{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,9,18]],"date-time":"2026-09-18T10:02:07Z","timestamp":1789725727376,"version":"4.0.1"},"reference-count":50,"publisher":"Springer Science and Business Media LLC","issue":"1","license":[{"start":{"date-parts":[[2026,9,18]],"date-time":"2026-09-18T00:00:00Z","timestamp":1789689600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0"},{"start":{"date-parts":[[2026,9,18]],"date-time":"2026-09-18T00:00:00Z","timestamp":1789689600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0"}],"funder":[{"DOI":"10.13039\/501100003246","name":"Nederlandse Organisatie voor Wetenschappelijk Onderzoek","doi-asserted-by":"publisher","award":["NWO-VENI-20308"],"award-info":[{"award-number":["NWO-VENI-20308"]}],"id":[{"id":"10.13039\/501100003246","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Nat Commun"],"abstract":"<jats:title>Abstract<\/jats:title>\n                  <jats:p>Tiny flying robots hold great potential for search-and-rescue, safety inspections, and environmental monitoring, but their small size and limited computational resources constrain onboard sensing capabilities. Inspired by animals such as rats and moles which rely on lightweight whiskers to navigate and perceive their surroundings through touch, we present a 3.2-gram whisker-based tactile sensing apparatus that enables tiny drones to perceive and interact with their environment through gentle physical contact, even in complete darkness. The apparatus employs barometers at the base of each whisker to estimate contact depth\u00a0in flight, enabling obstacle localization while minimizing contact-induced destabilization. To compensate for sensor noise and drift during sustained contact, we develop a tactile depth estimation pipeline that achieves millimeter-scale depth estimation accuracy. Together, these innovations enable tiny drones to autonomously avoid obstacles, contour surfaces, and explore confined spaces, guided by onboard tactile sensing across both rigid and soft environments. Running entirely onboard a microcontroller with just 192 KB of memory, our system demonstrates autonomous tactile flight across various scenarios. This bio-inspired approach extends perception for mobile robots beyond vision, opening new possibilities for autonomous operations in visually degraded and GPS-denied environments.<\/jats:p>","DOI":"10.1038\/s41467-026-77366-7","type":"journal-article","created":{"date-parts":[[2026,9,18]],"date-time":"2026-09-18T09:04:44Z","timestamp":1789722284000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Whisker-based tactile flight for tiny drones"],"prefix":"10.1038","volume":"17","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-6258-940X","authenticated-orcid":false,"given":"Chaoxiang","family":"Ye","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8265-1496","authenticated-orcid":false,"given":"Guido","family":"de Croon","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5261-2680","authenticated-orcid":false,"given":"Salua","family":"Hamaza","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"297","published-online":{"date-parts":[[2026,9,18]]},"reference":[{"key":"77366_CR1","doi-asserted-by":"publisher","first-page":"460","DOI":"10.1038\/nature14542","volume":"521","author":"D Floreano","year":"2015","unstructured":"Floreano, D. & Wood, R. J. Science, technology and the future of small autonomous drones. Nature 521, 460\u2013466 (2015).","journal-title":"Nature"},{"key":"77366_CR2","doi-asserted-by":"crossref","unstructured":"M\u00fcller, H., Niculescu, V., Polonelli, T., Magno, M. & Benini, L. Robust and efficient depth-based obstacle avoidance for autonomous miniaturized UAVs. IEEE Trans. Robot. 