Affective haptic devices (AHDs) are communication technologies utilizing the sense of touch, and include mediated social touch (MST), symbolic haptic messaging, and awareness systems that, for example, let one feel another person's heartbeat. The COVID-19 pandemic and consequent social distancing measures have led to a reemphasis of the importance of social touch, and many people have experienced firsthand what it is like to miss touching loved ones. This offers an excellent opportunity to study people's intention to use AHDs. For this purpose, a survey study (n = 277) was conducted combining qualitative and quantitative data analysis methods. Touch deprivation, resulting from not being able to touch a loved one, was associated with intention to use AHDs: the more deprived an individual, the higher his or her intention to use AHDs. Technology readiness and touch aversion did not affect intention to use AHDs. AHDs for symbolic messaging gained higher interest than MST and awareness devices, and long-distance relationships were seen as the most likely scenario for using AHDs. Bi-directionality, synchronicity, and symmetry were regarded as important features for providing shared meaning and a sense of connectedness. Reviewability, multimodality, and actuation type were also deemed important. Limitations of the study and implications for the design of AHDs are discussed.

Resonance, a powerful and pervasive phenomenon, appears to play a major role in human interactions. This article investigates the relationship between the physical mechanism of resonance and the human experience of resonance, and considers possibilities for enhancing the experience of resonance within human–robot interactions. We first introduce resonance as a widespread cultural and scientific metaphor. Then, we review the nature of “sympathetic resonance” as a physical mechanism. Following this introduction, the remainder of the article is organized in two parts. In part one, we review the role of resonance (including synchronization and rhythmic entrainment) in human cognition and social interactions. Then, in part two, we review resonance-related phenomena in robotics and artificial intelligence (AI). These two reviews serve as ground for the introduction of a design strategy and combinatorial design space for shaping resonant interactions with robots and AI. We conclude by posing hypotheses and research questions for future empirical studies and discuss a range of ethical and aesthetic issues associated with resonance in human–robot interactions.

Previous research shows that eating together (i.e., commensality) impacts food choice, time spent eating, and enjoyment. Conversely, eating alone is considered a possible cause of unhappiness. In this paper, we conceptually explore how interactive technology might allow for the creation of artificial commensal companions: embodied agents providing company to humans during meals (e.g., a person living in isolation due to health reasons). We operationalize this with the design of our commensal companion: a system based on the MyKeepon robot, paired with a Kinect sensor, able to track the human commensal's activity (i.e., food picking and intake) and able to perform predefined nonverbal behavior in response. In this preliminary study with 10 participants, we investigate whether this autonomous social robot-based system can positively establish an interaction that humans perceive and whether it can influence their food choices. In this study, the participants are asked to taste some chocolates with and without the presence of an artificial commensal companion. The participants are made to believe that the study targets the food experience, whilst the presence of a robot is accidental. Next, we analyze their food choices and feedback regarding the role and social presence of the artificial commensal during the task performance. We conclude the paper by discussing the lessons we learned about the first interactions we observed between a human and a social robot in a commensality setting and by proposing future steps and more complex applications for this novel kind of technology.

In recent years, there has been a significant increase in research on mediated communication via social touch. Previous studies indicated that mediated social touch (MST) can induce similar positive outcomes to interpersonal touch. However, studies investigating the user experience of MST technology predominantly involve brief experiments that are performed in well-controlled laboratory conditions. Hence, it is still unknown how MST affects the relationship and communication between physically separated partners in a romantic relationship, in a naturalistic setting and over a longer period of time. In a longitudinal explorative field study, the effects of MST on social connectedness and longing for touch among geographically separated romantic couples were investigated in a naturalistic setting. For 2 weeks, 17 couples used haptic bracelets, that were connected via the internet, to exchange mediated squeeze-like touch signals. Before and after this period, they reported their feelings of social connectedness and longing for touch through questionnaires. The results show that the use of haptic bracelets (1) enhanced social connectedness among geographically separated couples but (2) did not affect their longing for touch. Interviews conducted at the end of the study were analyzed following the thematic analysis method to generate prominent themes and patterns in using MST technology among participant couples. Two main themes were generated that captured (a) the way the bracelets fostered a positive one-to-one connection between partners and (b) the way in which participants worked around their frustrations with the bracelets. Detailed findings and limitations of this longitudinal field study are further discussed, and suggestions are made for future research.

In this brief, we present the preliminary design of a wearable system able to detect and haptically display head motions of conversation participants. The aim of the system is to allow for remote communication to not have to rely on visual social cues. To demonstrate the design principles of the system, we recorded data from a single participant during a remote walking conversation using Zoom.

Sustained anxiety and stress produce adverse health outcomes. In this work, we explore the potential role of haptics as part of a multi-sensory experience designed to combat anxiety and stress through breathing entrainment. We outline the design of Resonance Pod, an enclosed hanging chair that uses lights, sounds, and vibrations to help users find their ideal relaxing breathing tempo. We also present results from initial user testing.

TACTimat is a therapy tool developed for both hyper and hyposensitive children through a novel art and design focused approach. Our initial study explores how shape, texture, and density of elements on a tactile mat may influence the behaviour of young children with an Autistic Spectrum Disorder (ASD) or other cognitive disability during tactile exploration.

This qualitative exploratory research paper presents a Manifesto for Digital Social Touch in Crisis - a provocative call to action to designers, developers and researchers to rethink and reimagine social touch through a deeper engagement with the social and sensory aspects of touch. This call is motivated by concerns that social touch is in a crisis signaled by a decline in social touch over the past 2 decades, the problematics of inappropriate social touch, and the well documented impact of a lack of social touch on communication, relationships, and well-being and health. These concerns shape how social touch enters the digital realm and raise questions for how and when the complex space of social touch is mediated by technologies, as well the societal implications. The paper situates the manifesto in the key challenges facing haptic designers and developers identified through a series of interdisciplinary collaborative workshops with participants from computer science, design, engineering, HCI and social science from both within industry and academia, and the research literature on haptics. The features and purpose of the manifesto form are described, along with our rationale for its use, and the method of the manifesto development. The starting points, opportunities and challenges, dominant themes and tensions that shaped the manifesto statements are then elaborated on. The paper shows the potential of the manifesto form to bridge between HCI, computer science and engineers, and social scientists on the topic of social touch.

'Future Affair' is a project to explore affective touch and interpersonal connection using tactile sculptures and robotics. Our initial work focuses on C-Tactile afferent-optimal touch, with one individual stimulating the other through a mediated stroking touch experience. Here, we describe the first steps in creating a socially distanced intimate connection between two individuals.