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arXiv · 2504.01293

Cuddle-Fish: Exploring a Soft Floating Robot with Flapping Wings for Physical Interactions

Mingyang Xu·Jiayi Shao·Yulan Ju·Ximing Shen·Qingyuan Gao·Weijen Chen·Qing Zhang·Yun Suen Pai·Giulia Barbareschi·Matthias Hoppe·Kouta Minamizawa·Kai Kunze
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Abstract

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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Mingyang Xu, Jiayi Shao, Yulan Ju, Ximing Shen, Qingyuan Gao, Weijen Chen, Qing Zhang, Yun Suen Pai, Giulia Barbareschi, Matthias Hoppe, Kouta Minamizawa, Kai Kunze. 2025-04-02. Cuddle-Fish: Exploring a Soft Floating Robot with Flapping Wings for Physical Interactions. https://doi.org/10.1145/3745900.3746080

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