://orcid.org/0009-0001-0417-9111","affiliations":[{"raw_affiliation_string":"Keio University Graduate School of Media Design, Yokohama, Japan","institution_ids":["https://openalex.org/I203951103"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059315575","display_name":"Yulan Ju","orcid":"https://orcid.org/0000-0002-5746-3933"},"institutions":[{"id":"https://openalex.org/I203951103","display_name":"Keio University","ror":"https://ror.org/02kn6nx58","country_code":"JP","type":"education","lineage":["https://openalex.org/I203951103"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yulan Ju","raw_affiliation_strings":["Keio University Graduate School of Media Design, Yokohama, Japan"],"raw_orcid":"https://orcid.org/0000-0002-5746-3933","affiliations":[{"raw_affiliation_string":"Keio University Graduate School of Media Design, Yokohama, Japan","institution_ids":["https://openalex.org/I203951103"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044839340","display_name":"Ximing Shen","orcid":"https://orcid.org/0000-0003-4272-0068"},"institutions":[{"id":"https://openalex.org/I203951103","display_name":"Keio University","ror":"https://ror.org/02kn6nx58","country_code":"JP","type":"education","lineage":["https://openalex.org/I203951103"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Ximing Shen","raw_affiliation_strings":["Keio University Graduate School of Media Design, Yokohama, Japan"],"raw_orcid":"https://orcid.org/0000-0003-4272-0068","affiliations":[{"raw_affiliation_string":"Keio University Graduate School of Media Design, Yokohama, Japan","institution_ids":["https://openalex.org/I203951103"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037993764","display_name":"Qiuqi Gao","orcid":"https://orcid.org/0009-0003-7107-1666"},"institutions":[{"id":"https://openalex.org/I203951103","display_name":"Keio University","ror":"https://ror.org/02kn6nx58","country_code":"JP","type":"education","lineage":["https://openalex.org/I203951103"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Qingyuan Gao","raw_affiliation_strings":["Keio University Graduate School of Media Design, Yokohama, Japan"],"raw_orcid":"https://orcid.org/0009-0003-7107-1666","affiliations":[{"raw_affiliation_string":"Keio University Graduate School of Media Design, Yokohama, Japan","institution_ids":["https://openalex.org/I203951103"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073814025","display_name":"Weijen Chen","orcid":"https://orcid.org/0009-0003-6042-6302"},"institutions":[{"id":"https://openalex.org/I203951103","display_name":"Keio University","ror":"https://ror.org/02kn6nx58","country_code":"JP","type":"education","lineage":["https://openalex.org/I203951103"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Weijen Chen","raw_affiliation_strings":["Keio University Graduate School of Media Design, Yokohama, Japan"],"raw_orcid":"https://orcid.org/0009-0003-6042-6302","affiliations":[{"raw_affiliation_string":"Keio University Graduate School of Media Design, Yokohama, Japan","institution_ids":["https://openalex.org/I203951103"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100639896","display_name":"Qing Zhang","orcid":"https://orcid.org/0000-0002-0622-932X"},"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":"Qing Zhang","raw_affiliation_strings":["The University of Tokyo, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0000-0002-0622-932X","affiliations":[{"raw_affiliation_string":"The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041518792","display_name":"Yun Suen Pai","orcid":"https://orcid.org/0000-0002-6090-2837"},"institutions":[{"id":"https://openalex.org/I154130895","display_name":"University of Auckland","ror":"https://ror.org/03b94tp07","country_code":"NZ","type":"education","lineage":["https://openalex.org/I154130895"]}],"countries":["NZ"],"is_corresponding":false,"raw_author_name":"Yun Suen Pai","raw_affiliation_strings":["School of Computer Science, University of Auckland, Auckland, New Zealand"],"raw_orcid":"https://orcid.org/0000-0002-6090-2837","affiliations":[{"raw_affiliation_string":"School of Computer Science, University of Auckland, Auckland, New Zealand","institution_ids":["https://openalex.org/I154130895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051244704","display_name":"Giulia Barbareschi","orcid":"https://orcid.org/0000-0001-9036-3566"},"institutions":[{"id":"https://openalex.org/I203951103","display_name":"Keio University","ror":"https://ror.org/02kn6nx58","country_code":"JP","type":"education","lineage":["https://openalex.org/I203951103"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Giulia Barbareschi","raw_affiliation_strings":["Keio University Graduate School of Media Design, Yokohama, Japan"],"raw_orcid":"https://orcid.org/0000-0001-9036-3566","affiliations":[{"raw_affiliation_string":"Keio University Graduate School of Media