软机器人通过均匀压力提升照护场景中的安全感知与信任度。
A Study of Perceived Safety for Soft Robotics in Caregiving Tasks
- 设计可调正负压的3D打印柔性夹持器，实现安全柔顺抓握。
- 实验显示其压力比传统刚性夹持器更低且分布更均匀。
- 用户试用后对机器人信任显著提升，适合亲密照护场景。
本研究聚焦于沐浴等照护任务中的人机交互，此类任务需与皮肤直接接触并施加力。我们采用有限元分析设计了一种结合正负压的3D打印柔性夹持器，实现稳固又柔性的操作。初步测试表明，该夹持器施加的压力更低、分布更均匀，优于标准刚性夹持器。在用户研究中，参与者在观看配备该软夹持器的机械臂完成简短沐浴演示后，对机器人的信任感显著增强。结果表明，软机器人技术有助于提升亲密照护场景中的感知安全性和接受度。
原文摘要 · Abstract (English)
In this project, we focus on human-robot interaction in caregiving scenarios like bathing, where physical contact is inevitable and necessary for proper task execution because force must be applied to the skin. Using finite element analysis, we designed a 3D-printed gripper combining positive and negative pressure for secure yet compliant handling. Preliminary tests showed it exerted a lower, more uniform pressure profile than a standard rigid gripper. In a user study, participants' trust in robots significantly increased after they experienced a brief bathing demonstration performed by a robotic arm equipped with the soft gripper. These results suggest that soft robotics can enhance perceived safety and acceptance in intimate caregiving scenarios.
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