Appeal and Perceived Naturalness of a Soft Robotic Tentacle

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Soft robotics technology has been proposed for a number of applications that involve human-robot interaction. This study investigates how a silicone-based pneumatically actuated soft robotic tentacle is perceived in interaction. Quantitative and qualitative data was gathered from questionnaires (N=47) and video recordings. Results show that the overall appeal of the robot was positively associated with its perceived naturalness. They further indicate a slight user preference for the movements and the tactile qualities of the robot and a slightly negative evaluation of its appearance.
Original languageEnglish
Title of host publicationProceedings of the Companion of the 2018 ACM/IEEE International Conference on Human-Robot Interaction, Chicago, IL, USA, March 2018 (HRI'18)
Number of pages2
PublisherAssociation for Computing Machinery
Publication date5. Mar 2018
ISBN (Electronic)978-1-4503-5615-2
Publication statusPublished - 5. Mar 2018
Externally publishedYes
EventHRI'18: The 13th Annual ACM/IEEE International Conference on Human Robot Interaction - McCormick Place, Chicago, United States
Duration: 5. Mar 20188. Mar 2018
Conference number: 13


LocationMcCormick Place
Country/TerritoryUnited States
Internet address


  • aesthetics
  • human-robot interaction
  • soft robotics


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