Design, Yokohama, Japan","institution_ids":["https://openalex.org/I203951103"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101871125","display_name":"Matthias Hoppe","orcid":"https://orcid.org/0000-0002-5098-4824"},"institutions":[{"id":"https://openalex.org/I203951103","display_name":"Keio University","ror":"https://ror.org/02kn6nx58","country_code":"JP","type":"education","lineage":["https://openalex.org/I203951103"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Matthias Hoppe","raw_affiliation_strings":["Keio University Graduate School of Media Design, Yokohama, Japan and JSPS International Research Fellow, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0000-0002-5098-4824","affiliations":[{"raw_affiliation_string":"Keio University Graduate School of Media Design, Yokohama, Japan and JSPS International Research Fellow, Tokyo, Japan","institution_ids":["https://openalex.org/I203951103"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010769975","display_name":"Kouta Minamizawa","orcid":"https://orcid.org/0000-0002-6303-5791"},"institutions":[{"id":"https://openalex.org/I203951103","display_name":"Keio University","ror":"https://ror.org/02kn6nx58","country_code":"JP","type":"education","lineage":["https://openalex.org/I203951103"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kouta Minamizawa","raw_affiliation_strings":["Keio University Graduate School of Media Design, Yokohama, Japan"],"raw_orcid":"https://orcid.org/0000-0002-6303-5791","affiliations":[{"raw_affiliation_string":"Keio University Graduate School of Media Design, Yokohama, Japan","institution_ids":["https://openalex.org/I203951103"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5056183585","display_name":"Kai Kunze","orcid":"https://orcid.org/0000-0003-2294-3774"},"institutions":[{"id":"https://openalex.org/I203951103","display_name":"Keio University","ror":"https://ror.org/02kn6nx58","country_code":"JP","type":"education","lineage":["https://openalex.org/I203951103"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kai Kunze","raw_affiliation_strings":["Keio University Graduate School of Media Design, Yokohama, Japan"],"raw_orcid":"https://orcid.org/0000-0003-2294-3774","affiliations":[{"raw_affiliation_string":"Keio University Graduate School of Media Design, Yokohama, Japan","institution_ids":["https://openalex.org/I203951103"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"160","last_page":"173"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9959999918937683,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9959999918937683,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9957000017166138,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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":0.9945999979972839,"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/robot","display_name":"Robot","score":0.7552000284194946},{"id":"https://openalex.org/keywords/flapping","display_name":"Flapping","score":0.6381000280380249},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.5447999835014343},{"id":"https://openalex.org/keywords/social-robot","display_name":"Social robot","score":0.3765000104904175},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.37279999256134033}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7552000284194946},{"id":"https://openalex.org/C2780444116","wikidata":"https://www.wikidata.org/wiki/Q6057443","display_name":"Flapping","level":3,"score":0.6381000280380249},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.5447999835014343},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4876999855041504},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48010000586509705},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.41850000619888306},{"id":"https://openalex.org/C162947575","wikidata":"https://www.wikidata.org/wiki/Q2005645","display_name":"Social robot","level":5,"score":0.3765000104904175},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.37279999256134033},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.33640000224113464},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3303000032901764},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.2973000109195709},{"id":"https://openalex.org/C2982836594","wikidata":"https://www.wikidata.org/wiki/Q902144","display_name":"Soft materials","level":2,"score":0.26339998841285706},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.2581999897956848},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.2540999948978424},{"id":"https://openalex.org/C178802073","wikidata":"https://www.wikidata.org/wiki/Q8421","display_name":"Aeronautics","level":1,"score":0.25029999017715454}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1145/3745900.3746080","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3745900.3746080","pdf_url":null,"source":null,"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the Augmented Humans International Conference 