{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,13]],"date-time":"2026-04-13T20:50:10Z","timestamp":1776113410735,"version":"3.50.1"},"reference-count":52,"publisher":"Springer Science and Business Media LLC","issue":"2","license":[{"start":{"date-parts":[[2011,12,24]],"date-time":"2011-12-24T00:00:00Z","timestamp":1324684800000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Int J of Soc Robotics"],"published-print":{"date-parts":[[2012,4]]},"DOI":"10.1007\/s12369-011-0126-7","type":"journal-article","created":{"date-parts":[[2011,12,23]],"date-time":"2011-12-23T07:41:21Z","timestamp":1324626081000},"page":"163-180","source":"Crossref","is-referenced-by-count":259,"title":["The Role of Affective Touch in Human-Robot Interaction: Human Intent and Expectations in Touching the Haptic Creature"],"prefix":"10.1007","volume":"4","author":[{"given":"Steve","family":"Yohanan","sequence":"first","affiliation":[]},{"given":"Karon E.","family":"MacLean","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2011,12,24]]},"reference":[{"key":"126_CR1","volume-title":"Between pets and people: the importance of animal companionship","author":"A Beck","year":"1996","unstructured":"Beck A, Katcher AH (1996) Between pets and people: the importance of animal companionship. Purdue University Press, West Lafayette"},{"key":"126_CR2","series-title":"Series in affective science","doi-asserted-by":"crossref","first-page":"29","DOI":"10.1093\/oso\/9780195169157.003.0003","volume-title":"Handbook of emotion elicitation and assessment","author":"MM Bradley","year":"2007","unstructured":"Bradley MM, Lang PJ (2007) The international affective picture system (IAPS) in the study of emotion and attention. In: Coan JA, Allen JJ (eds) Handbook of emotion elicitation and assessment. Series in affective science. Oxford University Press, London, pp 29\u201346. Chap\u00a02"},{"issue":"2","key":"126_CR3","doi-asserted-by":"crossref","first-page":"97","DOI":"10.1163\/156855303321165079","volume":"17","author":"C Breazeal","year":"2003","unstructured":"Breazeal C (2003) Emotive qualities in lip-synchronized robot speech. Adv Robot 17(2):97\u2013113","journal-title":"Adv Robot"},{"key":"126_CR4","doi-asserted-by":"crossref","DOI":"10.7551\/mitpress\/2376.001.0001","volume-title":"Designing sociable robots","author":"CL Breazeal","year":"2002","unstructured":"Breazeal CL (2002) Designing sociable robots. MIT Press, Cambridge"},{"issue":"2\/3","key":"126_CR5","doi-asserted-by":"crossref","first-page":"284","DOI":"10.2307\/1166150","volume":"59","author":"JJ Campos","year":"1994","unstructured":"Campos JJ, Mumme DL, Kermoian R, Campos RG (1994) A functionalist perspective on the nature of emotion. Monogr Soc Res Child Dev 59(2\/3):284\u2013303","journal-title":"Monogr Soc Res Child Dev"},{"key":"126_CR6","first-page":"23","volume-title":"Socially intelligent agents: the human in the loop. Papers from the AAAI fall symposium","author":"LD Canamero","year":"2000","unstructured":"Canamero LD, Fredslund J (2000) How does it feel? Emotional interaction with a humanoid LEGO robot. In: Socially intelligent agents: the human in the loop. Papers from the AAAI fall symposium, pp 23\u201328"},{"key":"126_CR7","series-title":"Lecture notes in computer science","doi-asserted-by":"crossref","first-page":"385","DOI":"10.1007\/978-3-642-14064-8_56","volume-title":"Haptics: generating and perceiving tangible sensations\u2014EuroHaptics 2010","author":"J Chang","year":"2010","unstructured":"Chang J, MacLean K, Yohanan S (2010) Gesture recognition in the haptic creature. In: Kappers A, van Erp J, Tiest WB, van\u00a0der Helm F (eds) Haptics: generating and perceiving tangible sensations\u2014EuroHaptics 2010. Lecture notes in computer science, vol 6191. Springer, Berlin, pp 385\u2013391"},{"key":"126_CR8","doi-asserted-by":"crossref","DOI":"10.1037\/10001-000","volume-title":"The expression of the emotions in man and animals","author":"C Darwin","year":"1872","unstructured":"Darwin C (1872) The expression of the emotions in man and