Hugmon: Exploration of Affective Movements for Hug Interaction using Tensegrity Robot

Yoshimura, Naoya; Sato, Yushi; Kageyama, Yuta; Murao, Jun; Yagi, Satoshi; Punpongsanon, Parinya

doi:10.1109/hri53351.2022.9889410

Cited by 7 publications

(2 citation statements)

References 17 publications

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“…These robots, although compact and safe, were limited in their capacity to provide real social touch and deep touch pressure www.nature.com/scientificreports/ therapy. Yoshimura 31 and Kim 32 demonstrated that the intensity and dual-arm position of hugs were crucial in human-robot emotional interaction.…”

Section: Prior Knowledgementioning

confidence: 99%

“…To the best of our knowledge, the HUG taxonomy is the first well-defined taxonomy of hugs. Therefore, we compare the HUG taxonomy with the hugging behavior research (see 10,14,15,21,[24][25][26][27][28][29][30][31][32][33][34][35][36][37][38] ), covering the domain of humans and robots. Most reviews of the human hugging behavior research only suggest taxonomic ideas without conducting any further classification.…”

Section: Taxonomy Completenessmentioning

confidence: 99%

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A HUG taxonomy of humans with potential in human–robot hugs

Yan,

Wang,

Ren

et al. 2024

Sci Rep

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Humans can easily perform various types of hugs in human contact and affection experience. With the prevalence of robots in social applications, they would be expected to possess the capability of hugs as humans do. However, it is still not an easy task for robots, considering the complex force and spatial constraints of robot hugs. In this work, we propose the HUG taxonomy, which distinguishes between different hugging patterns based on human demonstrations and prior knowledge. In this taxonomy, hugs are arranged according to (1) hugging tightness, (2) hugging style, and (3) bilateral coordination, resulting in 16 different hug types. We then further study the hug type preference of humans in different scenarios and roles. Furthermore, we propose a rule-based classification system to validate the potential of this taxonomy in human–robot hugs based on a humanoid robot with an E-skin of contact sensation. The HUG taxonomy could provide human hugging behavior information in advance, facilitating the action control of humanoid robots. We believe the results of our work can benefit future studies on human–robot hugging interactions.

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Section: Prior Knowledgementioning

confidence: 99%