2025","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2504.01293","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2504.01293","pdf_url":"https://arxiv.org/pdf/2504.01293","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"}],"best_oa_location":{"id":"doi:10.1145/3745900.3746080","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3745900.3746080","pdf_url":null,"source":null,"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the Augmented Humans International Conference 2025","raw_type":"proceedings-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G8875558740","display_name":"An Accessibility Assessment Toolkit for Inclusive IoT Design using Onbody Sensing","funder_award_id":"JPMJPR2132","funder_id":"https://openalex.org/F4320334789","funder_display_name":"Japan Science and Technology Agency"}],"funders":[{"id":"https://openalex.org/F4320334789","display_name":"Japan Science and Technology Agency","ror":"https://ror.org/00097mb19"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":52,"referenced_works":["https://openalex.org/W1992222374","https://openalex.org/W1997501386","https://openalex.org/W2016128319","https://openalex.org/W2028238586","https://openalex.org/W2067809576","https://openalex.org/W2087550750","https://openalex.org/W2140859749","https://openalex.org/W2169337581","https://openalex.org/W2212186462","https://openalex.org/W2279695219","https://openalex.org/W2290952711","https://openalex.org/W2519895671","https://openalex.org/W2754784938","https://openalex.org/W2765438554","https://openalex.org/W2766328169","https://openalex.org/W2788906182","https://openalex.org/W2796018769","https://openalex.org/W2808588282","https://openalex.org/W2936863814","https://openalex.org/W2941686279","https://openalex.org/W2987068209","https://openalex.org/W2999856737","https://openalex.org/W3028775309","https://openalex.org/W3046492438","https://openalex.org/W3109936944","https://openalex.org/W3115879821","https://openalex.org/W3129443917","https://openalex.org/W3130833653","https://openalex.org/W3205057533","https://openalex.org/W3207199688","https://openalex.org/W4210536149","https://openalex.org/W4285596760","https://openalex.org/W4287904551","https://openalex.org/W4320156028","https://openalex.org/W4320519631","https://openalex.org/W4323870303","https://openalex.org/W4366464018","https://openalex.org/W4376877323","https://openalex.org/W4380301313","https://openalex.org/W4388624059","https://openalex.org/W4388685105","https://openalex.org/W4389438691","https://openalex.org/W4391282593","https://openalex.org/W4395689585","https://openalex.org/W4396505405","https://openalex.org/W4396832108","https://openalex.org/W4396833697","https://openalex.org/W4396921216","https://openalex.org/W4399238610","https://openalex.org/W4400726375","https://openalex.org/W4404977899","https://openalex.org/W4410297601"],"related_works":[],"abstract_inverted_index":{"Flying":[0],"robots,":[1,29,151],"such":[2,108],"as":[3,109,140],"quadrotor":[4],"drones,":[5],"offer":[6,34],"new":[7,153],"possibilities":[8],"for":[9,54,155],"human-robot":[10],"interaction":[11],"but":[12],"often":[13],"pose":[14],"safety":[15],"risks":[16],"due":[17],"to":[18,147],"fast-spinning":[19],"propellers,":[20],"rigid":[21,149],"structures,":[22],"and":[23,38,74,103,113,143,161],"noise.":[24],"In":[25],"contrast,":[26],"lighter-than-air":[27],"flapping-wing":[28,50],"inspired":[30],"by":[31],"animal":[32],"movement,":[33],"a":[35,48,61,77,141],"soft,":[36],"quiet,":[37],"touch-safe":[39],"alternative.":[40],"Building":[41],"on":[42],"these":[43],"advantages,":[44],"we":[45,67],"present":[46],"Cuddle-Fish,":[47],"soft":[49,132],"floating":[51,133],"robot":[52,73,85,134],"designed":[53],"close-proximity":[55],"interactions":[56,99],"in":[57,82,97,157,163],"indoor":[58,165],"spaces.":[59],"Through":[60],"user":[62],"study":[63],"with":[64,100,135],"24":[65],"participants,":[66],"explored":[68],"their":[69],"perceptions":[70],"of":[71,79],"the":[72,84,101,125,131],"experiences":[75],"during":[76],"series":[78],"co-located":[80],"demonstrations":[81],"which":[83],"moved":[86],"near":[87],"them.":[88],"Results":[89],"showed":[90],"that":[91,130],"participants":[92],"felt":[93],"safe,":[94],"willingly":[95],"engaged":[96],"touch-based":[98],"robot,":[102],"exhibited":[104],"spontaneous":[105],"affective":[106,159],"behaviours,":[107],"patting,":[110],"stroking,":[111],"hugging,":[112],"cheek-touching,":[114],"without":[115],"external":[116],"prompting.":[117],"They":[118],"also":[119],"reported":[120],"positive":[121],"emotional":[122],"responses":[123],"towards":[124],"robot.":[126],"These":[127],"findings":[128],"suggest":[129],"flapping":[136],"wings":[137],"can":[138],"serve":[139],"novel":[142],"socially":[144],"acceptable":[145],"alternative":[146],"traditional":[148],"flying":[150],"opening":[152],"potential":[154],"applications":[156],"companionship,":[158],"interaction,":[160],"play":[162],"everyday":[164],"environments.":[166]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}