Virtual co-embodiment enables two users to share a single avatar in Virtual Reality (VR). During such experiences, the illusion of shared motion control can break during joint-action activities, highlighting the need for position-aware feedback mechanisms. Drawing on the perceptual crossing paradigm, we explore how haptics can enable non-verbal coordination between co-embodied participants. In a within-subjects study (20 participant pairs), we examined the effects of vibrotactile haptic feedback (None, Present) and avatar control distribution (25-75%, 50-50%, 75-25%) across two VR reaching tasks (Targeted, Free-choice) on participants’ Sense of Agency (SoA), co-presence, body ownership, and motion synchrony. We found (a) lower SoA in the free-choice with haptics than without, (b) higher SoA during the shared targeted task, (c) co-presence and body ownership were significantly higher in the free-choice task, (d) players’ hand motions synchronized more in the targeted task. We provide cautionary considerations when including haptic feedback mechanisms for avatar co-embodiment experiences.@en

The movement of food may suggest the food is very fresh but may also indicate the source of food is still alive. In this study, we explore the responses that different kinds of food movements can evoke among consumers. In an online study, we presented participants with 14 videos in which a food product changed shape or moved, before or while being eaten. They rated their emotional responses to the food (disgust, fear, fascination), their tendency to empathize with the beings in the video, characteristics of the movements, and how they experienced the food. Most foods that moved in the videos elicited more disgust than expected for those food items. Many product aspects that elicited disgust also evoked empathy, while fascination showed opposite patterns. Products elicited empathy and disgust when they seemed to be alive and potentially harmful, and their movements were twitchy. Participants empathized mainly with larger animals, while disgust was particularly high for smaller animals like maggots in cheese and crawling coconut worms. People became fascinated with foods they found safe, nutritious, and that looked attractive, while the food movements were subtle and looked natural with the food. These results showed that the movements of foods that appeared to be alive were different from what was considered natural for the food, and so they also evoked different emotional responses.@en

Wearable haptic assistive devices can provide tactile information to visually impaired people (VIP) to support independent living. However, electromechanical haptic feedback has a number of disadvantages, including hardware being relatively heavy, large, and producing excessive sound. Here, we present a design-driven investigation of the potential of shape memory alloy-based haptic feedback for VIP. We followed an iterative approach, focusing on hands-on material explorations, in which we identified challenges and subsequent solutions that designers of SMA-based wearable haptic assistive devices may be faced with when incorporating SMAs in their designs. We present several prototype iterations and an initial evaluation with VIP to offer insights into the potential of SMA-based wearable haptic devices for VIP.@en

Devices delivering sophisticated and natural haptic feedback often encompass numerous mechanical elements, leading to increased sizes and wearability challenges. Shape memory alloys (SMAs) are lightweight, compact, and have high power-to-weight ratios, and thus can easily be embedded without affecting the overall device shapes. Here, a review of SMA-based haptic wearables is provided. The article starts with an introduction of SMAs, while incorporating analyses of relevant devices documented in the literature. Haptic and SMA materials fields are correlated, with haptic perception insights aiding SMA actuator design, and distinct SMA mechanisms offering diverse haptic feedback types. A design process for SMA haptic wearables is proposed based on material-centered approach. We show SMAs hold potential for haptic devices aiding visually impaired people and promise in immersive technology and remote interpersonal haptic communication.

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Mind-wandering (MW) and fidgeting are both present as pervasive phenomena in everyday life and can positively impact ideation. Importantly, within the MW experience, MW can manifest in bodily behaviors such as physical fidgeting. Here, we use an extended mind framework to consider fidgeting as a case of extended MW, where (part of) a MW episode is mediated by a fidget object. We position extended MW, fidgeting, and cognition as interrelated processes. We present the design of an interactive haptic fidget object that aims to support introspective self-awareness in MW and aid in idea synthesis. We discuss the results of an exploratory user evaluation in which the fidget object was used by designers during a personally relevant work session combining research, synthesis, and creativity. We close this paper by discussing the initial findings of our research, the implications for extended MW, and additional propositions for future research directions.@en

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.

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Research on mediated social touch (MST) has, either implicitly or explicitly, built on theoretical assumptions regarding social interactions that align with “theory theory” or “simulation theory” of social cognition. However, these approaches struggle to explain MST interactions that occur outside of a laboratory setting. I briefly discuss these approaches and will argue in favor of an alternative, “interaction theory” approach to the study of MST. I make three suggestions for future research to focus on.
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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.

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The social and sensory aspects of touch are critical for human communication, yet the challenges of haptic technology development and a focus on the technological means that digital touch communication often fails to realise the potential and promise of touch. The Manifesto for Digital Social Touch in Crisis responds to this through a call to action to rethink and reimagine digital touch. It offers 10 provocative statements as a resource for how haptic designers, developers and researchers might rethink and reimagine the social and sensory aspects of touch, and foreground these more in design.@en

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.

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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.

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With one-person households being increasingly common and Covid-19 lockdown policies forcing people to stay home, remote dining has become common practice for many, who take it as an opportunity to connect with others in times of loneliness. Sharing meals online, also known as digital commensality, is a rich form of interaction, where people leverage technology to achieve a sense of connectedness and belonging while eating. In this paper, we look at digital commensality and we explore its inherent playful potential with the aim to inspire the design of engaging technologies that can support, enhance and augment this form of interaction. For this, we used a situated play design approach to document and analyze the behavior of 36 people (including pairs of friends and strangers) sharing meals online. Our analysis surfaced a set of play potentials of remote dining - i.e., playful things people already do and enjoy spontaneously while sharing meals online. We present those play potentials as inspirational material: they can motivate and enrich the design of future digital commensality technologies by responding to people's desire for playful and social interaction with, through, and around food.@en

The consumption of a solo meal is often subject to negative associations. Studies indicate that solo diners use information and communication technology (ICT) devices such as smartphones, to mitigate negative experiences such as boredom and loneliness, especially when dining in a public context. However, we know less about the motivation to use such devices and consequent meal experiences in a private context. For this exploratory qualitative study, we asked participants to fill out a cultural probe kit to capture their dining experience and use of ICT devices over a period of seven days. Once completed, the content was discussed with participants during a semi-structured interview. Data was analyzed using thematic analysis in a deductive and inductive form leading to four themes: (1) The experience of eating with others; (2) The use of electronic devices while eating; (3) The meaning of food; and (4) Relaxing features and influences. Participants indicated that eating alone can be a pleasurable experience that people enjoy and perceive as relaxing. ICT devices were named to play an essential part in the dining experience. The entertainment that devices provide can mitigate feelings of loneliness and uncomfortable silence when eating by oneself. We reflect on the findings and point out potential design avenues for future studies.@en

We present a vision for conversational user interfaces (CUIs) as probes for speculating with, rather than as objects to speculate about. Popular CUIs, e.g., Alexa, are changing the way we converse, narrate, and imagine the world(s) to come. Yet, current conversational interactions normatively may promote non-desirable ends, delivering a restricted range of request-response interactions with sexist and digital colonialist tendencies. Our critical design approach envisions alternatives by considering how future voices can reside in CUIs as enabling probes. We present novel explorations that illustrate the potential of CUIs as critical design material, by critiquing present norms and conversing with imaginary species. As micro-level interventions, we show that conversations with diverse futures through CUIs can persuade us to critically shape our discourse on macro-scale concerns of the present, e.g., sustainability. We refect on how conversational interactions with pluralistic, imagined futures can contribute to how being human stands to change.@en

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.

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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.

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'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.

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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.

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