Touching the social robot PARO reduces pain perception and salivary oxytocin levels

A systematic review and multivariate meta-analysis of the physical and mental health benefits of touch interventions

Receiving touch is of critical importance, as many studies have shown that touch promotes mental and physical well-being. We conducted a pre-registered (PROSPERO: CRD42022304281) systematic review and multilevel meta-analysis encompassing 137 studies in the meta-analysis and 75 additional studies in the systematic review (n = 12,966 individuals, search via Google Scholar, PubMed and Web of Science until 1 October 2022) to identify critical factors moderating touch intervention efficacy. Included studies always featured a touch versus no touch control intervention with diverse health outcomes as dependent variables. Risk of bias was assessed via small study, randomization, sequencing, performance and attrition bias. Touch interventions were especially effective in regulating cortisol levels (Hedges' g = 0.78, 95% confidence interval (CI) 0.24 to 1.31) and increasing weight (0.65, 95% CI 0.37 to 0.94) in newborns as well as in reducing pain (0.69, 95% CI 0.48 to 0.89), feelings of depression (0.59, 95% CI 0.40 to 0.78) and state (0.64, 95% CI 0.44 to 0.84) or trait anxiety (0.59, 95% CI 0.40 to 0.77) for adults. Comparing touch interventions involving objects or robots resulted in similar physical (0.56, 95% CI 0.24 to 0.88 versus 0.51, 95% CI 0.38 to 0.64) but lower mental health benefits (0.34, 95% CI 0.19 to 0.49 versus 0.58, 95% CI 0.43 to 0.73). Adult clinical cohorts profited more strongly in mental health domains compared with healthy individuals (0.63, 95% CI 0.46 to 0.80 versus 0.37, 95% CI 0.20 to 0.55). We found no difference in health benefits in adults when comparing touch applied by a familiar person or a health care professional (0.51, 95% CI 0.29 to 0.73 versus 0.50, 95% CI 0.38 to 0.61), but parental touch was more beneficial in newborns (0.69, 95% CI 0.50 to 0.88 versus 0.39, 95% CI 0.18 to 0.61). Small but significant small study bias and the impossibility to blind experimental conditions need to be considered. Leveraging factors that influence touch intervention efficacy will help maximize the benefits of future interventions and focus research in this field.

The proteus effect on human pain perception through avatar muscularity and gender factors

The Proteus effect, which occurs when using an avatar in virtual reality, influences user behavior, changes attitudes, and improves physical performance. Here, we show that human pain perception can be alleviated by the Proteus effect. To investigate the pain alleviation effect of using an avatar in a virtual environment, we conducted two experiments using a head-mounted display and a thermal pain stimulator to induce acute pain. The first experiment involved 20 adult participants, while the second experiment involved 44 adult participants. Experimental results show that participants reported significantly lower pain scores (15.982% reduction), as measured by the Pain Assessment Scale (PAS), when using a muscular avatar than when using a normal avatar. The experiments also revealed several significant gender factors. For example, participants reported significantly lower pain scores when using a gender-congruent avatar. In addition, the use of a muscular avatar was particularly effective for male participants. In contrast, female participants consistently reported lower pain scores when using the avatar regardless of its body type (muscular/normal). To further our understanding, we also measured participants' gender-related pain stereotypes using the Gender Role Expectations of Pain (GREP) questionnaire, as well as participants' sense of embodiment. The results of these questionnaires are consistent with the results of the PAS, suggesting possible relationships between stereotypes and the Proteus effect on pain perception, and between the degree of immersion in an avatar and the user's perception of pain.

Effect of partner presence on emotion regulation during parent-child interactions

Having people around, especially if they provide social support, often leads to positive outcomes both physically and mentally. Mere social presence is especially beneficial when it comes from a loved one or romantic partner. In these studies, we aim to expand the understanding of how the presence of one's romantic partner affects emotion regulation in parental situations. Specifically, we examined how partner presence influences the parent's emotional intensity, emotion regulation, and interpretation of their child's emotion regulation. We examined these questions in parents of both non-autistic children (Study 1) as well as autistic children (Study 2), which we hypothesize leads to more intense emotional interactions. The parents of autistic children were better able to regulate their emotions when their partners were present compared to when they were absent. Furthermore, in both studies, parents' ratings of their children's ability to regulate their emotions were higher when their parent's partner was present compared to when the partner was absent. However, in both studies, we found no significant difference in the parents' emotional intensity when their partners were present compared to when their partners were absent during the emotionally charged interaction with their child. Our findings help highlight the impact of partner presence on parent and child emotion regulation.

Validation of two immunoassays for oxytocin measurements in human saliva

The objective of this research was to develop and validate two immunoassays for oxytocin measurement in human saliva, one using a monoclonal and the other a polyclonal antibody against oxytocin, whose affinity for oxytocin was tested by an antibody mapping epitope analysis. These assays were analytically validated and used to compare oxytocin concentrations with those obtained with a commercial kit before and after the extraction or reduction/alkylation (R/A) treatments to saliva samples. The assays were also used to evaluate changes in salivary oxytocin concentrations following a physical effort and an induced psychological stress, which have previously been described as situations that cause an increase in salivary oxytocin. Both assays showed to be precise and accurate in the validation studies, and the antibodies used showed a defined binding region in case of the monoclonal antibody, whereas the polyclonal antibody showed binding events through all the oxytocin sequence. Although the monoclonal and polyclonal assays showed a positive correlation, they give results in a different range of magnitude. Both assays showed significant increases in oxytocin concentrations when applied after the physical effort and the psychological stress. This study shows that a variability in the reported values of oxytocin can occur depending on the assay and indicates that the use of different types of antibodies can give a different range of values when measuring oxytocin in saliva.

