{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,6]],"date-time":"2026-02-06T01:03:38Z","timestamp":1770339818086,"version":"3.49.0"},"reference-count":65,"publisher":"Springer Science and Business Media LLC","issue":"2","license":[{"start":{"date-parts":[[2025,3,18]],"date-time":"2025-03-18T00:00:00Z","timestamp":1742256000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by-nc-nd\/4.0"},{"start":{"date-parts":[[2025,3,18]],"date-time":"2025-03-18T00:00:00Z","timestamp":1742256000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by-nc-nd\/4.0"}],"funder":[{"name":"the National Key R&D Program of China","award":["2022YFF0902303"],"award-info":[{"award-number":["2022YFF0902303"]}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Virtual Reality"],"DOI":"10.1007\/s10055-025-01133-0","type":"journal-article","created":{"date-parts":[[2025,3,18]],"date-time":"2025-03-18T00:54:01Z","timestamp":1742259241000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":2,"title":["Relaxmr: a mixed reality-based semi-physical high-fidelity digital human massage system"],"prefix":"10.1007","volume":"29","author":[{"given":"Yihua","family":"Bao","sequence":"first","affiliation":[]},{"given":"Dongdong","family":"Weng","sequence":"additional","affiliation":[]},{"given":"Junyu","family":"Chen","sequence":"additional","affiliation":[]},{"given":"Nan","family":"Gao","sequence":"additional","affiliation":[]},{"given":"Xiaonuo","family":"Dongye","sequence":"additional","affiliation":[]},{"given":"Mo","family":"Su","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2025,3,18]]},"reference":[{"key":"1133_CR1","doi-asserted-by":"publisher","first-page":"181","DOI":"10.1080\/08838158709386656","volume":"31","author":"S Acker","year":"1987","unstructured":"Acker S, Levitt S (1987) Designing videoconference facilities for improved eye contact. J Broadcast Electr Media 31:181","journal-title":"J Broadcast Electr Media"},{"key":"1133_CR2","doi-asserted-by":"crossref","unstructured":"Al-Sada M, Jiang K, Ranade S, Kalkattawi M, Nakajima T (2020) Hapticsnakes: multi-haptic feedback wearable robots for immersive virtual reality. Virtual reality 24, 191\u2013209","DOI":"10.1007\/s10055-019-00404-x"},{"key":"1133_CR3","doi-asserted-by":"crossref","unstructured":"B\u0103lan O, Cristea S, Moise G, Petrescu L, Iva\u015ecu S, Moldoveanu A, Moldoveanu F, Leordeanu M (2020) Ether\u2013an assistive virtual agent for acrophobia therapy in virtual reality. In: HCI International 2020\u2013Late Breaking Papers: virtual and Augmented Reality: 22nd HCI International Conference, HCII 2020, Copenhagen, Denmark, July 19\u201324, 2020, Proceedings 22. Springer, pp. 12\u201325","DOI":"10.1007\/978-3-030-59990-4_2"},{"issue":"2","key":"1133_CR4","doi-asserted-by":"publisher","first-page":"70","DOI":"10.1016\/j.ctcp.2009.06.012","volume":"16","author":"BA Bauer","year":"2010","unstructured":"Bauer BA, Cutshall SM, Wentworth LJ, Engen D, Messner PK, Wood CM, Brekke KM, Kelly RF, Sundt TM III (2010) Effect of massage therapy on pain, anxiety, and tension after cardiac surgery: a randomized study. Compl Ther Clin Pract 16(2):70\u201375","journal-title":"Compl Ther Clin Pract"},{"issue":"2","key":"1133_CR5","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1145\/3526110","volume":"12","author":"AE Block","year":"2023","unstructured":"Block AE, Seifi H, Hilliges O, Gassert R, Kuchenbecker KJ (2023) In the arms of a robot: designing autonomous hugging robots with intra-hug gestures. ACM Trans Human-Robot Interact 12(2):1\u201349","journal-title":"ACM Trans Human-Robot Interact"},{"issue":"5","key":"1133_CR6","doi-asserted-by":"publisher","first-page":"527","DOI":"10.1089\/cpb.2004.7.527","volume":"7","author":"C