research-article

Touch-and-Heal: Data-driven Affective Computing in Tactile Interaction with Robotic Dog

Authors:

Jiangtao GongAuthors Info & Claims

Proceedings of the ACM on Interactive, Mobile, Wearable and Ubiquitous Technologies, Volume 7, Issue 2

Article No.: 56, Pages 1 - 33

https://doi.org/10.1145/3596258

Published: 12 June 2023 Publication History

Abstract

Affective touch plays an important role in human-robot interaction. However, it is challenging for robots to perceive various natural human tactile gestures accurately, and feedback human intentions properly. In this paper, we propose a data-driven affective computing system based on a biomimetic quadruped robot with large-format, high-density flexible pressure sensors, which can mimic the natural tactile interaction between humans and pet dogs. We collect 208-minute videos from 26 participates and construct a dataset of 1212 human gestures-dog actions interaction sequences. The dataset is manually annotated with an 81-tactile-gesture vocabulary and a 44-corresponding-dog-reaction vocabulary, which are constructed through literature, questionnaire, and video observation. Then, we propose a deep learning algorithm pipeline with a gesture classification algorithm based on ResNet and an action prediction algorithm based on Transformer, which achieve the classification accuracy of 99.1% and the 1-gram BLEU score of 0.87 respectively. Finally, we conduct a field study to evaluate the emotion regulation effects through tactile affective interaction, and compare it with voice interaction. The results show that our system with tactile interaction plays a significant role in alleviating user anxiety, stimulating user excitement and improving the acceptability of robotic dogs.

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Fang JSong HZuo CGao XChen XGuo SQin YSalakhutdinov RKolter ZHeller KWeller AOliver NScarlett JBerkenkamp F(2024)SuDAProceedings of the 41st International Conference on Machine Learning10.5555/3692070.3692955(22042-22061)Online publication date: 21-Jul-2024
https://dl.acm.org/doi/10.5555/3692070.3692955
Alhouli SAlmania NAhmad MSahoo D(2024)Towards Designing a Pet Robot for Older Adults by Young AdultsProceedings of the 12th International Conference on Human-Agent Interaction10.1145/3687272.3690899(408-410)Online publication date: 24-Nov-2024
https://dl.acm.org/doi/10.1145/3687272.3690899
Li RZhu YLiu MZeng YZhuang SFu JLu YZhou GLiu CGong J(2024)TeleAware Robot: Designing Awareness-augmented Telepresence Robot for Remote Collaborative LocomotionProceedings of the ACM on Interactive, Mobile, Wearable and Ubiquitous Technologies10.1145/36596228:2(1-33)Online publication date: 15-May-2024
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Index Terms

Touch-and-Heal: Data-driven Affective Computing in Tactile Interaction with Robotic Dog
1. Human-centered computing
  1. Ubiquitous and mobile computing
    1. Empirical studies in ubiquitous and mobile computing
    2. Ubiquitous and mobile computing systems and tools

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cover image Proceedings of the ACM on Interactive, Mobile, Wearable and Ubiquitous Technologies

Proceedings of the ACM on Interactive, Mobile, Wearable and Ubiquitous Technologies Volume 7, Issue 2

June 2023

969 pages

EISSN:2474-9567

DOI:10.1145/3604631

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Copyright © 2023 ACM.

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Published: 12 June 2023

Published in IMWUT Volume 7, Issue 2

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Cited By

Fang JSong HZuo CGao XChen XGuo SQin YSalakhutdinov RKolter ZHeller KWeller AOliver NScarlett JBerkenkamp F(2024)SuDAProceedings of the 41st International Conference on Machine Learning10.5555/3692070.3692955(22042-22061)Online publication date: 21-Jul-2024
https://dl.acm.org/doi/10.5555/3692070.3692955
Alhouli SAlmania NAhmad MSahoo D(2024)Towards Designing a Pet Robot for Older Adults by Young AdultsProceedings of the 12th International Conference on Human-Agent Interaction10.1145/3687272.3690899(408-410)Online publication date: 24-Nov-2024
https://dl.acm.org/doi/10.1145/3687272.3690899
Li RZhu YLiu MZeng YZhuang SFu JLu YZhou GLiu CGong J(2024)TeleAware Robot: Designing Awareness-augmented Telepresence Robot for Remote Collaborative LocomotionProceedings of the ACM on Interactive, Mobile, Wearable and Ubiquitous Technologies10.1145/36596228:2(1-33)Online publication date: 15-May-2024
https://dl.acm.org/doi/10.1145/3659622
Zhan LXiong TZhang HGuo SChen XGong JLin JQin Y(2024)TouchEditorProceedings of the ACM on Interactive, Mobile, Wearable and Ubiquitous Technologies10.1145/36314547:4(1-29)Online publication date: 12-Jan-2024
https://dl.acm.org/doi/10.1145/3631454
Sun JYang JZhou GJin YGong J(2024)Understanding Human-AI Collaboration in Music Therapy Through Co-Design with TherapistsProceedings of the 2024 CHI Conference on Human Factors in Computing Systems10.1145/3613904.3642764(1-21)Online publication date: 11-May-2024
https://dl.acm.org/doi/10.1145/3613904.3642764
Hwang HJung HGiudice NBiswas JLee SKim D(2024)Towards Robotic Companions: Understanding Handler-Guide Dog Interactions for Informed Guide Dog Robot DesignProceedings of the 2024 CHI Conference on Human Factors in Computing Systems10.1145/3613904.3642181(1-20)Online publication date: 11-May-2024
https://dl.acm.org/doi/10.1145/3613904.3642181
Kong ZLupetti MChen BLi X(2024)Patbot: Designing a Social Robot to Reduce Anxiety in Waiting Environments2024 33rd IEEE International Conference on Robot and Human Interactive Communication (ROMAN)10.1109/RO-MAN60168.2024.10731221(2248-2255)Online publication date: 26-Aug-2024
https://doi.org/10.1109/RO-MAN60168.2024.10731221
Zhao SChen M(2023)Psychological Healing in the Digital Age: A Study of Personalized Collaborative Models Empowered by GAIProceedings of the 2023 4th International Symposium on Artificial Intelligence for Medicine Science10.1145/3644116.3644221(637-641)Online publication date: 20-Oct-2023
https://dl.acm.org/doi/10.1145/3644116.3644221

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