Embodied, visible, and courteous: exploring robotic social touch with virtual idols

In recent years, virtual idols have garnered considerable attention because they can perform activities similar to real idols. However, as they are fictitious idols with nonphysical presence, they cannot perform physical interactions such as handshake. Combining a robotic hand with a display showing virtual idols is the one of the methods to solve this problem. Nonetheless a physical handshake is possible, the form of handshake that can effectively induce the desirable behavior is unclear. In this study, we adopted a robotic hand as an interface and aimed to imitate the behavior of real idols. To test the effects of this behavior, we conducted step-wise experiments. The series of experiments revealed that the handshake by the robotic hand increased the feeling of intimacy toward the virtual idol, and it became more enjoyable to respond to a request from the virtual idol. In addition, viewing the virtual idols during the handshake increased the feeling of intimacy with the virtual idol. Moreover, the method of the hand-shake peculiar to idols, which tried to keep holding the user's hand after the conversation, increased the feeling of intimacy to the virtual idol.

Propensity to trust shapes perceptions of comforting touch between trustworthy human and robot partners

Touching a friend to comfort or be comforted is a common prosocial behaviour, firmly based in mutual trust. Emphasising the interactive nature of trust and touch, we suggest that vulnerability, reciprocity and individual differences shape trust and perceptions of touch. We further investigate whether these elements also apply to companion robots. Participants (n = 152) were exposed to four comics depicting human-human or human-robot exchanges. Across conditions, one character was sad, the other initiated touch to comfort them, and the touchee reciprocated the touch. Participants first rated trustworthiness of a certain character (human or robot in a vulnerable or comforting role), then evaluated the two touch phases (initiation and reciprocity) in terms of interaction realism, touch appropriateness and pleasantness, affective state (valence and arousal) attributed to the characters. Results support an interactive account of trust and touch, with humans being equally trustworthy when comforting or showing vulnerability, and reciprocity of touch buffering sadness. Although these phenomena seem unique to humans, propensity to trust technology reduces the gap between how humans and robots are perceived. Two distinct trust systems emerge: one for human interactions and another for social technologies, both necessitating trust as a fundamental prerequisite for meaningful physical contact.

Delivery of pleasant stroke touch via robot in older adults

Touch care has clinically positive effects on older adults. Touch can be delivered using robots, addressing the lack of caregivers. A recent study of younger participants showed that stroke touch delivered via robot produced subjective and physiologically positive emotional responses similar to those evoked by human touch. However, whether robotic touch can elicit similar responses in older adults remains unknown. We investigated this topic by assessing subjective rating (valence and arousal) and physiological signals [corrugator and zygomatic electromyography (EMG) and skin conductance response (SCR)] to gentle stroking motions delivered to the backs of older participants by robot and human agents at two different speeds: 2.6 and 8.5 cm/s. Following the recent study, the participants were informed that only the robot strokes them. We compared the difference between the younger (their data from the previous study) and the older participants in their responses when the two agents (a robot and a human) stroked them. Subjectively, data from both younger and older participants showed that 8.5 cm/s stroking was more positive and arousing than 2.6 cm/s stroking for both human and robot agents. Physiologically, data from both younger and older participants showed that 8.5 cm/s stroking induced weaker corrugator EMG activity and stronger SCR activity than the 2.6 cm/s stroking for both agents. These results demonstrate that the overall patterns of the older groups responses were similar to those of the younger group, and suggest that robot-delivered stroke touch can elicit pleasant emotional responses in older adults.

Higher oxytocin concentrations occur in subjects who build affiliative relationships with companion robots

Building affiliative relationships with others is important for mental health. Recently, robots have been expected to play a role in improving mental health, but there is little scientific evidence as to whether they can build affiliative relationships with humans. To investigate that, we conducted studies combining behavior, physiology and questionnaires for companion robot Owners and Non-Owners. The results reveal that the steady-state concentration of oxytocin, a hormone related to affiliative relationships, was significantly higher in Owners than in Non-Owners. In addition, the Owners showed more behaviors indicative of intimacy than the Non-Owners. These results suggest that humans can build affiliative relationships with robots. Fifteen minutes of contact with the robot decreased the concentration of cortisol in both groups, suggesting that even a brief contact can contribute to improving mental health. Therefore, relationships between humans and robots may be one option to improve mental health and enhance well-being.

Oxytocin levels and self-reported anxiety during interactions between humans and cows

Introduction

Positive social interactions with farm animals may have therapeutic benefits on humans by increasing brain oxytocin secretion, as inferred from circulating oxytocin levels. The aim of this observational study was to investigate acute changes in human plasma oxytocin levels and state anxiety associated with interactions with dairy cows.