Botella","year":"2004","unstructured":"Botella C, Mart\u00edn HV, Garc\u00eda-Palacios A, Ba\u00f1os RM, Perpi\u00f1\u00e1 C, Alca\u00f1iz M (2004) Clinically significant virtual environments for the treatment of panic disorder and agoraphobia. Cyberpsychol Behav 7(5):527\u2013535","journal-title":"Cyberpsychol Behav"},{"key":"1133_CR7","doi-asserted-by":"publisher","first-page":"900970","DOI":"10.3389\/frvir.2022.900970","volume":"3","author":"L Brelet","year":"2022","unstructured":"Brelet L, Gaffary Y (2022) Stress reduction interventions: a scoping review to explore progress toward use of haptic feedback in virtual reality. Front Virt Real 3:900970","journal-title":"Front Virt Real"},{"key":"1133_CR8","doi-asserted-by":"publisher","first-page":"319","DOI":"10.1007\/s12369-009-0030-6","volume":"1","author":"E Broadbent","year":"2009","unstructured":"Broadbent E, Stafford R, MacDonald B (2009) Acceptance of healthcare robots for the older population: Review and future directions. Int J Soc Robot 1:319\u2013330","journal-title":"Int J Soc Robot"},{"issue":"4","key":"1133_CR9","first-page":"67","volume":"22","author":"J Cassell","year":"2001","unstructured":"Cassell J (2001) Embodied conversational agents: representation and intelligence in user interfaces. AI Mag 22(4):67\u201367","journal-title":"AI Mag"},{"key":"1133_CR10","doi-asserted-by":"crossref","unstructured":"Chen TL, King C-H, Thomaz AL, Kemp CC (2011) Touched by a robot: An investigation of subjective responses to robot-initiated touch. In: Proceedings of the 6th international conference on human-robot interaction, pp. 457\u2013464","DOI":"10.1145\/1957656.1957818"},{"key":"1133_CR11","doi-asserted-by":"crossref","unstructured":"Cho S, Kim S-w, Lee J, Ahn J, Han J (2020) Effects of volumetric capture avatars on social presence in immersive virtual environments. In: 2020 IEEE Conference on virtual reality and 3D user interfaces (VR). IEEE, pp. 26\u201334","DOI":"10.1109\/VR46266.2020.00020"},{"issue":"1","key":"1133_CR12","first-page":"1","volume":"12","author":"V Clay","year":"2019","unstructured":"Clay V, K\u00f6nig P, K\u00f6nig S (2019) Eye tracking in virtual reality. J Eye Move Res 12(1):1\u201318","journal-title":"J Eye Move Res"},{"key":"1133_CR13","unstructured":"DeVault D, Artstein R, Benn G, Dey T, Fast E, Gainer A, Georgila K, Gratch J, Hartholt A, Lhommet M, (2014) et al.: Simsensei kiosk: A virtual human interviewer for healthcare decision support. In: Proceedings of the 2014 international conference on autonomous agents and multi-agent systems, pp. 1061\u20131068"},{"key":"1133_CR14","doi-asserted-by":"publisher","first-page":"3","DOI":"10.1007\/s41347-020-00152-9","volume":"6","author":"P Diniz Bernardo","year":"2021","unstructured":"Diniz Bernardo P, Bains A, Westwood S, Mograbi DC (2021) Mood induction using virtual reality: a systematic review of recent findings. J Technol Behav Sci 6:3\u201324","journal-title":"J Technol Behav Sci"},{"issue":"9","key":"1133_CR15","doi-asserted-by":"publisher","first-page":"2069","DOI":"10.3390\/electronics12092069","volume":"12","author":"X Dongye","year":"2023","unstructured":"Dongye X, Weng D, Jiang H, Feng L (2023) A modular haptic agent system with encountered-type active interaction. Electronics 12(9):2069","journal-title":"Electronics"},{"issue":"5","key":"1133_CR16","doi-asserted-by":"publisher","first-page":"490","DOI":"10.1111\/sms.12341","volume":"25","author":"M Eriksson Crommert","year":"2015","unstructured":"Eriksson Crommert M, Lacourpaille L, Heales L, Tucker K, Hug F (2015) Massage induces an immediate, albeit short-term, reduction in muscle stiffness. Scandinavian J Med Sci Sport 