{"id":"https://openalex.org/W2980509777","doi":"https://doi.org/10.1145/3332165.3347891","title":"CapstanCrunch","display_name":"CapstanCrunch","publication_year":2019,"publication_date":"2019-10-17","ids":{"openalex":"https://openalex.org/W2980509777","doi":"https://doi.org/10.1145/3332165.3347891","mag":"2980509777"},"language":"en","primary_location":{"id":"doi:10.1145/3332165.3347891","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3332165.3347891","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 32nd Annual ACM Symposium on User Interface Software and Technology","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5032790545","display_name":"Mike Sinclair","orcid":"https://orcid.org/0000-0003-4343-2332"},"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, Redmond, WA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Microsoft Research, Redmond, WA, USA","institution_ids":["https://openalex.org/I1290206253"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075016938","display_name":"Eyal Ofek","orcid":"https://orcid.org/0000-0003-4750-1569"},"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, Redmond, WA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Microsoft Research, Redmond, WA, USA","institution_ids":["https://openalex.org/I1290206253"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023820234","display_name":"Mar Gonz\u00e1lez-Franco","orcid":"https://orcid.org/0000-0001-6165-4495"},"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, Redmond, WA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Microsoft Research, Redmond, WA, USA","institution_ids":["https://openalex.org/I1290206253"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5046815740","display_name":"Christian Holz","orcid":"https://orcid.org/0000-0001-9655-9519"},"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":"Christian Holz","raw_affiliation_strings":["Microsoft Research, Redmond, WA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Microsoft Research, Redmond, WA, USA","institution_ids":["https://openalex.org/I1290206253"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":5.2346,"has_fulltext":false,"cited_by_count":88,"citation_normalized_percentile":{"value":0.9639965,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"815","last_page":"829"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10914","display_name":"Tactile and Sensory Interactions","score":0.9997000098228455,"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":0.9997000098228455,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9993000030517578,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9954000115394592,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.7784737348556519},{"id":"https://openalex.org/keywords/brake","display_name":"Brake","score":0.620173990726471},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5873746275901794},{"id":"https://openalex.org/keywords/rigidity","display_name":"Rigidity (electromagnetism)","score":0.55027836561203},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5498341917991638},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5459496378898621},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4733985662460327},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.46128860116004944},{"id":"https://openalex.org/keywords/resistive-touchscreen","display_name":"Resistive touchscreen","score":0.4471038281917572},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.42506515979766846},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.390921026468277},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.32648804783821106},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.28705257177352905},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2121334969997406},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.17913207411766052},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1698932647705078},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.10697367787361145},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10004469752311707}],"concepts":[{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.7784737348556519},{"id":"https://openalex.org/C2780999251","wikidata":"https://www.wikidata.org/wiki/Q17022503","display_name":"Brake","level":2,"score":0.620173990726471},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5873746275901794},{"id":"https://openalex.org/C160343418","wikidata":"https://www.wikidata.org/wiki/Q185256","display_name":"Rigidity (electromagnetism)","level":2,"score":0.55027836561203},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5498341917991638},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5459496378898621},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4733985662460327},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.46128860116004944},{"id":"https://openalex.org/C6899612","wikidata":"https://www.wikidata.org/wiki/Q852911","display_name":"Resistive