Communication Cues in a Human-Robot Touch Interaction

Haptic interaction is a key capability for social robots that closely interact with people in daily environments. Such human communication cues as gaze behaviors make haptic interaction look natural. Since the purpose of this study is to increase human-robot touch interaction, we conducted an experiment with 20 participants who interacted with a robot with different combinations of gaze behaviors and touch styles. The experimental results showed that both gaze behaviors and touch styles influence the changes in the perceived feelings of touch interaction with a robot.