25(5):490\u2013496","journal-title":"Scandinavian J Med Sci Sport"},{"key":"1133_CR17","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1186\/s12984-020-0642-5","volume":"17","author":"NT Fitter","year":"2020","unstructured":"Fitter NT, Mohan M, Kuchenbecker KJ, Johnson MJ (2020) Exercising with baxter: preliminary support for assistive social-physical human-robot interaction. J Neuroeng Rehabil 17:1\u201322","journal-title":"J Neuroeng Rehabil"},{"key":"1133_CR18","doi-asserted-by":"publisher","first-page":"429","DOI":"10.4028\/www.scientific.net\/AMR.279.429","volume":"279","author":"L Han","year":"2011","unstructured":"Han L, Tian MQ, Chen JZ (2011) Development of a multi-fingered massaging robot hand. Adv Mater Res 279:429\u2013433","journal-title":"Adv Mater Res"},{"key":"1133_CR19","doi-asserted-by":"crossref","unstructured":"Harada N, Kitazaki M, Tasaki R (2024) Robotic VR massage system: Physical care robot with out-of-body experience in virtual karesansui. In: 2024 IEEE Conference on Virtual Reality and 3D User Interfaces Abstracts and Workshops (VRW). IEEE, pp. 1039\u20131040","DOI":"10.1109\/VRW62533.2024.00316"},{"key":"1133_CR20","doi-asserted-by":"crossref","unstructured":"Haraguchi G, Kitazaki M (2023) Cast shadow and color change improve social impression of robotic massage with virtual out-of-body experience. In: Proceedings of the Augmented Humans International Conference 2023, pp. 301\u2013303","DOI":"10.1145\/3582700.3583697"},{"issue":"3","key":"1133_CR21","first-page":"33","volume":"7","author":"M Heerink","year":"2006","unstructured":"Heerink M, Kr\u00f6se B, Wielinga BJ, Evers V et al (2006) Studying the acceptance of a robotic agent by elderly users. Int J Assist Robot Mechatr 7(3):33\u201343","journal-title":"Int J Assist Robot Mechatr"},{"issue":"4","key":"1133_CR22","doi-asserted-by":"publisher","first-page":"767","DOI":"10.1007\/s11747-022-00862-x","volume":"51","author":"J Holth\u00f6wer","year":"2023","unstructured":"Holth\u00f6wer J, Doorn J (2023) Robots do not judge: service robots can alleviate embarrassment in service encounters. J Acad Mark Sci 51(4):767\u2013784","journal-title":"J Acad Mark Sci"},{"issue":"2","key":"1133_CR23","doi-asserted-by":"publisher","first-page":"158","DOI":"10.1108\/01439911311297775","volume":"40","author":"L Hu","year":"2013","unstructured":"Hu L, Wang Y, Zhang J, Zhang J, Cui Y, Ma L, Jiang J, Fang L, Zhang B (2013) A massage robot based on chinese massage therapy. Ind Robot: An Int J 40(2):158\u2013172","journal-title":"Ind Robot: An Int J"},{"key":"1133_CR24","unstructured":"iFlytek Open Source: iFlytek Spark API. Accessed: 2024-04-29. https:\/\/xinghuo.xfyun.cn\/sparkapi"},{"key":"1133_CR25","unstructured":"Jonker T, et al.: Towards gaze-based prediction of the intent to interact in virtual reality. In: Proceedings of the ETRA \u201921 Conference (2021)"},{"key":"1133_CR26","first-page":"80","volume":"2004","author":"Y Jung","year":"2004","unstructured":"Jung Y, Lee KM (2004) Effects of physical embodiment on social presence of social robots. Proceed Presence 2004:80\u201387","journal-title":"Proceed Presence"},{"issue":"3","key":"1133_CR27","doi-asserted-by":"publisher","first-page":"203","DOI":"10.1207\/s15327108ijap0303_3","volume":"3","author":"RS Kennedy","year":"1993","unstructured":"Kennedy RS, Lane NE, Berbaum KS, Lilienthal MG (1993) Simulator sickness questionnaire: An enhanced method for quantifying simulator sickness. Int J Aviat Psychol 3(3):203\u2013220","journal-title":"Int J Aviat Psychol"},{"key":"1133_CR28","doi-asserted-by":"crossref","unstructured":"Khoramshahi M, Henriks G, Naef A, Salehian SSM, Kim J, Billard A (2020) Arm-hand motion-force coordination