39, 4935\u20134951 (2023).","DOI":"10.1109\/TRO.2023.3315710"},{"key":"77366_CR3","doi-asserted-by":"publisher","first-page":"eaaw9710","DOI":"10.1126\/scirobotics.aaw9710","volume":"4","author":"K McGuire","year":"2019","unstructured":"McGuire, K., De Wagter, C., Tuyls, K., Kappen, H. & de Croon, G. C. Minimal navigation solution for a swarm of tiny flying robots to explore an unknown environment. Sci. Robot. 4, eaaw9710 (2019).","journal-title":"Sci. Robot."},{"key":"77366_CR4","doi-asserted-by":"crossref","unstructured":"Duisterhof, B. P., Li, S., Burgu\u00e9s, J., Reddi, V. J. & de Croon, G. C. Sniffy bug: a fully autonomous swarm of gas-seeking nano quadcopters in cluttered environments. In 2021 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), 9099\u20139106 (IEEE, 2021).","DOI":"10.1109\/IROS51168.2021.9636217"},{"key":"77366_CR5","doi-asserted-by":"publisher","first-page":"13584","DOI":"10.1109\/JIOT.2023.3339254","volume":"11","author":"V Niculescu","year":"2023","unstructured":"Niculescu, V., Polonelli, T., Magno, M. & Benini, L. Nanoslam: enabling fully onboard slam for tiny robots. IEEE Internet Things J. 11, 13584\u201313607 (2023).","journal-title":"IEEE Internet Things J."},{"key":"77366_CR6","doi-asserted-by":"publisher","first-page":"245","DOI":"10.1007\/BF02213989","volume":"10","author":"AS Ahl","year":"1986","unstructured":"Ahl, A. S. The role of vibrissae in behavior: a status review. Vet. Res. Commun. 10, 245\u2013268 (1986).","journal-title":"Vet. Res. Commun."},{"key":"77366_CR7","doi-asserted-by":"crossref","unstructured":"Mulgaonkar, Y. et al. The tiercel: a novel autonomous micro aerial vehicle that can map the environment by flying into obstacles. In 2020 IEEE International Conference on Robotics and Automation (ICRA), 7448\u20137454 (IEEE 2020).","DOI":"10.1109\/ICRA40945.2020.9197269"},{"key":"77366_CR8","doi-asserted-by":"crossref","unstructured":"Zha, J. & Mueller, M. W. Exploiting collisions for sampling-based multicopter motion planning. In 2021 IEEE International Conference on Robotics and Automation (ICRA), 7943\u20137949 (IEEE, 2021).","DOI":"10.1109\/ICRA48506.2021.9561166"},{"key":"77366_CR9","doi-asserted-by":"crossref","unstructured":"Wang, R., Guo, Z., Chen, Y., Wang, X. & Chen, B. M. Air bumper: a collision detection and reaction framework for autonomous mav navigation. In 2024 IEEE International Conference on Robotics and Automation (ICRA), 15735\u201315741 (IEEE, 2024).","DOI":"10.1109\/ICRA57147.2024.10611410"},{"key":"77366_CR10","doi-asserted-by":"crossref","unstructured":"De Petris, P., Nguyen, H., Kulkarni, M., Mascarich, F. & Alexis, K. Resilient collision-tolerant navigation in confined environments. In 2021 IEEE International Conference on Robotics and Automation (ICRA), 2286\u20132292 (IEEE, 2021).","DOI":"10.1109\/ICRA48506.2021.9561999"},{"key":"77366_CR11","doi-asserted-by":"crossref","unstructured":"Khedekar, N., Mascarich, F., Papachristos, C., Dang, T. & Alexis, K. Contact-based navigation path planning for aerial robots. In 2019 International Conference on Robotics and Automation (ICRA), 4161\u20134167 (IEEE, 2019).","DOI":"10.1109\/ICRA.2019.8793794"},{"key":"77366_CR12","doi-asserted-by":"publisher","unstructured":"Bredenbeck, A., Yang, T., Hamaza, S. & Mueller, M. W. A