{"id":"https://openalex.org/W7135028253","doi":"https://doi.org/10.1145/3776734.3794525","title":"MenstaRay: A Knitted Soft Wearable Robotic Interface for Somatosensory Communication of Menstrual Experience","display_name":"MenstaRay: A Knitted Soft Wearable Robotic Interface for Somatosensory Communication of Menstrual Experience","publication_year":2026,"publication_date":"2026-03-12","ids":{"openalex":"https://openalex.org/W7135028253","doi":"https://doi.org/10.1145/3776734.3794525"},"language":"en","primary_location":{"id":"doi:10.1145/3776734.3794525","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3776734.3794525","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Companion Proceedings of the 21st ACM/IEEE International Conference on Human-Robot Interaction","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://www.research.ed.ac.uk/en/publications/be59acc8-7575-4df4-82b6-235edb42e26f","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5073089473","display_name":"Mingke Wang","orcid":"https://orcid.org/0009-0008-2894-0092"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Mingke Wang","raw_affiliation_strings":["Imperial College London, London, United Kingdom"],"raw_orcid":"https://orcid.org/0009-0008-2894-0092","affiliations":[{"raw_affiliation_string":"Imperial College London, London, United Kingdom","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Yixun Li","orcid":"https://orcid.org/0009-0009-0283-8978"},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Yixun Li","raw_affiliation_strings":["University of Edinburgh, Edinburgh, United Kingdom"],"raw_orcid":"https://orcid.org/0009-0009-0283-8978","affiliations":[{"raw_affiliation_string":"University of Edinburgh, Edinburgh, United Kingdom","institution_ids":["https://openalex.org/I98677209"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025588238","display_name":"Bettina Nissen","orcid":"https://orcid.org/0000-0002-9032-7714"},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Bettina Nissen","raw_affiliation_strings":["University of Edinburgh, Edinburgh, United Kingdom"],"raw_orcid":"https://orcid.org/0000-0002-9032-7714","affiliations":[{"raw_affiliation_string":"University of Edinburgh, Edinburgh, United Kingdom","institution_ids":["https://openalex.org/I98677209"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5084184039","display_name":"Rebecca Stewart","orcid":"https://orcid.org/0000-0001-6976-8024"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Rebecca Stewart","raw_affiliation_strings":["Imperial College London, London, United Kingdom"],"raw_orcid":"https://orcid.org/0000-0001-6976-8024","affiliations":[{"raw_affiliation_string":"Imperial College London, London, United Kingdom","institution_ids":["https://openalex.org/I47508984"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5073089473"],"corresponding_institution_ids":["https://openalex.org/I47508984"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.48952964,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"902","last_page":"906"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10914","display_name":"Tactile and Sensory Interactions","score":0.3357999920845032,"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"}},"topics":[{"id":"https://openalex.org/T10914","display_name":"Tactile and Sensory Interactions","score":0.3357999920845032,"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/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.22390000522136688,"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/T10709","display_name":"Social Robot Interaction and HRI","score":0.11349999904632568,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/wearable-computer","display_name":"Wearable computer","score":0.7563999891281128},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.680899977684021},{"id":"https://openalex.org/keywords/somatosensory-system","display_name":"Somatosensory system","score":0.5691999793052673},{"id":"https://openalex.org/keywords/interface","display_name":"Interface (matter)","score":0.5404000282287598},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.48260000348091125},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4375},{"id":"https://openalex.org/keywords/pneumatic-actuator","display_name":"Pneumatic