Calming Effects of Touch in Human, Animal, and Robotic Interaction—Scientific State-of-the-Art and Technical Advances

Small everyday gestures such as a tap on the shoulder can affect the way humans feel and act. Touch can have a calming effect and alter the way stress is handled, thereby promoting mental and physical health. Due to current technical advances and the growing role of intelligent robots in households and healthcare, recent research also addressed the potential of robotic touch for stress reduction. In addition, touch by non-human agents such as animals or inanimate objects may have a calming effect. This conceptual article will review a selection of the most relevant studies reporting the physiological, hormonal, neural, and subjective effects of touch on stress, arousal, and negative affect. Robotic systems capable of non-social touch will be assessed together with control strategies and sensor technologies. Parallels and differences of human-to-human touch and human-to-non-human touch will be discussed. We propose that, under appropriate conditions, touch can act as (social) signal for safety, even when the interaction partner is an animal or a machine. We will also outline potential directions for future research and clinical relevance. Thereby, this review can provide a foundation for further investigations into the beneficial contribution of touch by different agents to regulate negative affect and arousal in humans

ASSESSING THE EMOTIONAL DIMENSIONS OF THE CUTANEOUS-RABBIT EFFECT USING FACES

This research investigated how emotional images affects tactile saltation. More specifically, we combined visual faces with three different emotions: angry, sad and happy with a tactile illusion known as the cutaneous rabbit effect (CRE) that was delivered on participants’ shoulder at different durations. Because some of the faces were political figures, we assessed participant’s political affiliation using Political Typology Quiz. Participants rated their emotional response using the self-assessment manikin (SAM), a three dimensional scale that measures valence, arousal and dominance. For the valence dimension, our results indicate that participants found it less pleasant to see likeable faces sad than any other figure. Data also showed that it was the least pleasant for participants to see a hateful public face when they were angry. Political affiliation and the duration of the CRE both affected the arousal dimension suggesting that liberals seems more concerned by fictional and public figures than political ones while conservatives seems to be more affected by angry faces of political figures when the tactile duration is the longest. Finally, for the dominance dimension, it was found that likeable figures made participants feel more in control of the situation and that dislikeable figures made participants feel controlled

A calming hug:Design and validation of a tactile aid to ease anxiety

Anxiety disorders affect approximately one third of people during their lifetimes and are the ninth leading cause of global disability. Current treatments focus on therapy and pharmacological interventions. However, therapy is costly and pharmacological interventions often have undesirable side-effects. Healthy people also regularly suffer periods of anxiety. Therefore, a non-pharmacological, intuitive, home intervention would be complementary to other treatments and beneficial for non-clinical groups. Existing at-home anxiety aids, such as guided meditations, typically employ visual and/or audio stimuli to guide the user into a calmer state. However, the tactile sense has the potential to be a more natural modality to target in an anxiety-calming device. The tactile domain is relatively under-explored, but we suggest that there are manifold physiological and affective qualities of touch that lend it to the task. In this study we demonstrate that haptic technology can offer an enjoyable, effective and widely accessible alternative for easing state anxiety. We describe a novel huggable haptic interface that pneumatically simulates slow breathing. We discuss the development of this interface through a focus group evaluating five prototypes with embedded behaviours (‘breathing’, ‘purring’, ‘heartbeat’ and ‘illumination’). Ratings indicated that the ‘breathing’ prototype was most pleasant to interact with and participants described this prototype as ‘calming’ and ‘soothing’, reminding them of a person breathing. This prototype was developed into an ergonomic huggable cushion containing a pneumatic chamber powered by an external pump allowing the cushion to ‘breathe’. A mixed-design experiment (n = 129) inducing anxiety through a group mathematics test found that the device was effective at reducing pre-test anxiety compared to a control (no intervention) condition and that this reduction in anxiety was indistinguishable from that of a guided meditation. Our findings highlight the efficacy of this interface, demonstrating that haptic technologies can be effective at easing anxiety. We suggest that the field should be explored in more depth to capture the nuances of different modalities in relation to specific situations and trait characteristics

The power of affective touch within social robotics

There have been many leaps and bounds within social robotics, especially within human-robot interaction and how to make it a more meaningful relationship. This is traditionally accomplished through communicating via vision and sound. It has been shown that humans naturally seek interaction through touch yet the implications on emotions is unknown both in human-human interaction and social human-robot interaction. This thesis unpacks the social robotics community and the research undertaken to show a significant gap in the use of touch as a form of communication. The meaning behind touch will be investigated and what implication it has on emotions. A simplistic prototype was developed focusing on texture and breathing. This was used to carry out experiments to find out which combination of texture and movement felt natural. This proved to be a combination of synthetic fur and 14 breaths per minute. For human’s touch is said to be the most natural way of communicating emotions, this is the first step in achieving successful human-robot interaction in a more natural human-like way

User Preferences for Calming Affective Haptic Stimuli in Social Settings

This paper presents a survey informing a user-first approach to designing calming affective haptic stimuli by eliciting user preferences in different social scenarios. Prior affective haptics research presented users with stimuli and recorded emotional responses. By contrast this work focuses on the sensations users wish to experience and how these can be simulated using haptics. The survey (n=81) investigated which users preferences in four social situations to reduce social anxiety. Using thematic analysis of responses we created a coding scheme of stimuli derived from real-world experiences to emulate with affective haptics. By cross-referencing these categories with affective haptics research, we provide recommendations to designers about which calming stimuli users wish to experience socially and how they can be implemented

Proposing a Choose Your Own Adventure Mindfulness Intervention for Children with Autism Spectrum Disorder

Autism Spectrum Disorder is a neurodevelopmental disorder characterized by social and communication deficits, restricted interests (i.e., special interests), and repetitive behaviors. Individuals diagnosed with Autism Spectrum Disorder tend to display difficulties with attention and emotion regulation. Mindfulness meditation has been proven to be an effective in ameliorating several symptoms of Autism Spectrum Disorder. This project consists of a literature review on Autism Spectrum Disorder and Mindfulness, followed by an original contribution to practice in the form of a “Choose Your Own Adventure” mindfulness intervention. This intervention is designed to incorporate special interests common in Autism Spectrum Disorder into mindfulness meditation as a unique attention and emotion regulation tool