tactile feedback approach to path recovery after high-speed impacts for collision-resilient drones. arXiv https:\/\/doi.org\/10.48550\/arXiv.2410.14249 (2024).","DOI":"10.48550\/arXiv.2410.14249"},{"key":"77366_CR13","doi-asserted-by":"crossref","unstructured":"Hamaza, S., Georgilas, I. & Richardson, T. 2d contour following with an unmanned aerial manipulator: towards tactile-based aerial navigation. In 2019 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), 3664\u20133669 (IEEE, 2019).","DOI":"10.1109\/IROS40897.2019.8968591"},{"key":"77366_CR14","doi-asserted-by":"crossref","unstructured":"Bredenbeck, A., Della Santina, C. & Hamaza, S. Embodying compliant touch on drones for aerial tactile navigation. IEEE Robot. Autom. Lett. 10, 1209\u20131216 (2024).","DOI":"10.1109\/LRA.2024.3519888"},{"key":"77366_CR15","doi-asserted-by":"crossref","unstructured":"Schuster, M., Bredenbeck, A., Beitelschmidt, M. & Hamaza, S. Tactile odometry in aerial physical interaction. IEEE Robot. Autom. Lett. 8103\u20138110 (2024).","DOI":"10.1109\/IROS58592.2024.10802497"},{"key":"77366_CR16","doi-asserted-by":"publisher","first-page":"11275","DOI":"10.1109\/LRA.2022.3194315","volume":"7","author":"W Zhang","year":"2022","unstructured":"Zhang, W., Ott, L., Tognon, M. & Siegwart, R. Learning variable impedance control for aerial sliding on uneven heterogeneous surfaces by proprioceptive and tactile sensing. IEEE Robot. Autom. Lett. 7, 11275\u201311282 (2022).","journal-title":"IEEE Robot. Autom. Lett."},{"key":"77366_CR17","doi-asserted-by":"crossref","unstructured":"Guo, X. et al. Flying calligrapher: contact-aware motion and force planning and control for aerial manipulation. IEEE Robot. Autom. Lett. 9, 11194\u201311201 (2024).","DOI":"10.1109\/LRA.2024.3486236"},{"key":"77366_CR18","doi-asserted-by":"crossref","unstructured":"Pearson, M. J. et al. Simultaneous localisation and mapping on a multi-degree of freedom biomimetic whiskered robot. In 2013 IEEE International Conference on Robotics and Automation, 586\u2013592 (IEEE, 2013).","DOI":"10.1109\/ICRA.2013.6630633"},{"key":"77366_CR19","doi-asserted-by":"crossref","unstructured":"Kossas, T., Remmas, W., Gkliva, R., Ristolainen, A. & Kruusmaa, M. Whisker-based tactile navigation algorithm for underground robots. In 2024 IEEE International Conference on Robotics and Automation (ICRA), 13164\u201313170 (IEEE, 2024).","DOI":"10.1109\/ICRA57147.2024.10610762"},{"key":"77366_CR20","doi-asserted-by":"crossref","unstructured":"Fox, C., Evans, M., Pearson, M. & Prescott, T. Tactile slam with a biomimetic whiskered robot. In 2012 IEEE International Conference on Robotics and Automation, 4925\u20134930 (IEEE, 2012).","DOI":"10.1109\/ICRA.2012.6224813"},{"key":"77366_CR21","doi-asserted-by":"publisher","DOI":"10.1038\/s41467-025-58403-3","volume":"16","author":"H Ren","year":"2025","unstructured":"Ren, H. et al. A robust and omnidirectional-sensitive electronic antenna for tactile-induced perception. Nat. Commun. 16, 3135 (2025).","journal-title":"Nat. Commun."},{"key":"77366_CR22","doi-asserted-by":"publisher","first-page":"3479","DOI":"10.1109\/TRO.2022.3182487","volume":"38","author":"C Xiao","year":"2022","unstructured":"Xiao, C., Xu, S., Wu, W. & Wachs, J. Active multiobject exploration and recognition via tactile whiskers. IEEE Trans. Robot. 38, 3479\u20133497 (2022).","journal-title":"IEEE Trans. Robot."