actuator","score":0.35760000348091125},{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.34610000252723694}],"concepts":[{"id":"https://openalex.org/C150594956","wikidata":"https://www.wikidata.org/wiki/Q1334829","display_name":"Wearable computer","level":2,"score":0.7563999891281128},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.680899977684021},{"id":"https://openalex.org/C172497186","wikidata":"https://www.wikidata.org/wiki/Q328835","display_name":"Somatosensory system","level":2,"score":0.5691999793052673},{"id":"https://openalex.org/C113843644","wikidata":"https://www.wikidata.org/wiki/Q901882","display_name":"Interface (matter)","level":4,"score":0.5404000282287598},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.534600019454956},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.48260000348091125},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4375},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.43689998984336853},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3928000032901764},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.35760000348091125},{"id":"https://openalex.org/C170401851","wikidata":"https://www.wikidata.org/wiki/Q1965061","display_name":"Pneumatic actuator","level":3,"score":0.35760000348091125},{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.34610000252723694},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3427000045776367},{"id":"https://openalex.org/C2778787235","wikidata":"https://www.wikidata.org/wiki/Q49007","display_name":"Yarn","level":2,"score":0.3361000120639801},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.3278000056743622},{"id":"https://openalex.org/C2985005502","wikidata":"https://www.wikidata.org/wiki/Q6806593","display_name":"Medical robotics","level":3,"score":0.31769999861717224},{"id":"https://openalex.org/C2909635826","wikidata":"https://www.wikidata.org/wiki/Q83864","display_name":"Menstrual period","level":2,"score":0.2985999882221222},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.29269999265670776},{"id":"https://openalex.org/C2775862927","wikidata":"https://www.wikidata.org/wiki/Q7309766","display_name":"Rehabilitation robotics","level":3,"score":0.2838999927043915},{"id":"https://openalex.org/C54290928","wikidata":"https://www.wikidata.org/wiki/Q4845080","display_name":"Wearable technology","level":3,"score":0.2799000144004822},{"id":"https://openalex.org/C94487597","wikidata":"https://www.wikidata.org/wiki/Q11101","display_name":"Sensory system","level":2,"score":0.27709999680519104},{"id":"https://openalex.org/C28704281","wikidata":"https://www.wikidata.org/wiki/Q180165","display_name":"Mechatronics","level":2,"score":0.2759000062942505},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.2623000144958496},{"id":"https://openalex.org/C100609095","wikidata":"https://www.wikidata.org/wiki/Q1335050","display_name":"Embodied cognition","level":2,"score":0.2567000091075897}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1145/3776734.3794525","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3776734.3794525","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Companion Proceedings of the 21st ACM/IEEE International Conference on Human-Robot Interaction","raw_type":"proceedings-article"},{"id":"pmh:oai:pure.ed.ac.uk:openaire/be59acc8-7575-4df4-82b6-235edb42e26f","is_oa":true,"landing_page_url":"https://www.research.ed.ac.uk/en/publications/be59acc8-7575-4df4-82b6-235edb42e26f","pdf_url":null,"source":{"id":"https://openalex.org/S4306400321","display_name":"Edinburgh Research Explorer (University of Edinburgh)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I98677209","host_organization_name":"University of Edinburgh","host_organization_lineage":["https://openalex.org/I98677209"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Wang, M, Li, Y, Stewart, R & Nissen, B 2026, MenstaRay : A knitted soft wearable robotic interface for somatosensory communication of menstrual experience. in HRI Companion '26: Companion Proceedings of the 21st ACM/IEEE International Conference on Human-Robot Interactio. ACM/IEEE International Conference on Human-Robot Interaction, pp. 902-906, ACM/IEEE International Conference on Human-Robot Interaction (HRI 2026), 16/03/26. https://doi.org/10.1145/3776734.3794525","raw_type":"contributionToPeriodical"}],"best_oa_location":{"id":"pmh:oai:pure.ed.ac.uk:openaire/be59acc8-7575-4df4-82b6-235edb42e26f","is_oa":true,"landing_page_url":"https://www.research.ed.ac.uk/en/publications/be59acc8-7575-4df4-82b6-235edb42e26f","pdf_url":null,"source":{"id":"https://openalex.org/S4306400321","display_name":"Edinburgh