Sketching CuddleBits: Coupled Prototyping of Body and Behaviour for an Affective Robot Pet

Paul Bucci, Xi Laura Cang, Anasazi Valair, David Marino, Lucia Tseng, Merel Madeleine Jung, Jussi Rantala, Oliver S. Schneider, Karon E. MacLean

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

10 Citations (Scopus)
1 Downloads (Pure)

Abstract

Social robots that physically display emotion invite natural
communication with their human interlocutors, enabling ap-
plications like robot-assisted therapy where a complex robot’s
breathing influences human emotional and physiological state.
Using DIY fabrication and assembly, we explore how sim-
ple 1-DOF robots can express affect with economy and user
customizability, leveraging open-source designs.

We developed low-cost techniques for coupled iteration of a
simple robot’s body and behaviour, and evaluated its potential
to display emotion. Through two user studies, we (1) vali-
dated these CuddleBits’ ability to express emotions (N=20);
(2) sourced a corpus of 72 robot emotion behaviours from
participants (N=10); and (3) analyzed it to link underlying
parameters to emotional perception (N=14).

We found that CuddleBits can express arousal (activation),
and to a lesser degree valence (pleasantness). We also show
how a sketch-refine paradigm combined with DIY fabrication
and novel input methods enable parametric design of physical
emotion display, and discuss how mastering this parsimonious
case can give insight into layering simple behaviours in more
complex robots.
Original languageEnglish
Title of host publicationCHI 2017 online proceedings
PublisherAssociation for Computing Machinery (ACM)
Pages3681-3692
Number of pages12
DOIs
Publication statusPublished - 6 May 2017
Event2017 CHI Conference on Human Factors in Computing Systems, CHI 2017: Explore, Innovate, Inspire - Colorado Convention Center, Denver, United States
Duration: 6 May 201711 May 2017
https://chi2017.acm.org/

Conference

Conference2017 CHI Conference on Human Factors in Computing Systems, CHI 2017
Abbreviated titleCHI 2017
CountryUnited States
CityDenver
Period6/05/1711/05/17
Internet address

Fingerprint

Robots
Display devices
Chemical activation
Fabrication
Costs

Keywords

  • Affective computing
  • human-robot interaction (HRI)
  • Do-It-Yourself (DIY);
  • haptics
  • physical prototyping

Cite this

Bucci, P., Cang, X. L., Valair, A., Marino, D., Tseng, L., Jung, M. M., ... MacLean, K. E. (2017). Sketching CuddleBits: Coupled Prototyping of Body and Behaviour for an Affective Robot Pet. In CHI 2017 online proceedings (pp. 3681-3692). Association for Computing Machinery (ACM). https://doi.org/10.1145/3025453.3025774
Bucci, Paul ; Cang, Xi Laura ; Valair, Anasazi ; Marino, David ; Tseng, Lucia ; Jung, Merel Madeleine ; Rantala, Jussi ; Schneider, Oliver S. ; MacLean, Karon E. . / Sketching CuddleBits : Coupled Prototyping of Body and Behaviour for an Affective Robot Pet. CHI 2017 online proceedings. Association for Computing Machinery (ACM), 2017. pp. 3681-3692
@inproceedings{e3e451c40b71490b844fc98ac3420c73,
title = "Sketching CuddleBits: Coupled Prototyping of Body and Behaviour for an Affective Robot Pet",
abstract = "Social robots that physically display emotion invite naturalcommunication with their human interlocutors, enabling ap-plications like robot-assisted therapy where a complex robot’sbreathing influences human emotional and physiological state.Using DIY fabrication and assembly, we explore how sim-ple 1-DOF robots can express affect with economy and usercustomizability, leveraging open-source designs.We developed low-cost techniques for coupled iteration of asimple robot’s body and behaviour, and evaluated its potentialto display emotion. Through two user studies, we (1) vali-dated these CuddleBits’ ability to express emotions (N=20);(2) sourced a corpus of 72 robot emotion behaviours fromparticipants (N=10); and (3) analyzed it to link underlyingparameters to emotional perception (N=14).We found that CuddleBits can express arousal (activation),and to a lesser degree valence (pleasantness). We also showhow a sketch-refine paradigm combined with DIY fabricationand novel input methods enable parametric design of physicalemotion display, and discuss how mastering this parsimoniouscase can give insight into layering simple behaviours in morecomplex robots.",
keywords = "Affective computing, human-robot interaction (HRI), Do-It-Yourself (DIY);, haptics, physical prototyping",
author = "Paul Bucci and Cang, {Xi Laura} and Anasazi Valair and David Marino and Lucia Tseng and Jung, {Merel Madeleine} and Jussi Rantala and Schneider, {Oliver S.} and MacLean, {Karon E.}",
year = "2017",
month = "5",
day = "6",
doi = "10.1145/3025453.3025774",
language = "English",
pages = "3681--3692",
booktitle = "CHI 2017 online proceedings",
publisher = "Association for Computing Machinery (ACM)",
address = "United States",