touchscreen","level":2,"score":0.4471038281917572},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.42506515979766846},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.390921026468277},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.32648804783821106},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.28705257177352905},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2121334969997406},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.17913207411766052},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1698932647705078},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.10697367787361145},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10004469752311707},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/3332165.3347891","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3332165.3347891","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 32nd Annual ACM Symposium on User Interface Software and Technology","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":55,"referenced_works":["https://openalex.org/W1565875539","https://openalex.org/W1576567717","https://openalex.org/W1968739012","https://openalex.org/W1991761189","https://openalex.org/W1998682054","https://openalex.org/W2004961613","https://openalex.org/W2017665702","https://openalex.org/W2030898082","https://openalex.org/W2042112850","https://openalex.org/W2065815384","https://openalex.org/W2071171429","https://openalex.org/W2074403202","https://openalex.org/W2085541194","https://openalex.org/W2101553753","https://openalex.org/W2102670214","https://openalex.org/W2106250937","https://openalex.org/W2111646391","https://openalex.org/W2118425652","https://openalex.org/W2122613696","https://openalex.org/W2139699415","https://openalex.org/W2139774612","https://openalex.org/W2144573888","https://openalex.org/W2158390706","https://openalex.org/W2288146251","https://openalex.org/W2306834768","https://openalex.org/W2396363971","https://openalex.org/W2397519240","https://openalex.org/W2405777275","https://openalex.org/W2441297925","https://openalex.org/W2536013731","https://openalex.org/W2565842466","https://openalex.org/W2581455624","https://openalex.org/W2588408339","https://openalex.org/W2610808162","https://openalex.org/W2621438068","https://openalex.org/W2724522927","https://openalex.org/W2758511764","https://openalex.org/W2766544714","https://openalex.org/W2784809774","https://openalex.org/W2788551228","https://openalex.org/W2790363000","https://openalex.org/W2791390850","https://openalex.org/W2793637051","https://openalex.org/W2795636899","https://openalex.org/W2796086529","https://openalex.org/W2800156807","https://openalex.org/W2801816216","https://openalex.org/W2887262148","https://openalex.org/W2897030735","https://openalex.org/W2897561735","https://openalex.org/W2942440020","https://openalex.org/W2955410530","https://openalex.org/W2973299743","https://openalex.org/W4233250484","https://openalex.org/W4244658351"],"related_works":["https://openalex.org/W156716224","https://openalex.org/W2111871955","https://openalex.org/W3175380930","https://openalex.org/W1989694608","https://openalex.org/W2139876914","https://openalex.org/W2108167108","https://openalex.org/W4233260495","https://openalex.org/W3094485622","https://openalex.org/W2642061445","https://openalex.org/W3001080452"],"abstract_inverted_index":{"We":[0,110],"introduce":[1],"CapstanCrunch,":[2],"a":[3,23,51,62,74,123],"force":[4,72,87,105],"resisting,":[5],"palm-grounded":[6],"haptic":[7,11,146],"controller":[8,142,147],"that":[9,57],"renders":[10,32],"feedback":[12],"for":[13],"touching":[14],"and":[15,19,45,100,114,118,139],"grasping":[16],"both":[17],"rigid":[18],"compliant":[20],"objects":[21],"in":[22,122,135],"VR":[24,126],"environment.":[25],"In":[26],"contrast":[27],"to":[28,85,107,151],"previous":[29],"controllers,":[30],"Cap-stan\u00acCrunch":[31],"human-scale":[33],"forces":[34],"without":[35],"the":[36,70,112,131,149],"use":[37,121],"of":[38,76,116,125,133,155],"large,":[39],"high":[40,104],"force,":[41],"electrically":[42],"power":[43],"consumptive":[44],"ex-pensive":[46],"actuators.":[47],"Instead,":[48],"CapstanCrunch\u00ac":[49],"integrates":[50],"friction-based":[52],"capstan-plus-cord":[53],"variable-resistance":[54],"brake":[55],"mechanism":[56,68],"is":[58,91],"dynamically":[59],"controlled":[60],"by":[61,73],"small":[63],"inter-nal":[64],"motor.":[65],"The":[66],"capstan":[67],"magnifies":[69],"motor's":[71],"factor":[75],"around":[77],"40":[78],"as":[79],"an":[80,144],"output":[81],"resistive":[82],"force.":[83],"Compared":[84],"active":[86,145],"control":[88,106],"devices,":[89],"it":[90],"low":[92,94],"cost,":[93],"electrical":[95],"power,":[96],"robust,":[97],"safe,":[98],"fast":[99],"quiet,":[101],"while":[102],"providing":[103],"user":[108,137],"interaction.":[109],"describe":[111],"de-sign":[113],"implementation":[115],"CapstanCrunch":[117,134],"demon-strate":[119],"its":[120],"series":[124],"scenarios.":[127],"Finally,":[128],"we":[129],"evalu-ate":[130],"performance":[132],"two":[136],"studies":[138],"compare":[140],"our":[141],"with":[143,148],"ability":[150],"simulate":[152],"different":[153],"levels":[154],"convincing":[156],"object":[157],"rigidity":[158],"and/or":[159],"compliance.":[160]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":13},{"year":2024,"cited_by_count":17},{"year":2023,"cited_by_count":15},{"year":2022,"cited_by_count":14},{"year":2021,"cited_by_count":15},{"year":2020,"cited_by_count":13}],"updated_date":"2026-06-13T07:54:00.901334","created_date":"2019-10-25T00:00:00"}