Research Explorer (University of Edinburgh)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I98677209","host_organization_name":"University of Edinburgh","host_organization_lineage":["https://openalex.org/I98677209"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Wang, M, Li, Y, Stewart, R & Nissen, B 2026, MenstaRay : A knitted soft wearable robotic interface for somatosensory communication of menstrual experience. in HRI Companion '26: Companion Proceedings of the 21st ACM/IEEE International Conference on Human-Robot Interactio. ACM/IEEE International Conference on Human-Robot Interaction, pp. 902-906, ACM/IEEE International Conference on Human-Robot Interaction (HRI 2026), 16/03/26. https://doi.org/10.1145/3776734.3794525","raw_type":"contributionToPeriodical"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/8","display_name":"Decent work and economic growth","score":0.4608994722366333}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W1979290264","https://openalex.org/W2018036815","https://openalex.org/W2061133354","https://openalex.org/W2109981981","https://openalex.org/W2128608692","https://openalex.org/W2139358520","https://openalex.org/W2396647730","https://openalex.org/W2615100319","https://openalex.org/W2623764574","https://openalex.org/W2733506079","https://openalex.org/W2796300011","https://openalex.org/W2798775976","https://openalex.org/W2990996713","https://openalex.org/W3001687002","https://openalex.org/W3004952363","https://openalex.org/W3022932496","https://openalex.org/W3044233062","https://openalex.org/W3162649252","https://openalex.org/W3203653999","https://openalex.org/W4206107294","https://openalex.org/W4225000207","https://openalex.org/W4225116354","https://openalex.org/W4297156623","https://openalex.org/W4313547869","https://openalex.org/W4323687853","https://openalex.org/W4382132571","https://openalex.org/W4396833409","https://openalex.org/W4396833711","https://openalex.org/W4400206259","https://openalex.org/W4403004029","https://openalex.org/W4409748959","https://openalex.org/W4412045053"],"related_works":[],"abstract_inverted_index":{"MenstaRay":[0],"is":[1,83],"a":[2,25,51,93,123],"soft":[3,30],"knit":[4],"robotic":[5,118],"interface":[6],"designed":[7],"to":[8,116],"explore":[9],"how":[10,101],"tactile":[11,104],"actuation":[12,129],"can":[13,131],"support":[14],"somatosensory":[15],"communication":[16],"of":[17,75,95,140],"menstrual":[18,111,146],"experiences.":[19],"The":[20],"prototype":[21],"was":[22],"created":[23],"using":[24],"fabrication":[26],"method":[27],"for":[28,85],"knit-integrated":[29],"wearable":[31,149],"robotics":[32],"with":[33,56,127],"two":[34],"core":[35],"structural":[36],"elements:":[37],"(1)":[38],"an":[39],"extensible":[40],"EcoFlex":[41],"00-10":[42],"silicone":[43],"cavity":[44],"containing":[45],"internal":[46],"air":[47],"chambers":[48],"and":[49,88,99,136,144],"(2)":[50],"strain-limiting":[52],"textile":[53],"layer":[54],"knitted":[55],"Spandex":[57],"Super":[58],"Stretch":[59],"Yarn":[60],"(81%":[61],"nylon,":[62],"19%":[63],"elastane).":[64],"This":[65,113],"configuration":[66],"enables":[67],"regulated":[68],"inflation":[69],"patterns":[70],"that":[71,82,130],"preserve":[72],"the":[73],"softness":[74],"textiles":[76],"while":[77],"providing":[78],"targeted":[79],"haptic":[80],"feedback":[81],"suitable":[84],"intimate,":[86],"safe,":[87],"therapeutically":[89],"appropriate":[90],"interactions.":[91],"Through":[92],"series":[94],"workshops,":[96],"we":[97],"investigated":[98],"evaluated":[100],"these":[102],"dynamic":[103],"behaviours":[105],"shaped":[106],"participants'":[107],"embodied":[108],"reflections":[109],"on":[110,143],"sensations.":[112],"work":[114],"contributes":[115],"human":[117],"interaction":[119],"by":[120],"introducing":[121],"MenstaRay,":[122],"novel":[124],"artifact":[125],"coupled":[126],"textile-integrated":[128],"externalize":[132],"intimate":[133],"bodily":[134],"sensations":[135],"foster":[137],"new":[138],"modes":[139],"communicating,":[141],"reflecting":[142],"representing":[145],"experiences":[147],"through":[148],"interfaces.":[150]},"counts_by_year":[],"updated_date":"2026-03-13T14:25:03.468858","created_date":"2026-03-13T00:00:00"}