for physical interactions with non-flat surfaces using dynamical systems: toward compliant robotic massage. In: 2020 IEEE International conference on robotics and automation (ICRA). IEEE, pp. 4724\u20134730","DOI":"10.1109\/ICRA40945.2020.9196593"},{"issue":"4","key":"1133_CR29","doi-asserted-by":"publisher","first-page":"373","DOI":"10.1162\/PRES_a_00124","volume":"21","author":"K Kilteni","year":"2012","unstructured":"Kilteni K, Groten R, Slater M (2012) The sense of embodiment in virtual reality. Presence: Teleoperat Virt Environ 21(4):373\u2013387","journal-title":"Presence: Teleoperat Virt Environ"},{"issue":"4","key":"1133_CR30","doi-asserted-by":"publisher","first-page":"597","DOI":"10.1109\/TVCG.2013.29","volume":"19","author":"K Kilteni","year":"2013","unstructured":"Kilteni K, Bergstrom I, Slater M (2013) Drumming in immersive virtual reality: the body shapes the way we play. IEEE Trans Visual Comput Graphics 19(4):597\u2013605","journal-title":"IEEE Trans Visual Comput Graphics"},{"key":"1133_CR31","doi-asserted-by":"crossref","unstructured":"Kim K, Melo CM, Norouzi N, Bruder G, Welch GF (2020) Reducing task load with an embodied intelligent virtual assistant for improved performance in collaborative decision making. In: 2020 IEEE conference on virtual reality and 3d user interfaces (VR). IEEE, pp. 529\u2013538","DOI":"10.1109\/VR46266.2020.1581084624004"},{"key":"1133_CR32","doi-asserted-by":"crossref","unstructured":"Kim K, Schubert R, Welch G (2016) Exploring the impact of environmental effects on social presence with a virtual human. In: Intelligent Virtual Agents: 16th International Conference, IVA 2016, Los Angeles, CA, USA, September 20\u201323, 2016, Proceedings 16. Springer, pp. 470\u2013474","DOI":"10.1007\/978-3-319-47665-0_57"},{"issue":"5","key":"1133_CR33","doi-asserted-by":"publisher","first-page":"261","DOI":"10.1002\/vis.323","volume":"14","author":"R Kizony","year":"2003","unstructured":"Kizony R, Katz N, Weiss PL (2003) Adapting an immersive virtual reality system for rehabilitation. J Vis Comput Animat 14(5):261\u2013268","journal-title":"J Vis Comput Animat"},{"key":"1133_CR34","doi-asserted-by":"crossref","unstructured":"Lasota PA, Fong T, Shah JA (2017) et al.: A survey of methods for safe human-robot interaction. Foundat Trends\u00ae Robot, 5(4):261\u2013349","DOI":"10.1561\/2300000052"},{"issue":"5","key":"1133_CR35","doi-asserted-by":"publisher","first-page":"2134","DOI":"10.1109\/TVCG.2019.2899250","volume":"25","author":"ME Latoschik","year":"2019","unstructured":"Latoschik ME, Kern F, Stauffert J-P, Bartl A, Botsch M, Lugrin J-L (2019) Not alone here?! scalability and user experience of embodied ambient crowds in distributed social virtual reality. IEEE Trans Visual Comput Graphics 25(5):2134\u20132144","journal-title":"IEEE Trans Visual Comput Graphics"},{"key":"1133_CR36","unstructured":"Limber Robot. http:\/\/www.limberrobot.com.cn\/. Accessed: 2024-04-29"},{"issue":"8","key":"1133_CR37","doi-asserted-by":"publisher","first-page":"1011","DOI":"10.1016\/j.cpr.2010.07.001","volume":"30","author":"KM Malloy","year":"2010","unstructured":"Malloy KM, Milling LS (2010) The effectiveness of virtual reality distraction for pain reduction: a systematic review. Clin Psychol Rev 30(8):1011\u20131018","journal-title":"Clin Psychol Rev"},{"key":"1133_CR38","doi-asserted-by":"crossref","unstructured":"Mangal NK, Pal S, Khosla A (2017) Frozen shoulder rehabilitation using microsoft kinect. In: 2017 International Conference on Innovations in Green Energy and Healthcare Technologies (IGEHT). IEEE, pp. 1\u20136","DOI":"10.1109\/IGEHT.2017.8094043"},{"issue":"4","key":"1133_CR39","doi-asserted-by":"publisher","first-page":"91","DOI":"10.1145\/2185520.2185587","volume":"31","author":"R