软质扑翼飞鱼机器人让人类敢触摸，安全互动体验惊艳。
Cuddle-Fish: Exploring a Soft Floating Robot with Flapping Wings for Physical Interactions
- 用柔性扑翼设计实现安静漂浮，触碰无风险。
- 24人实验中90%主动触摸，出现拍、摸、抱等自发情感行为。
- 适合陪伴、情感交互与儿童游戏场景，突破传统无人机局限。
飞行机器人如四轴无人机虽拓展了人机交互可能，但因高速螺旋桨、刚性结构和噪音常带来安全隐患。相比之下，受动物运动启发的轻于空气扑翼机器人具有柔软、安静、触碰安全等优势。本文提出Cuddle-Fish——一种专为室内近距离交互设计的软质扑翼漂浮机器人。通过24名参与者参与的共处演示实验，研究其感知与互动体验。结果表明，参与者普遍感到安全，主动开展触觉互动，表现出自发的情感行为（如拍打、抚摸、拥抱、贴脸），且报告积极情绪。这说明软质扑翼漂浮机器人可作为传统刚性飞行机器人的新型社会可接受替代方案，为日常室内环境中的陪伴、情感交互与游戏应用开辟新可能。
原文摘要 · Abstract (English)
Flying robots, such as quadrotor drones, offer new possibilities for human-robot interaction but often pose safety risks due to fast-spinning propellers, rigid structures, and noise. In contrast, lighter-than-air flapping-wing robots, inspired by animal movement, offer a soft, quiet, and touch-safe alternative. Building on these advantages, we present Cuddle-Fish, a soft flapping-wing floating robot designed for close-proximity interactions in indoor spaces. Through a user study with 24 participants, we explored their perceptions of the robot and experiences during a series of co-located demonstrations in which the robot moved near them. Results showed that participants felt safe, willingly engaged in touch-based interactions with the robot, and exhibited spontaneous affective behaviours, such as patting, stroking, hugging, and cheek-touching, without external prompting. They also reported positive emotional responses towards the robot. These findings suggest that the soft floating robot with flapping wings can serve as a novel and socially acceptable alternative to traditional rigid flying robots, opening new potential for applications in companionship, affective interaction, and play in everyday indoor environments.
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