},{"key":"77366_CR23","doi-asserted-by":"crossref","unstructured":"Pearson, M. J. & Salman, M. Active whisker placement and exploration for rapid object recognition. In 2019 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), 672\u2013677 (IEEE, 2019).","DOI":"10.1109\/IROS40897.2019.8968517"},{"key":"77366_CR24","doi-asserted-by":"publisher","unstructured":"Lin, M. A., Li, H., Xing, C. & Cutkosky, M. R. Navigation and 3d surface reconstruction from passive whisker sensing. arXiv https:\/\/doi.org\/10.48550\/arXiv.2406.06038 (2024).","DOI":"10.48550\/arXiv.2406.06038"},{"key":"77366_CR25","doi-asserted-by":"crossref","unstructured":"Tagliabue, A. & How, J. P. Airflow-inertial odometry for resilient state estimation on multirotors. In 2021 IEEE International Conference on Robotics and Automation (ICRA), 5736\u20135743 (IEEE, 2021).","DOI":"10.1109\/ICRA48506.2021.9561907"},{"key":"77366_CR26","doi-asserted-by":"publisher","first-page":"5206","DOI":"10.2514\/1.J062931","volume":"61","author":"AC Hollenbeck","year":"2023","unstructured":"Hollenbeck, A. C., Grandhi, R., Hansen, J. H. & Pankonien, A. M. Bioinspired artificial hair sensors for flight-by-feel of unmanned aerial vehicles: a review. AIAA J. 61, 5206\u20135231 (2023).","journal-title":"AIAA J."},{"key":"77366_CR27","doi-asserted-by":"publisher","first-page":"634","DOI":"10.1126\/science.aaz9634","volume":"368","author":"T Nakata","year":"2020","unstructured":"Nakata, T. et al. Aerodynamic imaging by mosquitoes inspires a surface detector for autonomous flying vehicles. Science 368, 634\u2013637 (2020).","journal-title":"Science"},{"key":"77366_CR28","doi-asserted-by":"publisher","first-page":"4568","DOI":"10.1109\/LRA.2021.3068661","volume":"6","author":"V Britcher","year":"2021","unstructured":"Britcher, V. & Bergbreiter, S. Use of a mems differential pressure sensor to detect ground, ceiling, and walls on small quadrotors. IEEE Robot. Autom. Lett. 6, 4568\u20134575 (2021).","journal-title":"IEEE Robot. Autom. Lett."},{"key":"77366_CR29","doi-asserted-by":"publisher","first-page":"2","DOI":"10.1038\/s44182-023-00002-9","volume":"1","author":"R Ding","year":"2023","unstructured":"Ding, R., Bai, S., Dong, K. & Chirarattananon, P. Aerodynamic effect for collision-free reactive navigation of a small quadcopter. npj Robot. 1, 2 (2023).","journal-title":"npj Robot."},{"key":"77366_CR30","doi-asserted-by":"crossref","unstructured":"Ye, C., De Croon, G. & Hamaza, S. A biomorphic whisker sensor for aerial tactile applications. In 2024 IEEE International Conference on Robotics and Automation (ICRA), 5257\u20135263 (IEEE, 2024).","DOI":"10.1109\/ICRA57147.2024.10610850"},{"key":"77366_CR31","doi-asserted-by":"publisher","first-page":"601","DOI":"10.1038\/nrn2411","volume":"9","author":"ME Diamond","year":"2008","unstructured":"Diamond, M. E., Von Heimendahl, M., Knutsen, P. M., Kleinfeld, D. & Ahissar, E. \u2019where\u2019 and \u2019what\u2019 in the whisker sensorimotor system. Nat. Rev. Neurosci. 9, 601\u2013612 (2008).","journal-title":"Nat. Rev. Neurosci."},{"key":"77366_CR32","doi-asserted-by":"publisher","first-page":"477","DOI":"10.1109\/LRA.2016.2519948","volume":"1","author":"T Bartelds","year":"2016","unstructured":"Bartelds, T., Capra, A., Hamaza, S., Stramigioli, S. & Fumagalli, M. Compliant aerial manipulators: toward a new generation of aerial robotic workers. IEEE Robot. Autom. Lett. 1, 477\u2013483 (2016).","journal-title":"IEEE Robot. Autom. Lett."