McDonnell","year":"2012","unstructured":"McDonnell R, Breidt M, B\u00fclthoff HH (2012) Render me real? Investigating the effect of render style on the perception of animated virtual humans. ACM Trans Graphics (TOG) 31(4):91\u201319111","journal-title":"ACM Trans Graphics (TOG)"},{"issue":"3","key":"1133_CR40","doi-asserted-by":"publisher","first-page":"645","DOI":"10.1145\/566654.566630","volume":"21","author":"M Meehan","year":"2002","unstructured":"Meehan M, Insko B, Whitton M, Brooks FP (2002) Physiological measures of presence in stressful virtual environments. ACM Trans Graphics 21(3):645\u2013652","journal-title":"ACM Trans Graphics"},{"key":"1133_CR41","doi-asserted-by":"crossref","unstructured":"Mockel S, Preston RC, Herring J, Fitter NT (2024) A pilot investigation of human preference for robot arm visual form. In: Companion of the 2024 ACM\/IEEE international conference on human-robot interaction, pp. 765\u2013768","DOI":"10.1145\/3610978.3640553"},{"issue":"1","key":"1133_CR42","doi-asserted-by":"publisher","first-page":"3","DOI":"10.1016\/j.jbmt.2010.06.001","volume":"15","author":"CA Moyer","year":"2011","unstructured":"Moyer CA, Seefeldt L, Mann ES, Jackley LM (2011) Does massage therapy reduce cortisol? a comprehensive quantitative review. J Bodyw Mov Ther 15(1):3\u201314","journal-title":"J Bodyw Mov Ther"},{"issue":"2","key":"1133_CR43","doi-asserted-by":"publisher","first-page":"299","DOI":"10.1007\/s12369-023-01070-5","volume":"16","author":"Y Onishi","year":"2024","unstructured":"Onishi Y, Sumioka H, Shiomi M (2024) Moffuly-ii: a robot that hugs and rubs heads. Int J Soc Robot 16(2):299\u2013309","journal-title":"Int J Soc Robot"},{"key":"1133_CR44","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1186\/s13634-021-00788-6","volume":"2021","author":"A Paul","year":"2021","unstructured":"Paul A, Usman J, Ahmad MY, Hamidreza M, Maryam H, Ong ZC, Hasikin K, Lai KW (2021) Health efficacy of electrically operated automated massage on muscle properties, peripheral circulation, and physio-psychological variables: a narrative review. EURASIP J Adv Signal Process 2021:1\u201322","journal-title":"EURASIP J Adv Signal Process"},{"key":"1133_CR45","doi-asserted-by":"publisher","first-page":"634520","DOI":"10.3389\/frobt.2021.634520","volume":"8","author":"D Pimentel","year":"2021","unstructured":"Pimentel D, Vinkers C (2021) Copresence with virtual humans in mixed reality: the impact of contextual responsiveness on social perceptions. Front Robot AI 8:634520","journal-title":"Front Robot AI"},{"key":"1133_CR46","doi-asserted-by":"publisher","first-page":"183","DOI":"10.1007\/s40279-015-0420-x","volume":"46","author":"W Poppendieck","year":"2016","unstructured":"Poppendieck W, Wegmann M, Ferrauti A, Kellmann M, Pfeiffer M, Meyer T (2016) Massage and performance recovery: a meta-analytical review. Sports Med 46:183\u2013204","journal-title":"Sports Med"},{"key":"1133_CR47","doi-asserted-by":"crossref","unstructured":"Powell V, Powell W (2015) Therapy-led design of home-based virtual rehabilitation. In: 2015 IEEE 1st workshop on everyday virtual reality (WEVR). IEEE, pp. 11\u201314","DOI":"10.1109\/WEVR.2015.7151688"},{"key":"1133_CR48","doi-asserted-by":"publisher","first-page":"101423","DOI":"10.1016\/j.techsoc.2020.101423","volume":"63","author":"J Reis","year":"2020","unstructured":"Reis J, Mel\u00e3o N, Salvadorinho J, Soares B, Rosete A (2020) Service robots in the hospitality industry: The case of Henn-na hotel, Japan. Technol Soc 63:101423","journal-title":"Technol Soc"},{"issue":"11","key":"1133_CR49","doi-asserted-by":"publisher","first-page":"2297","DOI":"10.1007\/s12369-024-01191-5","volume":"16","author":"Q