机器人说话时同步震动反馈情绪，增强人际亲密感。
An emotional expression system with vibrotactile feedback during the robot's speech
- 用GPT-4o Mini分析文本情绪，输出愉悦度与唤醒度值
- 根据情绪值调节振动幅度和频率，生成对应触觉刺激
- 实验表明触觉反馈能提升心理状态与互动亲密感
本研究旨在开发一种在通信机器人讲话时，根据文本情绪内容提供振动触觉反馈的系统。采用OpenAI的「GPT-4o Mini」进行情绪估计，从文本中提取愉悦度（valence）与唤醒度（arousal）值，并据此控制正弦波振动的幅度与频率。设计并组装了一个掌上大小的触觉显示器以呈现这些振动刺激。实验中，参与者手持设备聆听机器人语音后，评估自身心理状态。结果表明，伴随触觉反馈的交互可影响用户心理状态与亲密感水平。
原文摘要 · Abstract (English)
This study aimed to develop a system that provides vibrotactile feedback corresponding to the emotional content of text when a communication robot speaks. We used OpenAI's "GPT-4o Mini" for emotion estimation, extracting valence and arousal values from the text. The amplitude and frequency of vibrotactile stimulation using sine waves were controlled on the basis of estimated emotional values. We assembled a palm-sized tactile display to present these vibrotactile stimuli. In the experiment, participants listened to the robot's speech while holding the device and then evaluated their psychological state. The results suggested that the communication accompanied by the vibrotactile feedback could influence psychological states and intimacy levels.
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