Stroking and tapping the skin: behavioral and electrodermal effects

Semi-autonomous touch method merging robot's autonomous touch and user-operated touch for improving user experience in robot touch

The demand for therapeutic robots to alleviate mental health problems is growing. Studies have shown that people's mental health improves when they are touched. Consequently, therapeutic robots are designed to alleviate stress through robot's autonomous touch. However, robot's autonomous touch can sometimes cause discomfort to recipients. This paper proposes a semi-autonomous touch method that merges robot's autonomous touch with user-operated touch to mitigate discomfort while maintaining the sensation of being touched by another person. We conducted an experiment involving 24 participants who were touched on the neck by robots under three conditions: robot's autonomous touch, user-operated touch, and the proposed semi-autonomous touch method condition. Additionally, the study investigated participants' impressions of the robot in each condition. The results showed that semi-autonomous touch condition mitigated discomfort more effectively compared with the robot's autonomous touch method condition. It also enhanced the feeling of being touched by another person entity and suppressed interaction boredom compared with the user-operated touch method condition. Participants reported higher trustworthiness and perceived friendliness in robots utilizing the semi-autonomous touch method compared to those with autonomous touch method condition. These findings indicate that robots featuring the proposed semi-autonomous touch method can provide a comforting experience, leveraging the therapeutic benefits of being touched by another person, and underscore their potential in mental health applications.

Hierarchical and dynamic relationships between body part ownership and full-body ownership

What is the relationship between experiencing individual body parts and the whole body as one's own? We theorised that body part ownership is driven primarily by the perceptual binding of visual and somatosensory signals from specific body parts, whereas full-body ownership depends on a more global binding process based on multisensory information from several body segments. To examine this hypothesis, we used a bodily illusion and asked participants to rate illusory changes in ownership over five different parts of a mannequin's body and the mannequin as a whole, while we manipulated the synchrony or asynchrony of visual and tactile stimuli delivered to three different body parts. We found that body part ownership was driven primarily by local visuotactile synchrony and could be experienced relatively independently of full-body ownership. Full-body ownership depended on the number of synchronously stimulated parts in a nonlinear manner, with the strongest full-body ownership illusion occurring when all parts received synchronous stimulation. Additionally, full-body ownership influenced body part ownership for nonstimulated body parts, and skin conductance responses provided physiological evidence supporting an interaction between body part and full-body ownership. We conclude that body part and full-body ownership correspond to different processes and propose a hierarchical probabilistic model to explain the relationship between part and whole in the context of multisensory awareness of one's own body.

Autonomic and hedonic response to affective touch in autism spectrum disorder

Interpersonal touch plays a crucial role in shaping relationships and encouraging social connections. Failure in processing tactile input or abnormal tactile sensitivity may hamper social behaviors and have severe consequences in individuals' relational lives. Autism Spectrum Disorder (ASD) is characterized by both sensory disruptions and social impairments, making affective touch an ideal meeting point for understanding these features in ASD individuals. By integrating behavioral and physiological measures, we investigated the effects of affective touch on adult individuals with ASD from both an implicit and explicit perspective. Specifically, at an implicit level, we investigated whether and how receiving an affective touch influenced participants' skin conductance tonic and phasic components. At the explicit level, we delved into the affective and unpleasant features of affective touch. Overall, we observed lower skin conductance level in ASD compared to TD subjects. Interestingly, the typically developing (TD) group showed an increased autonomic response for affective touch compared to a control touch, while ASD subjects' autonomic response did not differ between the two conditions. Furthermore, ASD participants provided higher ratings for both the affective and unpleasant components of the touch, compared to TD subjects. Our results reveal a noteworthy discrepancy in ASD population between the subjective experience, characterized by amplified hedonic but also unpleasant responses, and the physiological response, marked by a lack of autonomic activation related to affective touch. This insightful dissociation seems crucial for a deeper understanding of the distinctive challenges characterizing people with ASD and may have implications for diagnosis and therapeutic approaches.