Methods

Data were collected from 18 healthy female nursing students who performed stroking and brushing of an unfamiliar cow for 15 min. Blood samples were drawn before entering the cowshed (T1, baseline), and after 5 (T2) and 15 (T3) min of interaction with a cow. At T1 and T3, the students filled out the Norwegian version of the Spielberger State-Trait Anxiety Inventory-State Subscale (STAI-SS).

Results

Across participants, no significant changes in average plasma oxytocin concentration were detected between time points (p>0.05). There was, however, a modest decline in the STAI-SS scores between T1 and T3 (p=0.015) and a positive correlation between the change in individual level of state anxiety between T1 and T3 and the change in OT concentration of the same individual between T2 and T3 (p = 0.045).

Discussion

The results suggest that friendly social interactions with cows are beneficial in lowering state anxiety, but any relationship with release of OT into the circulation was complex and variable across individuals. The acute reduction in state anxiety lends support to the value of interacting with farm animals in the context of Green Care for people with mental health challenges.

The effectiveness of a therapeutic robot, 'Paro', on behavioural and psychological symptoms, medication use, total sleep time and sociability in older adults with dementia: A systematic review and meta-analysis

OBJECTIVE

To evaluate the effectiveness of a therapeutic robot, 'Paro', on anxiety, agitation, depression, apathy, medication use, total sleep time, and sociability among older adults with dementia.

DESIGN

Systematic review and meta-analysis with narrative synthesis.

SETTING AND PARTICIPANTS

Older adults aged 60 years and above with any form of dementia in the community, nursing homes, or care facilities.

METHODS

A three-step search strategy was conducted by two independent reviewers. Nine databases were searched (January 2003 to November 2022). Randomised controlled, crossover, and cluster trials on Paro for older adults with dementia published in English were included. All relevant trials were screened and assessed for risk of bias. Data were extracted using the Cochrane data collection form. The Grading of Recommendations, Assessment, Development, and Evaluation (GRADE) was used to assess the quality of evidence.

RESULTS

In total, 12 articles involving 1461 participants were included. Results of the meta-analysis showed that Paro had a moderate effect on medication use (SMD: -0.63) and small effect on anxiety (SMD: -0.17), agitation (SMD: -0.27) and depression (SMD: -0.40). However, Paro exhibited negligible effect on total sleep time (SMD: -0.12). The overall quality of evidence for all outcomes were graded as low due to methodological limitations, small sample size, and wide confidence intervals. Narrative synthesis suggested that Paro reduced apathy and increase sociability.

CONCLUSION AND IMPLICATIONS

Paro could be a beneficial non-pharmacological approach to improve behavioural and psychological symptoms of dementia, reducing medication use, and increasing sociability for older adults with dementia. However, the results should be interpreted with caution as limited studies were available. Additionally, there were a variety of approaches across the studies (i.e. group and individual interventions, facilitated and non-facilitated) which made it difficult to determine which interventional approach is optimal to produce beneficial effects of Paro. Hence, more rigorous studies with a larger sample size are needed to fully understand the mechanism and effectiveness of Paro in older adults with dementia. The protocol was registered on PROSPERO (CRD42022296504).

Touching a Mechanical Body: The Role of Anthropomorphic Framing in Physiological Arousal When Touching a Robot

The growing prevalence of social robots in various fields necessitates a deeper understanding of touch in Human-Robot Interaction (HRI). This study investigates how human-initiated touch influences physiological responses during interactions with robots, considering factors such as anthropomorphic framing of robot body parts and attributed gender. Two types of anthropomorphic framings are applied: the use of anatomical body part names and assignment of male or female gender to the robot. Higher physiological arousal was observed when touching less accessible body parts than when touching more accessible body parts in both conditions. Results also indicate that using anatomical names intensifies arousal compared to the control condition. Additionally, touching the male robot resulted in higher arousal in all participants, especially when anatomical body part names were used. This study contributes to the understanding of how anthropomorphic framing and gender impact physiological arousal in touch interactions with social robots, offering valuable insights for social robotics development.

Ethical Considerations in Child-Robot Interactions

Social robots hold promise in augmenting education, rehabilitative care, and leisure activities for children. Despite findings suggesting various benefits of social robot use in schools, clinics, and homes, stakeholders have voiced concerns about the potential social and emotional effects of children engaging in long-term interactions with robots. Given the challenges of conducting large long-term studies of child-robot interaction (CRI), little is known about the impact of CRI on children's socio-emotional development. Here we summarize the literature on predictions and expectations of teachers, parents, therapists, and children regarding the effects of CRI on children's socio-emotional functioning and skill building. We then highlight the limited body of empirical research examining how CRI affects children's social behavior and emotional expression, and we provide a summary of available questionnaires for measuring socio-emotional constructs relevant to CRI. We conclude with design recommendations for research studies aimed at better understanding the effects of CRI, before social robots become more ubiquitous. This review is relevant to researchers, educators, roboticists, and clinicians interested in designing and using social robots with developmental populations.

The use of a companion robot to improve depression symptoms in a community-dwelling older adult during the coronavirus disease 2019 state of emergency

Objective

We investigated the impact of using a companion robot on the mental state of a community-dwelling older adult who was receiving home-visit rehabilitation services during the state of emergency for coronavirus disease 2019 (COVID-19).