},{"key":"77366_CR33","doi-asserted-by":"publisher","first-page":"1978","DOI":"10.1109\/LRA.2019.2899215","volume":"4","author":"W Deer","year":"2019","unstructured":"Deer, W. & Pounds, P. E. Lightweight whiskers for contact, pre-contact, and fluid velocity sensing. IEEE Robot. Autom. Lett. 4, 1978\u20131984 (2019).","journal-title":"IEEE Robot. Autom. Lett."},{"key":"77366_CR34","doi-asserted-by":"crossref","unstructured":"Lin, M. A., Reyes, E., Bohg, J. & Cutkosky, M. R. Whisker-inspired tactile sensing for contact localization on robot manipulators. In 2022 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), 7817\u20137824 (IEEE, 2022).","DOI":"10.1109\/IROS47612.2022.9982122"},{"key":"77366_CR35","doi-asserted-by":"crossref","unstructured":"Jung, D. & Zelinsky, A. Whisker based mobile robot navigation. In Proceedings of IEEE\/RSJ International Conference on Intelligent Robots and Systems. IROS\u201996, Vol. 2, 497\u2013504 (IEEE, 1996).","DOI":"10.1109\/IROS.1996.570842"},{"key":"77366_CR36","doi-asserted-by":"crossref","unstructured":"Patnaik, K., Saravanakumaran, A. A. P. & Zhang, W. Tactile-based exploration, mapping, and navigation with collision-resilient aerial vehicles. IEEE\/ASME Trans. Mechatron. 30, 2910\u20132918 (2025).","DOI":"10.1109\/TMECH.2025.3572888"},{"key":"77366_CR37","doi-asserted-by":"publisher","first-page":"2101","DOI":"10.1109\/LRA.2019.2899192","volume":"4","author":"NF Lepora","year":"2019","unstructured":"Lepora, N. F., Church, A., De Kerckhove, C., Hadsell, R. & Lloyd, J. From pixels to percepts: highly robust edge perception and contour following using deep learning and an optical biomimetic tactile sensor. IEEE Robot. Autom. Lett. 4, 2101\u20132107 (2019).","journal-title":"IEEE Robot. Autom. Lett."},{"key":"77366_CR38","doi-asserted-by":"publisher","first-page":"130","DOI":"10.1109\/TRO.2007.913981","volume":"24","author":"J Lee","year":"2008","unstructured":"Lee, J. et al. Templates and anchors for antenna-based wall following in cockroaches and robots. IEEE Trans. Robot. 24, 130\u2013143 (2008).","journal-title":"IEEE Trans. Robot."},{"key":"77366_CR39","doi-asserted-by":"crossref","unstructured":"Bj\u00f6rkman, M., Bekiroglu, Y., H\u00f6gman, V. & Kragic, D. Enhancing visual perception of shape through tactile glances. In 2013 IEEE\/RSJ International Conference on Intelligent Robots and Systems, 3180\u20133186 (IEEE, 2013).","DOI":"10.1109\/IROS.2013.6696808"},{"key":"77366_CR40","doi-asserted-by":"crossref","unstructured":"Yi, Z. et al. Active tactile object exploration with Gaussian processes. In 2016 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), 4925\u20134930 (IEEE, 2016).","DOI":"10.1109\/IROS.2016.7759723"},{"key":"77366_CR41","doi-asserted-by":"crossref","unstructured":"Caccamo, S., Bekiroglu, Y., Ek, C. H. & Kragic, D. Active exploration using Gaussian random fields and Gaussian process implicit surfaces. In 2016 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), 582\u2013589 (IEEE, 2016).","DOI":"10.1109\/IROS.2016.7759112"},{"key":"77366_CR42","doi-asserted-by":"crossref","unstructured":"Shahidzadeh, A.