Bioinspired Aesthetic Design of Soft Robots for Human-Robot Interaction

Soft robots, characterized by their flexibility and deformable materials, differ fundamentallyfrom traditional rigid robots by leveraging materials with mechanical similarities to softbiological tissues for functional gains. While soft robot designs often draw from biologicalinspiration to attain capabilities like locomotion and adaptive grasping, the aesthetic dimensionof bioinspired soft robots has been largely overlooked. To remedy this gap, this thesis addressesthe aesthetic design of bioinspired soft robots, specifically tackling the main problem of howbioinspired aesthetic soft robot designs can be developed and what the implications of thesedesigns might be for human-robot interaction (HRI). This is achieved through atransdisciplinary practice-based approach, drawing on the methods, perspectives, and interestsof design, art, soft robotics, and HRI.

The thesis consists of five research publications and an introduction, which contextualizes thework. Through practice-based inquiry, the thesis introduces Soft Biomorphism, a novel designparadigm that seeks to leverage the inherent biomorphic qualities of soft robots as affordancesfor HRI. By enhancing and integrating visual, tactile, and kinetic attributes, such as roundedforms, varied surface textures, dynamic color change, and rhythmic movement, this work aimsto amplify the inherent biomorphic qualities of soft robots. Furthermore, the potentials andconsequences of the enhanced biomorphic aesthetic are investigated through empirical HRIstudies. Findings indicate that the biomorphic resemblance to soft-bodied organisms hinges onthe combined effects of various formal attributes (appearance, texture, movement, etc.) acrossdifferent sensory modalities. These biomorphic features provoke mixed reactions, includingimproved user well-being through close physical interaction, as well as discomfort whenlifelike traits appear overly realistic. 

The thesis argues for the value of integrating aesthetic considerations into bioinspired softrobotic design. It suggests that a cohesive, multimodal design approach, aimed at actualizingbiomorphic aesthetic qualities in soft robots, can contribute to improving sensuous engagementwith soft robots in physical HRI and support desired interaction dynamics within domesticrobot use and social HRI contexts. The research findings offer a foundation for future research,underscoring a potential for bioinspired aesthetic designs to improve HRI in diverse settings.