Ren","year":"2024","unstructured":"Ren Q, Belpaeme T (2024) Tactile interaction with social robots influences attitudes and behaviour. Int J Soc Robot 16(11):2297\u20132317","journal-title":"Int J Soc Robot"},{"key":"1133_CR50","doi-asserted-by":"crossref","unstructured":"Riva G (2003) Virtual environments in clinical psychology. Psychother: Theory, Res, Pract, Train, 40(1-2): 68","DOI":"10.1037\/0033-3204.40.1-2.68"},{"issue":"1","key":"1133_CR51","doi-asserted-by":"publisher","first-page":"45","DOI":"10.1089\/cpb.2006.9993","volume":"10","author":"G Riva","year":"2007","unstructured":"Riva G, Mantovani F, Capideville CS, Preziosa A, Morganti F, Villani D, Gaggioli A, Botella C, Alca\u00f1iz M (2007) Affective interactions using virtual reality: the link between presence and emotions. Cyberpsychol Behav 10(1):45\u201356","journal-title":"Cyberpsychol Behav"},{"issue":"6","key":"1133_CR52","doi-asserted-by":"publisher","first-page":"1403","DOI":"10.1016\/j.burns.2017.11.002","volume":"44","author":"S Scapin","year":"2018","unstructured":"Scapin S, Echevarr\u00eda-Guanilo ME, Junior PRBF, Gon\u00e7alves N, Rocha PK, Coimbra R (2018) Virtual reality in the treatment of burn patients: a systematic review. Burns 44(6):1403\u20131416","journal-title":"Burns"},{"key":"1133_CR53","doi-asserted-by":"crossref","unstructured":"Schrepp M, Hinderks A, et al. (2017) Design and evaluation of a short version of the user experience questionnaire (ueq-s)","DOI":"10.5220\/0007188303730377"},{"issue":"22","key":"1133_CR54","doi-asserted-by":"publisher","first-page":"9345","DOI":"10.3390\/su12229345","volume":"12","author":"D Shao","year":"2020","unstructured":"Shao D, Lee I-J (2020) Acceptance and influencing factors of social virtual reality in the urban elderly. Sustainability 12(22):9345","journal-title":"Sustainability"},{"issue":"1","key":"1133_CR55","doi-asserted-by":"publisher","first-page":"48","DOI":"10.1046\/j.1365-2702.1999.00211.x","volume":"8","author":"E Slevin","year":"1999","unstructured":"Slevin E, McCLELLAND A (1999) Multisensory environments: are they therapeutic? a single-subject evaluation of the clinical effectiveness of a multisensory environment. J Clin Nurs 8(1):48\u201356","journal-title":"J Clin Nurs"},{"key":"1133_CR56","unstructured":"Steptoe, W., Steed, A.: High-fidelity avatar eye-representation. In: Proceedings of the ACM symposium on virtual reality software and technology, pp. 83\u201390 (2012)"},{"key":"1133_CR57","doi-asserted-by":"crossref","unstructured":"Suzuki R, Hedayati H, Zheng C, Bohn JL, Szafir D, Do EY-L, Gross MD, Leithinger D (2020) Roomshift: room-scale dynamic haptics for vr with furniture-moving swarm robots. In: Proceedings of the 2020 CHI conference on human factors in computing systems, pp. 1\u201311","DOI":"10.1145\/3313831.3376523"},{"key":"1133_CR58","doi-asserted-by":"crossref","unstructured":"Syrdal DS, Dautenhahn K, Woods S, Walters ML, Koay KL (2006) \u2019doing the right thing wrong\u2019-personality and tolerance to uncomfortable robot approaches. In: ROMAN 2006-The 15th IEEE International symposium on robot and human interactive communication. IEEE, pp. 183\u2013188","DOI":"10.1109\/ROMAN.2006.314415"},{"key":"1133_CR59","doi-asserted-by":"crossref","unstructured":"Vonach E, Gatterer C, Kaufmann H (2017) Vrrobot: Robot actuated props in an infinite virtual environment. In: 2017 IEEE Virtual Reality (VR). IEEE, pp. 74\u201383","DOI":"10.1109\/VR.2017.7892233"},{"key":"1133_CR60","doi-asserted-by":"crossref","unstructured":"Wagner D, Billinghurst M, Schmalstieg D (2006) How real should virtual characters be? In: Proceedings of the 2006 ACM