Enjoying art: an evolutionary perspective on the esthetic experience from emotion elicitors

The ubiquity of human art prompted evolutionary psychologists to explore its origins as a potential adaptation to the environment. Here we focus on emotionally charged art and posit that affective affordances embedded into some artworks play a pivotal role in explaining why these artworks are enjoyed from an evolutionary perspective. Such features, recurring in various art forms, are interpreted as cues to the emotional state of others, enabling art consumers to engage in empathetic experiences and vicarious emotions. We explore the adaptive value of deriving pleasure from vicarious emotions, while also addressing the seemingly counterintuitive enjoyment of artworks that evoke negative emotions. We discuss the appreciation of vicarious emotions irrespective of their valence and maintain this appreciation to hold adaptive significance for three key reasons. Firstly, it aids art consumers in refining their interpretational schemes of internal states, potentially enhancing emotional regulation skills. Secondly, it contributes to a deeper understanding of the emotions of others, thereby fostering emotional intelligence and empathy. Lastly, the enjoyment of affectively charged artworks reinforces social cohesion by harmonizing the emotions of group members. This perspective provides a comprehensive framework for understanding the evolutionary underpinnings of the human capacity for art appreciation and emotional engagement.

Dynamic touch induces autonomic changes in preterm infants as measured by changes in heart rate variability

Preterm birth significantly increases the risk of developing various long-term health problems and developmental disabilities. While touch is a crucial component of many perinatal care strategies, the neurobiological underpinnings are rarely considered. C-tactile fibers (CTs) are unmyelinated nerve fibers that are activated by low-force, dynamic touch. Touch directed specifically at CTs activates the posterior insular cortex, consistent with an interoceptive function, and has been shown to reduce heart rate and increase oxygen saturation. The current research compared the effect of five minutes of CT optimal velocity stroking touch versus five minutes of static touch on autonomic markers of preterm infants between 28 and 37 weeks gestational age. CT touch induces a higher increase in heart rate variability metrics related to the parasympathetic system, which persisted for a 5-minute post-touch period. Conversely, there was no such increase in infants receiving static touch. The present findings confirmed that CTs signal the affective quality of nurturing touch, thereby arguing an additional neurobiological substrate for the evident valuable impacts of neonatal tactile interventions and improving the effectiveness of such interventions.

Atypical Response to Affective Touch in Children with Autism: Multi-Parametric Exploration of the Autonomic System

This study aimed at evaluating the autonomic response to pleasant affective touch in children with Autism Spectrum Disorders (ASD) and age-matched typically developing (TD) peers, thanks to multiple autonomic nervous system (ANS) parameters and by contrasting CT (C-tactile fibers) high- vs. low-density territory stimulations. We measured pupil diameter, skin conductance, and heart rate during gentle stroking of two skin territories (CT high- and low-density, respectively, forearm and palm of the hand) in thirty 6-12-year-old TD children and twenty ASD children. TD children showed an increase in pupil diameter and skin conductance associated with a heart rate deceleration in response to tactile stimulations at the two locations. Only the pupil was influenced by the stimulated location, with a later dilation peak following CT low-density territory stimulation. Globally, ASD children exhibited reduced autonomic responses, as well as different ANS baseline values compared to TD children. These atypical ANS responses to pleasant touch in ASD children were not specific to CT-fiber stimulation. Overall, these results point towards both basal autonomic dysregulation and lower tactile autonomic evoked responses in ASD, possibly reflecting lower arousal and related to social disengagement.

Social touch experience in different contexts: A review

Social touch is increasingly utilized in a variety of psychological interventions, ranging from parent-child interventions to psychotherapeutic treatments. Less attention has been paid, however, to findings that exposure to social touch may not necessarily evoke positive or pleasant responses. Social touch can convey different emotions from love and gratitude to harassment and envy, and persons' preferences to touch and be touched do not necessarily match with each other. This review of altogether 99 original studies focuses on how contextual factors modify target person's behavioral and brain responses to social touch. The review shows that experience of social touch is strongly modified by a variety of toucher-related and situational factors: for example, toucher's facial expressions, physical attractiveness, relationship status, group membership, and touched person's psychological distress. At the neural level, contextual factors modify processing of social touch from early perceptual processing to reflective cognitive evaluation. Based on the review, we present implications for using social touch in behavioral and neuroscientific research designs.

