A Study of Perceived Safety for Soft Robotics in Caregiving Tasks
Fuente:
arXiv
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| Auteurs principaux: | , , , , , , , , |
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| Format: | Preprint |
| Publié: |
2025
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| _version_ | 1866910895092793344 |
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| author | Pasquier, Cosima du Grannen, Jennifer Pan, Chuer Huber, Serin L. Smith, Aliyah Kennedy, Monroe Song, Shuran Sadigh, Dorsa Okamura, Allison M. |
| author_facet | Pasquier, Cosima du Grannen, Jennifer Pan, Chuer Huber, Serin L. Smith, Aliyah Kennedy, Monroe Song, Shuran Sadigh, Dorsa Okamura, Allison M. |
| contents | In this project, we focus on human-robot interaction in caregiving scenarios like bathing, where physical contact is inevitable and necessary for proper task execution because force must be applied to the skin. Using finite element analysis, we designed a 3D-printed gripper combining positive and negative pressure for secure yet compliant handling. Preliminary tests showed it exerted a lower, more uniform pressure profile than a standard rigid gripper. In a user study, participants' trust in robots significantly increased after they experienced a brief bathing demonstration performed by a robotic arm equipped with the soft gripper. These results suggest that soft robotics can enhance perceived safety and acceptance in intimate caregiving scenarios. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2503_20916 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | A Study of Perceived Safety for Soft Robotics in Caregiving Tasks Pasquier, Cosima du Grannen, Jennifer Pan, Chuer Huber, Serin L. Smith, Aliyah Kennedy, Monroe Song, Shuran Sadigh, Dorsa Okamura, Allison M. Robotics Human-Computer Interaction In this project, we focus on human-robot interaction in caregiving scenarios like bathing, where physical contact is inevitable and necessary for proper task execution because force must be applied to the skin. Using finite element analysis, we designed a 3D-printed gripper combining positive and negative pressure for secure yet compliant handling. Preliminary tests showed it exerted a lower, more uniform pressure profile than a standard rigid gripper. In a user study, participants' trust in robots significantly increased after they experienced a brief bathing demonstration performed by a robotic arm equipped with the soft gripper. These results suggest that soft robotics can enhance perceived safety and acceptance in intimate caregiving scenarios. |
| title | A Study of Perceived Safety for Soft Robotics in Caregiving Tasks |
| topic | Robotics Human-Computer Interaction |
| url | https://arxiv.org/abs/2503.20916 |