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Sensorized Robotic Hugs with CASTOR Robot: Evaluation of Two Methods to Control Hug Physical-Interaction

  • Conference paper
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IX Latin American Congress on Biomedical Engineering and XXVIII Brazilian Congress on Biomedical Engineering (CLAIB 2022, CBEB 2022)

Part of the book series: IFMBE Proceedings ((IFMBE,volume 100))

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Abstract

Recently, the benefits and needs of human beings to maintain physical and social interactions have been reported. Thus, the consequences of the pandemic have been both physical and emotional. Social robots have been developed to maintain emotionally supportive physical contact such as hugging. The outcomes of the adaptation of the CASTOR robot to give and receive reciprocal sensor-controlled hugs in 12 participants (7 males, 5 females, 22.16\(\;\pm \;\)2.08 years old, 1.67\(\;\pm \;\)0.077 m of height) are presented. The results demonstrate the robot’s ability to give comfortable reciprocal hugs to participants despite not being human-sized, and indicate that the CASTOR robot withstands physical interactions with adults.

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Acknowledgements

This research is partly supported by the Royal Academy of Engineering, CASTOR Project: CompliAnt SofT Robotics (Grant IAPP1-100126), Minciencias Colombia (Grant 845-2020), and funding from the Colombian School of Engineering Julio Garavito. Camilo A. R. Díaz acknowledges the financial support of FAPES (459/2021), CNPq (310668/2021-2) and MCTI/FNDCT/FINEP (2784/20), and María Gaitán acknowledges the financial support of FAPES (209/2018) - special announcement CPID.

Author information

Authors and Affiliations

  1. Telecommunications Laboratory (LabTel), Electrical Engineering Department, Federal University of Espírito Santo, Vitória, Brazil

    María Gaitán-Padilla, Camilo A. R. Diaz, Maria Jose Pontes & Marcelo Eduardo Vieira Segatto

  2. Research, Innovation and Development Center (CPID), Cariacica, 29140-500, Brazil

    Juan C. Maldonado-Mejía

  3. Department of Biomedical Engineering, Colombian School of Engineering Julio Garavito, Bogota, Colombia

    Marcela Múnera

  4. Instituto Federal do Espírito Santo (IFES), Campus Serra, Serra, Brazil

    Maxwell E. Monteiro

  5. Bristol Robotics Laboratory, University of the West of England, Bristol, UK

    Carlos A. Cifuentes

  6. School of Engineering, Science and Technology, Universidad del Rosario, Bogota, Colombia

    Carlos A. Cifuentes

Authors
  1. María Gaitán-Padilla
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  2. Juan C. Maldonado-Mejía
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  3. Marcela Múnera
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  4. Camilo A. R. Diaz
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  5. Maria Jose Pontes
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  6. Marcelo Eduardo Vieira Segatto
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  7. Maxwell E. Monteiro
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  8. Carlos A. Cifuentes
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Corresponding author

Correspondence to María Gaitán-Padilla .

Editor information

Editors and Affiliations

  1. Department of Electrical and Electronic Engineering, Federal University of Santa Catarina, Florianópolis, Brazil

    Jefferson Luiz Brum Marques

  2. Department of Electrical and Electronic Engineering, Federal University of Santa Catarina, Florianópolis, Brazil

    Cesar Ramos Rodrigues

  3. Department of Electrical and Electronic Engineering, Federal University of Santa Catarina, Florianópolis, Brazil

    Daniela Ota Hisayasu Suzuki

  4. Department of Electrical and Electronic Engineering, Federal University of Santa Catarina, Florianópolis, Brazil

    José Marino Neto

  5. Department of Electrical and Electronic Engineering, Federal University of Santa Catarina, Florianópolis, Brazil

    Renato García Ojeda

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Gaitán-Padilla, M. et al. (2024). Sensorized Robotic Hugs with CASTOR Robot: Evaluation of Two Methods to Control Hug Physical-Interaction. In: Marques, J.L.B., Rodrigues, C.R., Suzuki, D.O.H., Marino Neto, J., García Ojeda, R. (eds) IX Latin American Congress on Biomedical Engineering and XXVIII Brazilian Congress on Biomedical Engineering. CLAIB CBEB 2022 2022. IFMBE Proceedings, vol 100. Springer, Cham. https://doi.org/10.1007/978-3-031-49407-9_64

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  • DOI: https://doi.org/10.1007/978-3-031-49407-9_64

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-031-49406-2

  • Online ISBN: 978-3-031-49407-9

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