Strengths and weaknesses of affective touch studies over the lifetime: A systematic review

C-Tactile (CT) fibers are activated by slow, caress-like stimulations, and convey a specific tactile processing of hedonic and interpersonal components, defined as affective touch. Given the beneficial effects deriving from affective tactile experiences in social interactions at all ages, a systematic review of experimental studies on affective touch perception across the lifespan was performed with the aims of 1) examining whether and how affective touch has been studied in a systematic manner throughout the lifespan; 2) verifying whether the pleasantness associated to affective stimulations is found during the entire lifespan. Empirical human studies on affective touch were searched in two databases (PubMed, PsychINFO) and 112 articles were retrieved. Results indicated that most of the studies recruited participants with a mean age ranging from 18 to 40 years, whereas other age ranges came out as under-represented or not represented at all. Despite high heterogeneity across studies, affective touch was considered as a pleasant experience across the lifetime, and it was associated to specific psychophysiological patterns in infants and adults.

Bliss in and Out of the Body: The (Extra)Corporeal Space Is Impervious to Social Pleasant Touch

Slow, gentle stimulation of hairy skin is generally accompanied by hedonic sensations. This phenomenon, also known as (positive) affective touch, is likely to be the basis of affiliative interactions with conspecifics by promoting inter-individual bindings. Previous studies on healthy humans have demonstrated that affective touch can remarkably impact behavior. For instance, by administering the Rubber Hand Illusion (RHI) paradigm, the embodiment of a fake hand enhances after a slow, affective touch compared to a fast, neutral touch. However, results coming from this area are not univocal. In addition, there are no clues in the existing literature on the relationship between affective touch and the space around our body. To overcome these lacks, we carried out two separate experiments where participants underwent a RHI paradigm (Experiment 1) and a Visuo-Tactile Interaction task (Experiment 2), designed to tap into body representation and peripersonal space processing, respectively. In both experiments, an affective touch (CT-optimal, 3 cm/s) and neutral touch (CT-suboptimal, 18 cm/s) were delivered by the experimenter on the dorsal side of participants’ hand through a “skin to skin” contact. In Experiment 1, we did not find any modulation of body representation—not at behavioral nor at a physiological level—by affective touch. In Experiment 2, no visuo-tactile spatial modulation emerged depending upon the pleasantness of the touch received. These null findings are interpreted in the light of the current scientific context where the real nature of affective touch is often misguided, and they offer the possibility to pave the way for understanding the real effects of affective touch on body/space representation.

Hedonic Responses to Touch are Modulated by the Perceived Attractiveness of the Caresser

Previous research has shown that a specific type of C fiber, the C tactile afferents, are involved in detecting gentle, dynamic tactile stimuli on the skin, giving rise to affective responses in the central nervous system. Despite building on such bottom-up information flow, the hedonic perception and the physiological consequences of affective touch are influenced by various sources of top-down information. In the present study we investigated how perception of affective touch is influenced by the attractiveness of hypothetical caressers. Participants were stroked on the arm and the palm while looking at photos of high attractive and low attractive opposite-gender faces, and were instructed to imagine those people as the caressers. In a control condition no photo was paired with the touch. The stroking stimulation was delivered with a soft brush either on the forearm or on the palm, and either with a slower or faster speed. Participants rated the pleasantness of each stimulation, while electrocardiographic recordings were made to extract heart rate variability data. Results showed that participants preferred touch stimuli paired with high attractive faces; they also preferred palm stroking and slower stroking speed. Like subjective pleasantness ratings, heart rate variability responses to affective touch (slow) were higher for high attractive than for low attractive caressers, but were not selective for arm or palm stroking. Overall, the present study confirms that contextual social information plays a major role in affective touch experiences, influencing not only the hedonic quality of the experience but also the physiological state of the body.

