Daigo Suhara | Searcharxiv

arXiv2026

A Study on the Effects of Finger Movements on a Humanoid Hugging Robot

This study aimed to examine the impact of finger movements in hugging robots on users by experimentally investigating how the presence and patterns of such movements affect users psychologically. The results suggest that the presence and patterns of finger movements influence the sensations users seek from the robot; specifically, repetitive movements and asynchronous movements across multiple fingers tended to enhance these sensations. Additionally, simultaneous movement of all fingers and gentle hugging tended to evoke a greater sense of care. Conversely, no differences were observed regarding resistance to physical contact initiated by the robot.

cs.RO↗

arXiv2025

Preliminary Prototyping of Avoidance Behaviors Triggered by a User's Physical Approach to a Robot

Human-robot interaction frequently involves physical proximity or contact. In human-human settings, people flexibly accept, reject, or tolerate such approaches depending on the relationship and context. We explore the design of a robot's rejective internal state and corresponding avoidance behaviors, such as withdrawing or pushing away, when a person approaches. We model the accumulation and decay of discomfort as a function of interpersonal distance, and implement tolerance (endurance) and limit-exceeding avoidance driven by the Dominance axis of the PAD affect model. The behaviors and their intensities are realized on an arm robot. Results illustrate a coherent pipeline from internal state parameters to graded endurance motions and, once a limit is crossed, to avoidance actions.

cs.RO↗