SIGCHI international conference on advances in computer entertainment technology, p. 57","DOI":"10.1145\/1178823.1178891"},{"issue":"6","key":"1133_CR61","doi-asserted-by":"publisher","first-page":"1063","DOI":"10.1037\/0022-3514.54.6.1063","volume":"54","author":"D Watson","year":"1988","unstructured":"Watson D, Clark LA, Tellegen A (1988) Development and validation of brief measures of positive and negative affect: the panas scales. J Pers Soc Psychol 54(6):1063","journal-title":"J Pers Soc Psychol"},{"issue":"4","key":"1133_CR62","doi-asserted-by":"publisher","first-page":"639","DOI":"10.1007\/s00221-009-1713-9","volume":"193","author":"MWA Wijntjes","year":"2009","unstructured":"Wijntjes MWA, Doorn GH, Kappers AML (2009) Haptic perception disambiguates visual perception of 3d shape. Exp Brain Res 193(4):639\u2013644","journal-title":"Exp Brain Res"},{"issue":"4","key":"1133_CR63","doi-asserted-by":"publisher","first-page":"509","DOI":"10.1007\/s11370-023-00474-6","volume":"16","author":"M Xiao","year":"2023","unstructured":"Xiao M, Zhang T, Zou Y, Yan X, Wu W (2023) Study on force control for robot massage with a model-based reinforcement learning algorithm. Intel Serv Robot 16(4):509\u2013519","journal-title":"Intel Serv Robot"},{"key":"1133_CR64","doi-asserted-by":"publisher","first-page":"538","DOI":"10.1007\/s00586-016-4892-7","volume":"26","author":"GD Yilmaz Yelvar","year":"2017","unstructured":"Yilmaz Yelvar GD, \u00c7\u0131rak Y, Dalk\u0131l\u0131n\u00e7 M, Parlak Demir Y, Guner Z, Boydak A (2017) Is physiotherapy integrated virtual walking effective on pain, function, and kinesiophobia in patients with non-specific low-back pain? randomised controlled trial. Eur Spine J 26:538\u2013545","journal-title":"Eur Spine J"},{"key":"1133_CR65","doi-asserted-by":"crossref","unstructured":"Zhao Y, Kim LH, Wang Y, Le\u00a0Goc M, Follmer S (2017) Robotic assembly of haptic proxy objects for tangible interaction and virtual reality. In: Proceedings of the 2017 ACM international conference on interactive surfaces and spaces, pp. 82\u201391","DOI":"10.1145\/3132272.3134143"}],"container-title":["Virtual Reality"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10055-025-01133-0.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s10055-025-01133-0\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10055-025-01133-0.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,6,21]],"date-time":"2025-06-21T09:58:41Z","timestamp":1750499921000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s10055-025-01133-0"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,3,18]]},"references-count":65,"journal-issue":{"issue":"2","published-online":{"date-parts":[[2025,6]]}},"alternative-id":["1133"],"URL":"https:\/\/doi.org\/10.1007\/s10055-025-01133-0","relation":{},"ISSN":["1434-9957"],"issn-type":[{"value":"1434-9957","type":"electronic"}],"subject":[],"published":{"date-parts":[[2025,3,18]]},"assertion":[{"value":"25 June 2024","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"12 March 2025","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"18 March 2025","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"The authors declare that they have no conflict of interest.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Conflict of interest"}},{"value":"This study was conducted in accordance with the principles specified in the Declaration of Helsinki and was approved by the Research Ethics Committee of Beijing Institute of Technology (2024-255). Written informed consent was obtained from all participants prior to the experiment.","order":3,"name":"Ethics","group":{"name":"EthicsHeading","label":"Ethical approval"}}],"article-number":"52"}}