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arXiv · 2503.20916

A Study of Perceived Safety for Soft Robotics in Caregiving Tasks

Cosima du Pasquier·Jennifer Grannen·Chuer Pan·Serin L. Huber·Aliyah Smith·Monroe Kennedy·Shuran Song·Dorsa Sadigh·Allison M. Okamura
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Abstract

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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Cosima du Pasquier, Jennifer Grannen, Chuer Pan, Serin L. Huber, Aliyah Smith, Monroe Kennedy, Shuran Song, Dorsa Sadigh, Allison M. Okamura. 2025-03-26. A Study of Perceived Safety for Soft Robotics in Caregiving Tasks. https://arxiv.org/abs/2503.20916

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