Socially-relevant Visual Stimulation Modulates Physiological Response to Affective Touch in Human Infants

The human tactile system is known to discriminate different types of touches, one of these termed 'affective touch', is mainly mediated by slow conducting tactile afferents (CT fibres), which are preferentially activated by slow and gentle strokes. Human infants experience self-generated tactile stimulation during prenatal life, and they receive a large amount of affectionate touches by their caregivers from birth. This early and extended experience with tactile stimulation may likely make infants particularly sensitive to affective touch, and increasing evidence shows that this may indeed be the case. However, infants commonly experience affective touch in the context of social interactions with familiar adults (e.g., while looking at their caregiver), and recent evidence suggests that this helps them assigning affiliative and communicative meaning to the touch they are perceiving. Here we investigated the presence of visual-tactile interactions in 4-5-month-old infants' physiological (i.e., skin conductance) and behavioural (i.e., visual looking times) responses to visual and tactile stimulation of affective/social nature when the sources of both stimulation are not familiar to the infant. To explore whether the modulation of physiological arousal elicited by the socially-relevant bimodal stimulation is specific to infants or extends into adulthood, we also tested a group of adults. Infants (N = 25) and adults (N = 25) were stimulated on their forearm through slow stroking (i.e. affective touch) or tapping (i.e. non-affective touch) during the observation of dynamic images of socially-relevant (i.e., an unfamiliar face) and non-socially-relevant (i.e., a house) stimuli. We found that the simultaneous presentation of socially-relevant visual-tactile stimuli significantly decreased infants' - but not the adults' - electrodermal response, suggesting that infants easily integrate low-level properties of affective touch with socially salient visual information, and that social experience may tune and change sensitivity to affective touch across the life-span.

Defining pleasant touch stimuli: a systematic review and meta-analysis

Pleasantness is generally overlooked when investigating tactile functions. Addition of a pleasant stimulus could allow for a more complete characterisation of somatosensory function. The aims of this review were to systematically assess the methodologies used to elicit a pleasant sensation, measured via psychophysical techniques, and to perform a meta-analysis to measure the effect of brush stroking velocity on touch pleasantness. Eighteen studies were included in the systematic review, with five studies included in the meta-analysis. The review found that factors such as texture, velocity, force, and the duration of continuous stroking influence tactile evoked pleasantness. Specifically, using a soft material and stroking at a velocity of 3 cm/s with light force is generally considered as particularly pleasant. The meta-analysis showed that a brush stroking velocity of 30 cm/s was rated as less pleasant than 3 cm/s, on the forearm. The present study collates the factors that are most likely to provide a stimulus to elicit a pleasant sensation. The results should be important for studies requiring a well-defined pleasant stimulus including neurosensory assessment protocols, allowing for a more complete multimodality assessment of somatosensory function.

Dynamic touch reduces physiological arousal in preterm infants: A role for c-tactile afferents?

Preterm birth is a significant risk factor for a range of long-term health problems and developmental disabilities. Though touch plays a central role in many perinatal care strategies, the neurobiological basis of these approaches is seldom considered. C-Tactile afferents (CTs) are a class of unmyelinated nerve fibre activated by low force, dynamic touch. Consistent with an interoceptive function, touch specifically targeted to activate CTs activates posterior insular cortex and has been reported to reduce autonomic arousal. The present study compared the effect of 5 min of CT optimal velocity stroking touch to 5 min of static touch on the heart-rate and oxygen saturation levels of preterm infants between 28- & 37-weeks gestational age. CT touch produced a significant decrease in infants' heart-rates and increase in their blood oxygenation levels, which sustained throughout a 5-min post-touch period. In contrast, there was no significant change in heart-rate or blood oxygenation levels of infants receiving static touch. These findings provide support for the hypothesis that CTs signal the affective quality of nurturing touch, providing a neurobiological substrate for the apparent beneficial effects of neonatal tactile interventions and offering insight for their optimisation.