animals. Murray, London"},{"issue":"3","key":"126_CR9","doi-asserted-by":"crossref","first-page":"550","DOI":"10.1037\/0033-295X.99.3.550","volume":"99","author":"P Ekman","year":"1992","unstructured":"Ekman P (1992) Are there basic emotions? Psychol Rev 99(3):550\u2013553","journal-title":"Psychol Rev"},{"issue":"2","key":"126_CR10","doi-asserted-by":"crossref","first-page":"124","DOI":"10.1037\/h0030377","volume":"17","author":"P Ekman","year":"1971","unstructured":"Ekman P, Friesen WV (1971) Constants across cultures in the face and emotion. J Pers Soc Psychol 17(2):124\u2013129","journal-title":"J Pers Soc Psychol"},{"issue":"4","key":"126_CR11","doi-asserted-by":"crossref","first-page":"416","DOI":"10.2307\/3033506","volume":"39","author":"JD Fisher","year":"1976","unstructured":"Fisher JD, Rytting M, Heslin R (1976) Hands touching hands: affective and evaluative effects of an interpersonal touch. Sociometry 39(4):416\u2013421","journal-title":"Sociometry"},{"issue":"1","key":"126_CR12","doi-asserted-by":"crossref","first-page":"75","DOI":"10.1037\/0022-3514.80.1.75","volume":"80","author":"MG Frank","year":"2001","unstructured":"Frank MG, Stennett J (2001) The forced-choice paradigm and the perception of facial expressions of emotion. J Pers Soc Psychol 80(1):75\u201385","journal-title":"J Pers Soc Psychol"},{"issue":"1","key":"126_CR13","doi-asserted-by":"crossref","first-page":"7","DOI":"10.1023\/A:1008856824126","volume":"5","author":"M Fujita","year":"1998","unstructured":"Fujita M, Kitano H (1998) Development of an autonomous quadruped robot for robot entertainment. Auton Robots 5(1):7\u201318","journal-title":"Auton Robots"},{"key":"126_CR14","unstructured":"Gentoo (2009) Gentoo Linux. http:\/\/www.gentoo.org\/ . Aug 2009"},{"key":"126_CR15","volume-title":"The psychology of touch","year":"1991","unstructured":"Heller MA, Schiff W (eds) (1991) The psychology of touch. Erlbaum, Hillsdale"},{"issue":"4","key":"126_CR16","doi-asserted-by":"crossref","first-page":"566","DOI":"10.1037\/a0016108","volume":"9","author":"MJ Hertenstein","year":"2009","unstructured":"Hertenstein MJ, Holmes R, McCullough M, Keltner D (2009) The communication of emotion via touch. Emotion 9(4):566\u2013573","journal-title":"Emotion"},{"issue":"3","key":"126_CR17","doi-asserted-by":"crossref","first-page":"528","DOI":"10.1037\/1528-3542.6.3.528","volume":"6","author":"MJ Hertenstein","year":"2006","unstructured":"Hertenstein MJ, Keltner D, App B, Bulleit BA, Jaskolka AR (2006) Touch communicates distinct emotions. Emotion 6(3):528\u2013533","journal-title":"Emotion"},{"issue":"1","key":"126_CR18","doi-asserted-by":"crossref","first-page":"5","DOI":"10.3200\/MONO.132.1.5-94","volume":"132","author":"MJ Hertenstein","year":"2006","unstructured":"Hertenstein MJ, Verkamp JM, Kerestes AM, Holmes RM (2006) The communicative functions of touch in humans, nonhuman primates, and rats: a review and synthesis of the empirical research. Genet Soc Gen Psychol Monogr 132(1):5\u201394","journal-title":"Genet Soc Gen Psychol Monogr"},{"key":"126_CR19","unstructured":"Irtel H (2007) PXLab: The psychological experiments laboratory. Mannheim (Germany): University of Mannheim. http:\/\/www.pxlab.de\/"},{"issue":"1","key":"126_CR20","doi-asserted-by":"crossref","first-page":"19","DOI":"10.1080\/03637758509376094","volume":"52","author":"SE Jones","year":"1985","unstructured":"Jones SE, Yarbrough AE (1985) A naturalistic study of the meanings of touch. Commun Monogr 52(1):19\u201356","journal-title":"Commun Monogr"},{"key":"126_CR21","doi-asserted-by":"crossref","first-page":"221","DOI":"10.1111\/j.2044-8260.1966.tb00978.x","volume":"5","author":"SM Jourard","year":"1966","unstructured":"Jourard SM (1966) An exploratory study of body-accessibility. Br J Soc Clin Psychol 5:221\u2013231","journal-title":"Br J Soc Clin Psychol"},{"key":"126_CR22","first-page":"41","volume-title":"Interactions between people and their pets: form and function","author":"AH Katcher","year":"1981","unstructured":"Katcher AH (1981) Interrelations between people and pets. In: Interactions between