Conveying Emotions Through Device-Initiated Touch

Teyssier, Marc; Bailly, Gilles; Pélachaud, Catherine; Lecolinet, Éric

doi:10.1109/taffc.2020.3008693

Cited by 35 publications

(20 citation statements)

References 76 publications

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“…While measuring motion energy is quantitative and informative, we have shown that more detailed physical measurements can further discriminate specific touch messages, e.g., happiness and attention had similar normal velocities but very different tangential velocities, while contact duration and area discriminated love and calming, which had similar tangential velocities. This is consistent with studies of human-delivered touch to pressure sensor surfaces (Gaus et al, 2015;Supratman et al, 2020) and robot-delivered touch to humans (Teyssier et al, 2020) showing that a variety of contact area and motion dynamics measures are required to distinguish different touch actions.…”

Section: Discussionsupporting

confidence: 87%

The language of social touch is intuitive and quantifiable

McIntyre¹,

Hauser²,

Kusztor³

et al. 2021

Preprint

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Touch is a powerful communication tool, but we have a limited understanding of the role played by particular physical features of interpersonal touch communication. In this study, adults living in Sweden performed a task in which messages (attention, love, happiness, calming, sadness and gratitude) were conveyed by a sender touching the forearm of a receiver, who interpreted the messages. Two experiments (n=32, n=20) showed that within close relationships, receivers could identify the intuitive touch expressions of the senders, and we characterized the physical features of the touches associated with successful communication. Facial expressions measured with EMG varied by message, but were uncorrelated with communication performance. We developed standardized touch expressions and quantified the physical features with 3D hand-tracking. In two further experiments (n=20, n=16), these were conveyed by trained senders and were readily understood by naïve strangers. Thus, the possibility emerges of a standardized, intuitively understood language of social touch.

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Section: Discussionsupporting

confidence: 87%

The language of social touch is intuitive and quantifiable

McIntyre¹,

Hauser²,

Kusztor³

et al. 2021

Preprint

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“…Feel-through tactile interfaces allow for new forms of tactile augmented reality, where real-world objects are superimposed with synthetic tactile renderings (Withana et al, 2018). Integrating touch sensors into deformable surfaces such as textiles (Orth et al, 1998), elastic polymers (Wessely et al, 2016;Teyssier et al, 2020) and even human skin (Weigel et al, 2015;Nittala et al, 2018) has enabled more expressive touch interaction. Emergent technologies are being developed to enrich digital social touch interactions and embed other input modalities such as force, shear, twist, and squeeze (Weigel et al, 2014).…”

Section: Touch Technologymentioning

confidence: 99%

Manifesto for Digital Social Touch in Crisis

Jewitt

Price

Steimle

et al. 2021

Front. Comput. Sci.

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This qualitative exploratory research paper presents a Manifesto for Digital Social Touch in Crisis - a provocative call to action to designers, developers and researchers to rethink and reimagine social touch through a deeper engagement with the social and sensory aspects of touch. This call is motivated by concerns that social touch is in a crisis signaled by a decline in social touch over the past 2 decades, the problematics of inappropriate social touch, and the well documented impact of a lack of social touch on communication, relationships, and well-being and health. These concerns shape how social touch enters the digital realm and raise questions for how and when the complex space of social touch is mediated by technologies, as well the societal implications. The paper situates the manifesto in the key challenges facing haptic designers and developers identified through a series of interdisciplinary collaborative workshops with participants from computer science, design, engineering, HCI and social science from both within industry and academia, and the research literature on haptics. The features and purpose of the manifesto form are described, along with our rationale for its use, and the method of the manifesto development. The starting points, opportunities and challenges, dominant themes and tensions that shaped the manifesto statements are then elaborated on. The paper shows the potential of the manifesto form to bridge between HCI, computer science and engineers, and social scientists on the topic of social touch.

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“…First of all, the softer tactility of robot skin can provide host cobots with a better physical interface in affective HRI, compared with traditional rigid components [52]. Tactile information detected by robot skin can not only increase immersion and sense of presence but also convey various pro-social emotions [53]. For example, a stroke, a poke, or a soft push may convey comfort, anger, or calmness, respectively [52], [54].…”

Section: ) Natural Interfaces For Affective Interactionmentioning

confidence: 99%

“…For example, a stroke, a poke, or a soft push may convey comfort, anger, or calmness, respectively [52], [54]. In addition to enabling cobots to recognize human emotions by touch sensing, robot skin can help host cobots directly producing realistic touch to convey their emotions that would be perceived and interpreted by humans, enriching the affective experience [53]. On top of that, the incorporation of various actuators into robot skin, such as thermal, vibrotactile, and stiffness-modulation actuators, provides cobots with the advanced functionality of affective tactile stimulation [35].…”

Section: ) Natural Interfaces For Affective Interactionmentioning

confidence: 99%

Review of Robot Skin: A Potential Enabler for Safe Collaboration, Immersive Teleoperation, and Affective Interaction of Future Collaborative Robots

Pang

Yang

Pang

2021

IEEE Trans. Med. Robot. Bionics

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The emerging applications of collaborative robots (cobots) are spilling out from product manufactories to service industries for human care, such as patient care for combating the coronavirus disease 2019 (COVID-19) pandemic and in-home care for coping with the aging society. There are urgent demands on equipping cobots with safe collaboration, immersive teleoperation, affective interaction, and other features (e.g., energy autonomy and self-learning) to make cobots capable of these application scenarios. Robot skin, as a potential enabler, is able to boost the development of cobots to address these distinguishing features from the perspective of multimodal sensing and self-contained actuation. This review introduces the potential applications of cobots for human care together with those demanded features. In addition, the explicit roles of robot skin in satisfying the escalating demands of those features on inherent safety, sensory feedback, natural interaction, and energy autonomy are analyzed. Furthermore, a comprehensive review of the recent progress in functionalized robot skin in components level, including proximity, pressure, temperature, sensory feedback, and stiffness tuning, is presented. Results show that the codesign of these sensing and actuation functionalities may enable robot skin to provide improved safety, intuitive feedback, and natural interfaces for future cobots in human care applications. Finally, open challenges and future directions in the real implementation of robot skin and its system synthesis are presented and discussed.

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Conveying Emotions Through Device-Initiated Touch

Cited by 35 publications

References 76 publications

The language of social touch is intuitive and quantifiable

The language of social touch is intuitive and quantifiable

Manifesto for Digital Social Touch in Crisis

Review of Robot Skin: A Potential Enabler for Safe Collaboration, Immersive Teleoperation, and Affective Interaction of Future Collaborative Robots

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