Methods

This case involved an 80-year-old woman with compression fractures of lumbar vertebrae 1 and 2. Her medical history included hypothyroidism, hypertension, dyslipidemia, and depression. The companion robot used was Smibi^®, a healing baby robot that responds in various ways depending on how the user interacts with it. The patient interacted (e.g., hugging, conversing) with Smibi^® for 30 minutes per day for 1 month, from April 2020 (immediately before the declaration of a state of emergency in Japan) to May 2020. The patient was evaluated with the Self-Rating Depression Scale (SDS) before and after using Smibi^®.

Results

The SDS score decreased from 37 points to 26 points after the use of Smibi^®. The items related to diurnal variation, sleep, despair about the future, and dissatisfaction decreased by 2-3 points.

Conclusion

Our findings suggest that interacting with Smibi^® may improve depression in older adults who have been forced to refrain from going out due to the spread of COVID-19. Future studies with long-term follow-up and large sample sizes are required to confirm the effectiveness of companion robots in improving depression among community-dwelling older adults.

Socially Assistive Robots for Parkinson's Disease: Needs, Attitudes and Specific Applications as Identified by Healthcare Professionals

To explore how socially assistive robots (SARs) may assist the specific needs of individuals with Parkinson's disease (IwPD), we conducted three focus groups with 12 clinicians who treat IwPD. We present a thematic analysis of their perceptions of the needs of the patients, and their own expectations, perceived advantages, disadvantages and concerns regarding the use of SARs for IwPD. Clinicians were positive towards using SARs for IwPD, if used in the patient's home, for motor, communication, emotional, and cognitive needs, especially for practice and for help with activities of daily living. They were concerned that a SAR might be used to replace clinicians’ work, and stressed it should only augment the clinicians’ work. They thought a SAR may relieve some of the burden experienced by informal caregivers, and identified specific applications for SARs for PD. We asked 18 stakeholders (nine IwPD, nine family members) to rate their level of agreement with the clinicians’ statements. The greatest divergence between their views and those of the clinicians was on the topic of using a SAR as a companion, or as a feeding assistant, to which they objected. This work may be used as a basis for future studies designing SARs for IwPD.

A wearable soft robot that can alleviate the pain and fear of the wearer

Social soft robotics may provide a new solution for alleviating human pain and fear. Here, we introduce a hand-held soft robot that can be clenched by the wearer. The robot comprises small airbags that can be inflated to provide the wearer with a feeling of being clenched. We then conducted an in-depth study of 66 adults who participated in a pain research protocol using thermal stimulation to investigate the effect of wearing the robot on pain perception and fear of injections. Pain assessment scale scores for perceived pain decreased significantly [Formula: see text] when participants wore the robot compared with the baseline condition in which the robot was not worn. In addition, the saliva test results showed a downward trend in oxytocin level when the robot provided the wearer with haptic feedback via the inflation of the internal airbags in response to the wearer's clench. Furthermore, the negative psychological state of participants, as measured using the positive and negative affect scale, improved significantly when wearing the robot. We also revealed that the salivary cortisol level, an indicator of stress, decreased significantly across all participants at the end of the experiment. In addition, participants' fear of injections was significantly improved after participation in the experiment. These results suggest that the wearable soft robot may alleviate the human perception of pain and fear in during medical treatments, such as vaccinations.

A Socially Assistive Robot for Stroke Patients: Acceptance, Needs, and Concerns of Patients and Informal Caregivers

Stroke patients often contend with long-term physical challenges that require treatment and support from both formal and informal caregivers. Socially Assistive Robots (SARs) can assist patients in their physical rehabilitation process and relieve some of the burden on the informal caregivers, such as spouses and family members. We collected and analyzed information from 23 participants (11 stroke patients and 12 informal caregivers) who participated in a total of six focus-group discussions. The participants responded to questions regarding using a SAR to promote physical exercises during the rehabilitation process: (a) the advantages and disadvantages of doing so; (b) specific needs that they wish a SAR would address; (c) patient-specific adaptations they would propose to include; and (d) concerns they had regarding the use of such technology in stroke rehabilitation. We found that the majority of the participants in both groups were interested in experiencing the use of a SAR for rehabilitation, in the clinic and at home. Both groups noted the advantage of having the constant presence of a motivating entity with whom they can practice their rehabilitative exercises. The patients noted how such a device can assist formal caregivers in managing their workload, while the informal caregivers indicated that such a system could ease their own workload and sense of burden. The main disadvantages that participants noted related to the robot not possessing human abilities, such as the ability to hold a conversation, to physically guide the patient's movements, and to express or understand emotions. We anticipate that the data collected in this study-input from the patients and their family members, including the similarities and differences between their points of view-will aid in improving the development of SARs for rehabilitation, so that they can better suit people who have had a stroke, and meet their individual needs.

Effects of psychosocial stress and performance feedback on pain processing and its correlation with subjective and neuroendocrine parameters

OBJECTIVES

Previous research on stress-induced pain modulation suggests that moderate psychological stress usually leads to hyperalgesia while more severe threat results in hypoalgesia. However, existing studies often lack suitable control conditions imperative to identify mere stress effects. Similarly, research mainly focused on pure anticipation of a social threat, not taking into consideration actual experiences of social evaluation. Therefore, we set out to investigate actual social up- and downgrading combined with a standardized stress paradigm to evaluate short-term and prolonged changes in pain perception and their potential association with neuroendocrine and subjective stress parameters.