-H. et al. Actexplore: active tactile exploration on unknown objects. In 2024 IEEE International Conference on Robotics and Automation (ICRA), 3411\u20133418 (IEEE, 2024).","DOI":"10.1109\/ICRA57147.2024.10611667"},{"key":"77366_CR43","doi-asserted-by":"publisher","first-page":"123","DOI":"10.1007\/s10514-018-9707-8","volume":"43","author":"M Kaboli","year":"2019","unstructured":"Kaboli, M., Yao, K., Feng, D. & Cheng, G. Tactile-based active object discrimination and target object search in an unknown workspace. Auton. Robots 43, 123\u2013152 (2019).","journal-title":"Auton. Robots"},{"key":"77366_CR44","doi-asserted-by":"crossref","unstructured":"Driess, D., Englert, P. & Toussaint, M. Active learning with query paths for tactile object shape exploration. In 2017 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), 65\u201372 (IEEE, 2017).","DOI":"10.1109\/IROS.2017.8202139"},{"key":"77366_CR45","unstructured":"Williams, O. & Fitzgibbon, A. Gaussian process implicit surfaces. In Gaussian Processes in Practice Workshop, Bletchley Park, Bletchley, UK, 12\u201313 (2006)."},{"key":"77366_CR46","doi-asserted-by":"publisher","first-page":"69","DOI":"10.1142\/S0129065704001899","volume":"14","author":"M Seeger","year":"2004","unstructured":"Seeger, M. Gaussian processes for machine learning. Int. J. Neural Syst. 14, 69\u2013106 (2004).","journal-title":"Int. J. Neural Syst."},{"key":"77366_CR47","doi-asserted-by":"publisher","first-page":"632","DOI":"10.1016\/j.cagd.2005.06.005","volume":"22","author":"R Goldman","year":"2005","unstructured":"Goldman, R. Curvature formulas for implicit curves and surfaces. Comput. Aided Geom. Des. 22, 632\u2013658 (2005).","journal-title":"Comput. Aided Geom. Des."},{"key":"77366_CR48","doi-asserted-by":"publisher","first-page":"2838","DOI":"10.1109\/LRA.2024.3356168","volume":"9","author":"B Xu","year":"2024","unstructured":"Xu, B. et al. Omnidrones: an efficient and flexible platform for reinforcement learning in drone control. IEEE Robot. Autom. Lett. 9, 2838\u20132844 (2024).","journal-title":"IEEE Robot. Autom. Lett."},{"key":"77366_CR49","doi-asserted-by":"crossref","unstructured":"Lee, T., Leok, M. & McClamroch, N. H. Geometric tracking control of a quadrotor UAV on SE (3). In 49th IEEE Conference on Decision and Control (CDC), 5420\u20135425 (IEEE, 2010).","DOI":"10.1109\/CDC.2010.5717652"},{"key":"77366_CR50","doi-asserted-by":"publisher","unstructured":"Ye, C., de Croon, G. & Hamaza, S. Whisker-based tactile flight for tiny drones. Whiskered-drone GitHub repository. https:\/\/doi.org\/10.5281\/zenodo.21641894 (2026).","DOI":"10.5281\/zenodo.21641894"}],"container-title":["Nature Communications"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.nature.com\/articles\/s41467-026-77366-7.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.nature.com\/articles\/s41467-026-77366-7","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.nature.com\/articles\/s41467-026-77366-7.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,9,18]],"date-time":"2026-09-18T09:05:02Z","timestamp":1789722302000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.nature.com\/articles\/s41467-026-77366-7"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026,9,18]]},"references-count":50,"journal-issue":{"issue":"1","published-online":{"date-parts":[[2026,12]]}},"alternative-id":["77366"],"URL":"https:\/\/doi.org\/10.1038\/s41467-026-77366-7","relation":{},"ISSN":["2041-1723"],"issn-type":[{"value":"2041-1723","type":"electronic"}],"subject":[],"published":{"date-parts":[[2026,9,18]]},"assertion":[{"value":"8 November 2025","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"10 August 2026","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"18 September 2026","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"The authors declare no competing interests.","order":1,"name":"Ethics","label":"Competing interests","group":{"name":"EthicsHeading","label":"Ethics"}}],"article-number":"9743"}}