为社交机器人添加温感与震动触觉，让触摸更像活体动物。
Design and Integration of Thermal and Vibrotactile Feedback for Lifelike Touch in Social Robots
- 通过温热和震动模块模拟动物体温、心跳与呼噜声。
- 用户与专家共同调试，确保触觉反馈自然真实。
- 适合做情感陪伴机器人的研发者参考。
拟态型社交助手机器人（SARs）为无法获得宠物陪伴的人群提供替代性社交触觉体验。然而现有SARs仅支持有限的被动触觉交互，缺乏人体-动物触觉中常见的温暖、心跳或呼噜等丰富触感线索，限制了其引发情感共鸣与类生命体互动的能力。本文提出一种多模态触觉原型，用于增强经典PARO机器人，集成热感与振动反馈，以模拟生物生理信号。柔性加热界面提供类体温暖感，嵌入式执行器生成类心跳节奏与持续呼噜感。这些触觉线索通过用户与触觉专家的迭代反馈进行设计与校准。本文详述设计流程，并提供可复现的指导方案，助力开发具情感共鸣力与生物真实性触觉交互的SARs。
原文摘要 · Abstract (English)
Zoomorphic Socially Assistive Robots (SARs) offer an alternative source of social touch for individuals who cannot access animal companionship. However, current SARs provide only limited, passive touch-based interactions and lack the rich haptic cues, such as warmth, heartbeat or purring, that are characteristic of human-animal touch. This limits their ability to evoke emotionally engaging, life-like physical interactions. We present a multimodal tactile prototype, which was used to augment the established PARO robot, integrating thermal and vibrotactile feedback to simulate feeling biophysiological signals. A flexible heating interface delivers body-like warmth, while embedded actuators generate heartbeat-like rhythms and continuous purring sensations. These cues were iteratively designed and calibrated with input from users and haptics experts. We outline the design process and offer reproducible guidelines to support the development of emotionally resonant and biologically plausible touch interactions with SARs.
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