METHODS

We allocated 177 healthy women to four experimental conditions, either the standard version of the Trier Social Stress Test (TSST) followed by positive, negative or no performance feedback, or a well-matched but less demanding placebo version of the TSST. Stress responses were assessed with ratings, salivary alpha-amylase, and salivary cortisol. To capture putative effects of stress on pain, heat pain threshold, ratings of phasic heat pain stimuli, and conditioned pain modulation were measured.

RESULTS

Despite a largely successful stress induction, results do not support a reliable influence of experimentally induced social stress-with or without subsequent performance feedback-on pain in women. Further, we found no clear association of pain modulation and changes in neuroendocrine or subjective stress responses.

CONCLUSIONS

Our results contrast previous studies, which repeatedly demonstrated stress-induced hypo- or hyperalgesia. This might be due to methodological reasons as former research was often characterized by high heterogeneity regarding the applied stressors, low sample sizes, and lacking or inconclusive control conditions. Thus, our results raise the question whether pain modulation in women by experimental psychosocial stress might have been overestimated in the past. Future research is necessary, which should employ parametric stress induction methods including well-matched control tasks, taking into consideration the participants' gender/sex and the time course of the stress response relative to pain assessment. The study is registered as DRKS00026946 at 'Deutsches Register Klinischer Studien' (DRKS) and can be also found at the World Health Organization's search portal.

Interaction Matters: The Effect of Touching the Social Robot PARO on Pain and Stress is Stronger When Turned ON vs. OFF

Social touch between humans, as well as between humans and animals, was previously found to reduce pain and stress. We previously reported that touching a social robot can also induce a reduction in pain ratings. However, it is unclear if the effect that touching a robot has on pain perception is due to its appearance and its pleasant touch, or due to its ability to socially interact with humans. In the current experiment, we aimed to assess the contribution of the interactive quality to pain perception. We assessed the effect of touching the social robot PARO on mild and strong pain ratings and on stress perception, on a total of 60 healthy young participants. The robot either interacted with participants (ON group, n = 30) or was turned off (OFF group, n = 30). Touching the robot induced a decrease in mild pain ratings (compared to baseline) only in the ON group while strong pain ratings decreased similarly in both the ON and the OFF groups. The decrease in mild pain ratings in the ON group was significantly greater in participants with a higher positive perception of the interaction with PARO. We conclude that part of the effect that touching the robot has on pain stems from its interactive features.

The Effects of Interacting With a Paro Robot After a Stressor in Patients With Psoriasis: A Randomised Pilot Study

Objective

Stress can play a role in the onset and exacerbation of psoriasis. Psychological interventions to reduce stress have been shown to improve psychological and psoriasis-related outcomes. This pilot randomised study investigated the feasibility of a brief interaction with a Paro robot to reduce stress and improve skin parameters, after a stressor, in patients with psoriasis.

Methods

Around 25 patients with psoriasis participated in a laboratory stress task, before being randomised to either interact with a Paro robot or sit quietly (control condition) for 30 min. Raman spectroscopy and trans-epidermal water loss were measured at baseline, after the stressor and after the intervention as indexes of acute skin changes. Psychological variables, including self-reported stress and affect, were also measured at the three time-points.

Results

No statistically significant differences between the two conditions were found for any of the outcomes measured. However, effect sizes suggest significance could be possible with a larger sample size. Changes in the psychological and Raman spectroscopy outcomes across the experimental session were found, indicating the feasibility of the procedures.

Conclusion

This pilot study showed that a brief interaction with a Paro robot was a feasible intervention for patients with psoriasis, but future trials should broaden the inclusion criteria to try to increase recruitment rates. Studying people who are highly stressed, depressed or who are stress-responders may increase the power of the intervention to show effects using a longer-term intervention.

Understanding sex differences in affective touch: Sensory pleasantness, social comfort, and precursive experiences

Although previous research revealed sex differences in affective touch, the implicated processes and the manner in which men and women differ have been left uncertain. Here we addressed this issue in two studies examining sensory pleasure, interpersonal comfort, and touch motivators. Study 1 comprised a series of lab-based experiments in which a robot stroked 214 participants (half female) at five different velocities modulating the activity of C-tactile afferents thought to support tactile pleasantness. Average pleasantness ratings followed velocity with the typical inverted u-shape similarly in both sexes. In Study 2, 260 participants (half female) completed an online survey. Here, women were more likely than men to express touch comfort with less familiar or unknown individuals, had a greater preference for touch with other women, and felt more comfortable giving and receiving touch to the forearm. Additionally, when describing how their own experiences might motivate others to touch them affectively, women produced more negative descriptions than men. Together, these results show that, while the sexes compare in a touch's sensory pleasantness, they differ in their preceding affective experiences and how they value touch at a higher-order social level. This agrees with extant research on negative affect and stress and suggests that affective touch may be a more relevant coping mechanism for women than for men.

