"BioMORF: A Soft Robotic Skin to Increase Biomorphism and Enable Nonverbal Communication"
M. B. Christiansen, N. Asawalertsak, C. Danh Do, W. Nantareekurn,
A. Rafsanjani, P. Manoonpong, and J. Jørgensen
Abstract: In this work, we introduce a biomorphic soft robotic skin and a CPG-based neural controller for a hexapod robot platform to generate respiratory-like motions. The design enables visio-haptic nonverbal communication between humans and robots and improves the robot's aesthetics by enhancing its biomorphic qualities. We investigate if the soft robotic skin can increase user ratings of the robot's warmth and reported trust levels during interaction. Participants' comments indicate that trust in the robot is influenced by multiple factors, including appearance, movements, haptic qualities, and contextual factors. Based on our results, we propose directions for further research on pneumatically actuated soft robotic skin as means for nonverbal signalling in human-robot interaction.
32nd IEEE International Symposium on Robot and Human Interactive Communication (IEEE RO-MAN 2023)
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