Quantum isometries, noncommutative spheres, and related integrals

The sphere $S^{N-1}_\mathbb R$ has a half-liberated analogue $S^{N-1}_{\mathbb R,*}$, and a free analogue $S^{N-1}_{\mathbb R,+}$. This is a presentation of the construction and main properties of these noncommutative spheres, $S^{N-1}_\mathbb R\subset S^{N-1}_{\mathbb R,*}\subset S^{N-1}_{\mathbb R,+}$, and of their quantum isometry groups.