Novelty Experience in Prolonged Interaction: A Qualitative Study of Socially-Isolated College Students’ In-Home Use of a Robot Companion Animal

Social distancing policies such as limits on public gatherings and contact with others were utilized around the world to slow the spread of COVID-19. Yet, decreased social interactions may also threaten people’s well-being. In this project, we sought to understand novelty-relevant experiences surrounding in-home companion robot pets for adults that were living in some degree of social isolation due to the COVID-19 pandemic. After 6-weeks of participants living with the robot companion, we conducted semi-structured interviews (N = 9) and six themes emerged from our iterative analysis (expectations versus reality, ontological comparisons, interactions, third-party influence, identity, and comfort). Findings suggest that novelty is a complex phenomenon consisting of various elements (i.e., imagined novelty, technology novelty, and relational novelty). Each component influences the user’s experience. Our findings also suggest that our understanding of novelty as a nonlinear resource may hold important implications for how we view human-robot relationships beyond initial encounters.

Weight Shift Movements of a Social Mediator Robot Make It Being Recognized as Serious and Suppress Anger, Revenge and Avoidance Motivation of the User

Humans can become aggressive during text messaging. To maintain a healthy interpersonal relationship through text messaging, our negative mental states, such as anger, have to be well-controlled. This paper discusses the use of a handheld social robot deployed as a mediator in text messaging between humans. The robot is equipped with a movable weight inside its body. By controlling the movement of the internal weight during the time when the robot speaks out messages received from a human sender, we hypothesize that the psychological state of a receiver who holds the robot can be affected (for example, he/she will listen to the messages more seriously). In a controlled study (n = 94), in which participants were manipulated to be frustrated by using a context scenario, we studied the effect of three dialogue scripts with/without weight shifts. Results showed that introducing weight shifts together with the robot speech suppressed on average 23% of the user’s anger. However, only 3.5% of the anger was suppressed when the weight shifts were not applied. Additionally, in cases where the robot showed empathy to the user in words with weight shifts, the user’s revenge urge was successfully reduced by 22%. There was almost no effect confirmed when the weight shifts were not applied. A similar effect was also found in avoidance motivation: 15% of the avoidance motivation was reduced if weight shifts were applied. The reductions in revenge and avoidance motivation are considered important factors for human forgiveness. Therefore, our findings provide experimental evidence that weight shifts can be an effective expression modality for mediator robots, from the perspective of not only suppressing the user’s anger but also by inducing forgiveness during messaging.

Robots and the Possibility of Humanistic Care

Care robots are likely to perform increasingly sophisticated caring activities that some will consider comforting and valuable. They will get increasingly humanlike and lifelike. This paper addresses the conceptual question: Even if robots can assist and ease people's suffering, can such machines provide humanistic care? Arguably, humanistic care is the most humanly distinctive and deepest form of care there is. As such, it may be thought to show most starkly the gulf between human and robot caregiving. The paper argues that humanistic caregiving is indeed a distinctive form of 'affective' care dependent on certain uniquely human characteristics or aspects of our humanity which can provide a profound kind of comfort to suffering people. It then argues that there is an important conceptual sense in which robots cannot provide humanistic care. Nonetheless, the paper subsequently suggests that we may recognize a useful sense in which robots, of a suitably anthropomorphic type, can provide humanistic care. Robots might 'express' to people with physical, social, or emotional needs the kind of humanistic care that only human beings can provide but that sufferers can nonetheless receive comfort from precisely because of what is expressed to them. Although this sense of humanistic robot care is derivative from uniquely human care, and although it is wide open to social and ethical criticism, it is nonetheless an idea worth clarifying for anyone interested in the possibilities and limits of robot care.

Improving HRI with Force Sensing

In the future, in a society where robots and humans live together, HRI is an important field of research. While most human–robot-interaction (HRI) studies focus on appearance and dialogue, touch-communication has not been the focus of many studies despite the importance of its role in human–human communication. This paper investigates how and where humans touch an inorganic non-zoomorphic robot arm. Based on these results, we install touch sensors on the robot arm and conduct experiments to collect data of users’ impressions towards the robot when touching it. Our results suggest two main things. First, the touch gestures were collected with two sensors, and the collected data can be analyzed using machine learning to classify the gestures. Second, communication between humans and robots using touch can improve the user’s impression of the robots.

Can the Paro be my Buddy? Meaningful experiences from the perspectives of older adults

This study aimed to explore meaningful experiences of older Taiwanese adults who had received a Paro (social robot) companion. Semi-structured qualitative interviews elicited the perspectives of 25 older adults living in a long-term care facility after they had interacted with an individual Paro companion for 8 weeks. Thematic analysis was used in this study as it allows for rich, detailed, and complex descriptions of qualitative data. Analysis identified four themes: Bridging my social bonds; Acting as a comfort Buddy; Relieving my emotional distress; and Encountering Paro with distancing. Although Paro's functioning has some limits, such as lacking speech, most participants expressed that the experience was positive. These findings revealed that the meaningful experiences expressed by participants at the end of the intervention with Paro might provide the value of companionship and improve interpersonal relationships for older adults in geriatric nursing.

Exploring women's oxytocin responses to interactions with their pet cats

Background

Extensive research has evaluated the involvement of the neuropeptide oxytocin (OT) in human social behaviors, including parent-infant relationships. Studies have investigated OT’s connection to human attachment to nonhuman animals, with the majority of the literature focusing on domestic dogs (Canis lupis familiaris). Utilizing what is known about OT and its role in maternal-infant and human-dog bonding, we apply these frameworks to the study of human-domestic cat (Felis catus) interactions.

