What Can a Robot’s Skin Be? Designing Texture-changing Skin for Human–Robot Social Interaction
What Can a Robot’s Skin Be? Designing Texture-changing Skin for Human–Robot Social Interaction
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DOI：
10.1145/3532772
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发表时间：
2022-05
影响因子：
5.1
通讯作者：
Yuhan Hu;Guy Hoffman
中科院分区：
文献类型：
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作者：
Yuhan Hu;Guy Hoffman
生物皮肤具有许多功能，如保护，传感，表达和调节。相反，机器人的皮肤通常被认为是身体和环境之间的被动和静态隔离。在这篇文章中，我们将探讨机器人皮肤作为社会表达媒介的设计机会。受生物体的启发，我们从四个角度讨论了交互式机器人皮肤的作用：表达，感知，调节和机械动作。我们着重于皮肤的表现功能，以勾勒设计概念，并提出一个灵活的技术方法来体现。所提出的方法集成了软皮肤上的驱动动态纹理，形式和运动模式生成各种视觉和触觉表达。我们展示了建议的设计空间与六个纹理变化的皮肤原型，并讨论他们的表达能力。
Biological skin has numerous functions like protection, sensing, expression, and regulation. On the contrary, a robot’s skin is usually regarded as a passive and static separation between the body and environment. In this article, we explore the design opportunities of a robot’s skin as a socially expressive medium. Inspired by living organisms, we discuss the roles of interactive robotic skin from four perspectives: expression, perception, regulation, and mechanical action. We focus on the expressive function of skin to sketch design concepts and present a flexible technical method for embodiment. The proposed method integrates pneumatically actuated dynamic textures on soft skin, with forms and kinematic patterns generating a variety of visual and haptic expressions. We demonstrate the proposed design space with six texture-changing skin prototypes and discuss their expressive capacities.