}

Bucci, P, Cang, XL, Valair, A, Marino, D, Tseng, L, Jung, MM, Rantala, J, Schneider, OS & MacLean, KE 2017, Sketching CuddleBits: Coupled Prototyping of Body and Behaviour for an Affective Robot Pet. in CHI 2017 online proceedings. Association for Computing Machinery (ACM), pp. 3681-3692, 2017 CHI Conference on Human Factors in Computing Systems, CHI 2017, Denver, United States, 6/05/17. https://doi.org/10.1145/3025453.3025774

Sketching CuddleBits : Coupled Prototyping of Body and Behaviour for an Affective Robot Pet. / Bucci, Paul ; Cang, Xi Laura; Valair, Anasazi ; Marino, David ; Tseng, Lucia ; Jung, Merel Madeleine; Rantala, Jussi ; Schneider, Oliver S. ; MacLean, Karon E. .

CHI 2017 online proceedings. Association for Computing Machinery (ACM), 2017. p. 3681-3692.

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

TY - GEN

T1 - Sketching CuddleBits

T2 - Coupled Prototyping of Body and Behaviour for an Affective Robot Pet

AU - Bucci, Paul

AU - Cang, Xi Laura

AU - Valair, Anasazi

AU - Marino, David

AU - Tseng, Lucia

AU - Jung, Merel Madeleine

AU - Rantala, Jussi

AU - Schneider, Oliver S.

AU - MacLean, Karon E.

PY - 2017/5/6

Y1 - 2017/5/6

N2 - Social robots that physically display emotion invite naturalcommunication with their human interlocutors, enabling ap-plications like robot-assisted therapy where a complex robot’sbreathing influences human emotional and physiological state.Using DIY fabrication and assembly, we explore how sim-ple 1-DOF robots can express affect with economy and usercustomizability, leveraging open-source designs.We developed low-cost techniques for coupled iteration of asimple robot’s body and behaviour, and evaluated its potentialto display emotion. Through two user studies, we (1) vali-dated these CuddleBits’ ability to express emotions (N=20);(2) sourced a corpus of 72 robot emotion behaviours fromparticipants (N=10); and (3) analyzed it to link underlyingparameters to emotional perception (N=14).We found that CuddleBits can express arousal (activation),and to a lesser degree valence (pleasantness). We also showhow a sketch-refine paradigm combined with DIY fabricationand novel input methods enable parametric design of physicalemotion display, and discuss how mastering this parsimoniouscase can give insight into layering simple behaviours in morecomplex robots.

AB - Social robots that physically display emotion invite naturalcommunication with their human interlocutors, enabling ap-plications like robot-assisted therapy where a complex robot’sbreathing influences human emotional and physiological state.Using DIY fabrication and assembly, we explore how sim-ple 1-DOF robots can express affect with economy and usercustomizability, leveraging open-source designs.We developed low-cost techniques for coupled iteration of asimple robot’s body and behaviour, and evaluated its potentialto display emotion. Through two user studies, we (1) vali-dated these CuddleBits’ ability to express emotions (N=20);(2) sourced a corpus of 72 robot emotion behaviours fromparticipants (N=10); and (3) analyzed it to link underlyingparameters to emotional perception (N=14).We found that CuddleBits can express arousal (activation),and to a lesser degree valence (pleasantness). We also showhow a sketch-refine paradigm combined with DIY fabricationand novel input methods enable parametric design of physicalemotion display, and discuss how mastering this parsimoniouscase can give insight into layering simple behaviours in morecomplex robots.

KW - Affective computing

KW - human-robot interaction (HRI)

KW - Do-It-Yourself (DIY);

KW - haptics

KW - physical prototyping

U2 - 10.1145/3025453.3025774

DO - 10.1145/3025453.3025774

M3 - Conference contribution

SP - 3681

EP - 3692

BT - CHI 2017 online proceedings

PB - Association for Computing Machinery (ACM)

ER -

Bucci P, Cang XL, Valair A, Marino D, Tseng L, Jung MM et al. Sketching CuddleBits: Coupled Prototyping of Body and Behaviour for an Affective Robot Pet. In CHI 2017 online proceedings. Association for Computing Machinery (ACM). 2017. p. 3681-3692 https://doi.org/10.1145/3025453.3025774