Methods

We investigated changes in salivary OT levels in 30 U.S. women of reproductive age before and after two conditions: reading a book (control) and interacting with their pet cat. Participant and cat behavioral patterns during the cat interaction condition were also quantified to determine if differences in women’s OT concentrations were associated with specific human and cat behaviors.

Results

Our results revealed no changes in women’s OT levels during the cat interaction, relative to the control condition, and pre-cat interaction OT levels. However, differences in women’s OT concentrations were correlated with some human-cat interactions (e.g., positively with petting cat and cat approach initiation, negatively with cat agonistic behavior) but not all observed behaviors (e.g., use of gentle or baby voice) coded during human-cat interactions.

Discussion

This study is the first to explore women’s OT in response to interactions with their pet cat and has identified distinct human and cat behaviors that influence OT release in humans.

Feasibility study protocol of the PainChek app to assess the efficacy of a social robot intervention for people with dementia

AIM

This study aims to test the feasibility of the PainChek app to assess pain for people with dementia living in residential aged care facilities (RACFs). It will also identify the optimal dosage and efficacy of a social robot (personal assistant robot [PARO]) intervention on chronic pain for people with dementia.

DESIGN

This is a feasibility randomized controlled trial with three groups.

METHODS

Forty-five residents living with dementia and chronic pain will be recruited from one RACF. The intervention consists of an individual 15-min non-facilitated session with a PARO robot twice a day (Group 1), a PARO robot once a day (Group 2), or a Plush-Toy (non-robotic PARO) once a day (Group 3) from Monday to Friday for 4 weeks. Participants will be followed at 4 and 8 weeks after baseline assessments. The primary outcome will be the feasibility of using the PainChek app to measure changes in pain levels before and after each session. Secondary outcomes include staff-rated pain levels, neuropsychiatric symptoms, quality of life and changes in psychotropic and analgesic medication use. Participants, staff and family perceptions of using PARO and the PainChek app will be collected after the 4-week intervention.

DISCUSSION

This study will test the use of the PainChek app and PARO to improve pain management for people with dementia. Results from this study will help determine its usefulness, feasibility and acceptability for pain management in people with dementia living in RACFs.

IMPACT

As pain is a significant problem for people with dementia, this project will generate evidence on the use of the PainChek to measure the efficacy of a social robot intervention that has the potential to improve the quality of pain care in people with dementia.

TRIAL REGISTRATION

Australian and New Zealand Clinical Trials Registry number (ACTRN12621000837820) date registered 30/06/2021.

Discussions and perspectives regarding oxytocin as a biomarker in human investigations

This article introduces a review of research that has implemented oxytocin measurements in different fluids such as plasma, cerebrospinal fluid, urine and, mainly, saliva. The main purpose is to evaluate the level of evidence supporting the measurement of this biomarker implicated in a variety of psychological and social processes. First, a review of the technical developments that allowed the characterization, function establishing, and central and peripheral levels of this hormone is proposed. Then, the article approaches the current discussions regarding the level of reliability of the laboratory techniques that enable the measurement of oxytocin, focusing mainly on the determination of its concentration in saliva through Enzyme-Linked Immunosorbent Assay (ELISA). Finally, research results, which have established the major physiological correlates of this hormone in fields such as social neuroscience and neuropsychology, are collected and discussed in terms of the hormone measurement methods that different authors have used. In this way, the article is expected to contribute to the panorama of debates and current perspectives regarding investigation involving this important biomarker.

Soft robotic shell with active thermal display

Almost all robotic systems in use have hard shells, which is limiting in many ways their full potential of physical interaction with humans or their surrounding environment. Robots with soft-shell covers offer an alternative morphology which is more pleasant in both appearance and for haptic human interaction. A persisting challenge in such soft-shell robotic covers is the simultaneous realization of softness and heat-conducting properties. Such heat-conducting properties are important for enabling temperature-control of robotic covers in the range that is comfortable for human touch. The presented soft-shell robotic cover is composed of a linked two-layer structure: (1) The inner layer, with built-in pipes for water circulation, is soft and acts as a thermal-isolation layer between the cover and the robot structure, whereas (2) the outer layer, which can be patterned with a given desired texture and color, allows heat transfer from the circulating water of the inner part to the surface. Moreover, we demonstrate the ability to integrate our prototype cover with a humanoid robot equipped with capacitance sensors. This fabrication technique enables robotic cover possibilities, including tunable color, surface texture, and size, that are likely to have applications in a variety of robotic systems.

Non-pharmacological interventions for pain in people with dementia: A systematic review

CONTEXT

Pain commonly occurs in people living with dementia but is often undertreated. Non-pharmacological interventions are a safer first-line option for pain management, but evidence-based interventions for people living with dementia have not been established. An increasing number of studies have examined the effect of non-pharmacological interventions in pain management. However, the evidence that specifically focuses on people living with dementia has not been systematically reviewed.

OBJECTIVES

This review aimed to systematically synthesize current evidence on non-pharmacological interventions to manage pain in people living with dementia.

