Validation of the Design of a Robot to Study the Thermo-Emotional Expression

Peña, Denis; Tanaka, Fumihide

doi:10.1007/978-3-030-05204-1_8

Cited by 6 publications

(5 citation statements)

References 8 publications

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“…The utilization of soft-robotic technologies also enables SoftSARs to express varying emotions during both sHRI and pHRI, providing a unique interaction experience. Pena et al [ 136 ] designed and validated [ 137 , 138 ] a robot that utilizes body temperature and facial expressions to communicate its emotional expression and emotional state. The robot has the ability to change its surface skin temperature between 10 and 55 °C while displaying different facial expressions, such as joy, neutrality, anger, sadness, and fear.…”

Section: A Roadmap For Softsarmentioning

confidence: 99%

SoftSAR: The New Softer Side of Socially Assistive Robots—Soft Robotics with Social Human–Robot Interaction Skills

Sun

Effati

Naguib

et al. 2022

Sensors

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When we think of “soft” in terms of socially assistive robots (SARs), it is mainly in reference to the soft outer shells of these robots, ranging from robotic teddy bears to furry robot pets. However, soft robotics is a promising field that has not yet been leveraged by SAR design. Soft robotics is the incorporation of smart materials to achieve biomimetic motions, active deformations, and responsive sensing. By utilizing these distinctive characteristics, a new type of SAR can be developed that has the potential to be safer to interact with, more flexible, and uniquely uses novel interaction modes (colors/shapes) to engage in a heighted human–robot interaction. In this perspective article, we coin this new collaborative research area as SoftSAR. We provide extensive discussions on just how soft robotics can be utilized to positively impact SARs, from their actuation mechanisms to the sensory designs, and how valuable they will be in informing future SAR design and applications. With extensive discussions on the fundamental mechanisms of soft robotic technologies, we outline a number of key SAR research areas that can benefit from using unique soft robotic mechanisms, which will result in the creation of the new field of SoftSAR.

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Section: A Roadmap For Softsarmentioning

confidence: 99%

SoftSAR: The New Softer Side of Socially Assistive Robots—Soft Robotics with Social Human–Robot Interaction Skills

Sun

Effati

Naguib

et al. 2022

Sensors

View full text Add to dashboard Cite

show abstract

“…To increase this likelihood, the design of the lower and upper limbs of the robot is excluded. The basic design of TherMoody was verified in a pilot study reported in [39]. Considering that the robot was designed so that its head is the main area to be caressed, its thermal system is located in it.…”

Section: Robot Platformmentioning

confidence: 99%

“…Finally, Peltier cells and a display are added (d) [38]. of the robot are described in [38], while a pilot study to validate the design is reported in [39]. For this study, we newly developed a closed-loop control for the temperature of the thermal system.…”

Section: Robot Platformmentioning

confidence: 99%

Human Perception of Social Robot’s Emotional States via Facial and Thermal Expressions

Peña

Tanaka

2020

J. Hum.-Robot Interact.

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Facial and thermal expressions can be used by humans to interpret emotions. While facial expressions can be a voluntary reaction, the change of temperature in the body is often not. Thus, a facial expression may not always be consistent with the emotional state that is expressed by the body temperature. This article aims to study the human perception of the emotional expression and the emotional state of a robot that simultaneously uses its face and body temperature. To this end, a robot, named TherMoody, which has the capability to change its body temperature from 10-55 • C, was used. Then, 25 combinations (5x5: one facial expression and one thermal expression for anger, joy, fear, sadness, and neutral state) were evaluated by 15 participants. Thermal expressions were designed based on the metaphors of emotions related to temperature. The results show people tend to base their judgment of the robot's emotional expression exclusively in its facial expression, regardless of the change of its body temperature. However, there are combinations where the thermal expression predominates over the facial expression when judging the robot's emotional state. Thus, these combinations may produce the perception that the robot's emotional expression is, in fact, genuine, simulated, masked, or neutralized. CCS Concepts: • Human-centered computing → User studies; Haptic devices; • Computer systems organization → Robotics;

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“…Prior work focused mostly on the body shape and facial features of robots, and an open question is what material should be used for the surface of robots' bodies. Some research has looked into how robot skin can convey emotions using skin textures and form [2,13] and skin temperature [24]. One work addressed the need for customizable robots with SPRITE, a socially assistive robot with a modifiable skin to tailor the robot to a target population or specific domain [29].…”

Section: Related Workmentioning

confidence: 99%

“…While studies have been done on robot embodiment (e.g., physical vs. virtual [11,15,30]), robot body shape (e.g., size [19], waist-to-hip ratio and shoulder width [1]) and facial features (e.g., eyebrows, eyes [6,14,26]), less attention has been given to component materials. Some works have investigated how robot skin can convey emotions through skin textures [13] and skin temperature [24]. One research team developed a robot with customizable skin [29].…”

Section: Introductionmentioning

confidence: 99%

Knock on Wood: The Effects of Material Choice on the Perception of Social Robots

et al. 2019

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Many people who interact with robots in the near future will not have prior experience, and they are likely to intuitively form their first impressions of the robot based on its appearance. This paper explores the effects of component material on people's perception of the robots in terms of social attributes and willingness to interact. Participants watched videos of three robots with different outer materials: wood, synthetic fur, and plastic. The results showed that people rated the perceived warmth of a plastic robot lower than a wooden or furry robot. Ratings of perceived competence and discomfort did not differ between the three robots.

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Validation of the Design of a Robot to Study the Thermo-Emotional Expression

Cited by 6 publications

References 8 publications

SoftSAR: The New Softer Side of Socially Assistive Robots—Soft Robotics with Social Human–Robot Interaction Skills

SoftSAR: The New Softer Side of Socially Assistive Robots—Soft Robotics with Social Human–Robot Interaction Skills

Human Perception of Social Robot’s Emotional States via Facial and Thermal Expressions

Knock on Wood: The Effects of Material Choice on the Perception of Social Robots

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