METHODS

A comprehensive search of the literature was conducted in PubMed, CINAHL, Scopus, and Web of Science databases. Studies were included if they were 1) peer-reviewed original quantitative research, 2) tested the effect of non-pharmacological interventions on pain in people with dementia, and 3) English language. Studies were excluded if they 1) included both pharmacological and non-pharmacological interventions and did not report separate results for the non-pharmacological interventions; 2) enrolled participants with and without dementia and did not have separate results reported for individuals with dementia; 3) tested dietary supplements as the intervention; and 4) were not original research, such as reviews, editorials, commentaries, or case studies. Title, abstract, and full text were screened. Quality assessment was conducted using the Cochrane Risk of Bias tool and Johns Hopkins Level of Evidence. Pain assessment tools, participant characteristics, study designs, intervention condition, and results were extracted. Results were synthesized through grouping the type of the interventions and weighting evidence based on quality and design of the studies.

RESULTS

A total of 11 articles and 12 interventions were identified. A total of 486 participants were included. Interventions that have shown a positive impact on pain include ear acupressure, music therapy, reflexology, tailored pain intervention, painting and singing, personal assistive robot, cognitive-behavioral therapy, play activity, and person-centered environment program. Nevertheless, a majority of the interventions were only evaluated once. Moreover, most studies had similar sample characteristics and setting.

CONCLUSION

Overall, the quality of included studies were mostly low to mixed quality and most participants only had mild to moderate baseline pain, which limits detection of the intervention's effect. Hence, these findings need to be duplicated in studies with a greater sample size, a more diverse population (race, gender, and settings), and a more rigorous design to validate the results.

The persuasive power of robot touch. Behavioral and evaluative consequences of non-functional touch from a robot

The unique physical embodiment of robots enables physical contact between machines and humans. Since interpersonal touch research has demonstrated that touch has several positive behavioral (e.g., reduced stress, better immune functioning) as well as evaluative consequences (e.g., better evaluation of the initiator of touch), the question arises whether touch from a humanoid robot, the body of which is somewhat similar to that of a human, can evoke similar effects. To answer this question, we conducted a between-subjects experiment in the laboratory with n = 48 students who encountered a humanoid robot (Softbank Robotics’ NAO) that either did or did not touch their hand in a non-functional manner during a counseling conversation. The analyses of participants’ behavior revealed that they mostly reacted by smiling and laughing. Furthermore, participants who were touched by the robot complied significantly more frequently with a request posed by the robot during conversation, and reported better feelings compared to those who were not touched. However, there were no effects of robot touch on subjective evaluations of the robot or on the interaction experience.

The Social Robot in Rehabilitation and Assistance: What Is the Future?

This commentary aims to address the field of social robots both in terms of the global situation and research perspectives. It has four polarities. First, it revisits the evolutions in robotics, which, starting from collaborative robotics, has led to the diffusion of social robots. Second, it illustrates the main fields in the employment of social robots in rehabilitation and assistance in the elderly and handicapped and in further emerging sectors. Third, it takes a look at the future directions of the research development both in terms of clinical and technological aspects. Fourth, it discusses the opportunities and limits, starting from the development and clinical use of social robots during the COVID-19 pandemic to the increase of ethical discussion on their use.

What Makes a Robot Social? A Review of Social Robots from Science Fiction to a Home or Hospital Near You

Purpose of Review

We provide an outlook on the definitions, laboratory research, and applications of social robots, with an aim to understand what makes a robot social—in the eyes of science and the general public.

Recent Findings

Social robots demonstrate their potential when deployed within contexts appropriate to their form and functions. Some examples include companions for the elderly and cognitively impaired individuals, robots within educational settings, and as tools to support cognitive and behavioural change interventions.

Summary

Science fiction has inspired us to conceive of a future with autonomous robots helping with every aspect of our daily lives, although the robots we are familiar with through film and literature remain a vision of the distant future. While there are still miles to go before robots become a regular feature within our social spaces, rapid progress in social robotics research, aided by the social sciences, is helping to move us closer to this reality.

Using robot animal companions in the academic library to mitigate student stress

Purpose

The purpose of this paper is to interrogate the relationship between self-reported levels of acute stress, perceived social support and interactions with robot animals in an academic library. The authors hypothesized that (1) participants would report lower stress and higher positive affect after their interaction with a robot support animal and (2) perceived supportiveness of the robot support animal would positively predict the amount of stress reduction the participants reported.

Design/methodology/approach

The authors hosted a robot petting zoo in the main library at a mid-sized Midwestern university during finals week. Participants were asked to rate their stress level prior to interacting with the robot pets (T1) and then after their interaction they were asked about their current stress level and the perceived supportiveness of the robot animal (T2). Data were analyzed using paired samples t-tests for the pretest and post-test scores.

Findings

The results showed a significant decrease in acute stress between T1 to T2, as well as a significant increase in happiness and relaxation. Participants reported feeling less bored and less tired after their interactions with the robot support animals. The findings also reveal that the degree to which individuals experienced a reduction in stress was influenced by their perceptions of the robot animal's supportiveness. Libraries could consider using robot pet therapy.

Originality/value

This study reveals the benefit of robot support animals to reduce stress and increase happiness of those experiencing acute stress in a library setting. The authors also introduce the concept of socially supportive contact as a type of unidirectional social support.