people and their pets: form and function. Thomas, Springfield, pp 41\u201367"},{"issue":"2","key":"126_CR23","first-page":"14","volume":"37","author":"AH Katcher","year":"1983","unstructured":"Katcher AH, Friedmann E, Goodman M, Goodman L (1983) Men, women, and dogs. Calif Vet 37(2):14\u201317","journal-title":"Calif Vet"},{"key":"126_CR24","doi-asserted-by":"crossref","first-page":"275","DOI":"10.1109\/ROMAN.1995.531972","volume-title":"RO-MAN \u201995: Proceedings of the 4th IEEE international workshop on robot and human communication","author":"H Kobayashi","year":"1995","unstructured":"Kobayashi H, Hara F (1995) A basic study on dynamic control of facial expressions for face robot. In: RO-MAN \u201995: Proceedings of the 4th IEEE international workshop on robot and human communication, July 1995, pp 275\u2013280"},{"key":"126_CR25","first-page":"129","volume-title":"Technology in mental health care delivery systems","author":"PJ Lang","year":"1980","unstructured":"Lang PJ (1980) Behavioral treatment and bio-behavioral assessment: computer applications. In: Sidowski JB, Johnson JH, Williams TW (eds) Technology in mental health care delivery systems. Ablex, Norwood, pp 129\u2013139"},{"issue":"3","key":"126_CR26","doi-asserted-by":"crossref","first-page":"148","DOI":"10.1007\/BF00987064","volume":"6","author":"B Major","year":"1982","unstructured":"Major B, Heslin R (1982) Perceptions of cross-sex and same-sex nonreciprocal touch: it is better to give than to receive. J Nonverbal Behav 6(3):148\u2013162","journal-title":"J Nonverbal Behav"},{"key":"126_CR27","volume-title":"The new Oxford American dictionary","year":"2005","unstructured":"McKean E (ed) (2005) The new Oxford American dictionary, 2nd edn. Oxford University Press, London","edition":"2"},{"key":"126_CR28","doi-asserted-by":"crossref","first-page":"1649","DOI":"10.1145\/1056808.1056988","volume-title":"CHI \u201905 Extended abstracts on human factors in computing systems, CHI EA \u201905","author":"GF Melson","year":"2005","unstructured":"Melson GF, Kahn PH Jr, Beck AM, Friedman B, Roberts T, Garrett E (2005) Robots as dogs?: Children\u2019s interactions with the robotic dog AIBO and a live Australian shepherd. In: CHI \u201905 Extended abstracts on human factors in computing systems, CHI EA \u201905, New York, New York, USA, 2005. ACM, New York, pp 1649\u20131652"},{"key":"126_CR29","volume-title":"Touching: the human significance of the skin","author":"A Montagu","year":"1986","unstructured":"Montagu A (1986) Touching: the human significance of the skin. Perennial Library, New York"},{"issue":"2","key":"126_CR30","doi-asserted-by":"crossref","first-page":"137","DOI":"10.1163\/1568530041446580","volume":"12","author":"KL Munsell","year":"2004","unstructured":"Munsell KL, Canfield M, Templer DI, Tangan K, Arikawa H (2004) Modification of the pet attitude scale. Soc Anim 12(2):137\u2013142","journal-title":"Soc Anim"},{"issue":"3","key":"126_CR31","doi-asserted-by":"crossref","first-page":"92","DOI":"10.1111\/j.1460-2466.1975.tb00610.x","volume":"25","author":"T Nguyen","year":"1975","unstructured":"Nguyen T, Heslin R, Nguyen ML (1975) The meanings of touch: sex differences. J Commun 25(3):92\u2013103","journal-title":"J Commun"},{"key":"126_CR32","doi-asserted-by":"crossref","first-page":"743","DOI":"10.2466\/pr0.1987.60.3.743","volume":"60","author":"RH Poresky","year":"1987","unstructured":"Poresky RH, Hendrix C, Hosier JE, Samuelson ML (1987) The companion animal bonding scale: internal reliability and construct validity. Psychol Rep 60:743\u2013746","journal-title":"Psychol Rep"},{"issue":"3","key":"126_CR33","doi-asserted-by":"crossref","first-page":"345","DOI":"10.1037\/0022-3514.37.3.345","volume":"37","author":"JA Russell","year":"1979","unstructured":"Russell JA (1979) Affective space is bipolar. J Pers Soc Psychol 37(3):345\u2013356","journal-title":"J Pers Soc Psychol"},{"issue":"6","key":"126_CR34","doi-asserted-by":"crossref","first-page":"1161","DOI":"10.1037\/h0077714","volume":"39","author":"JA Russell","year":"1980","unstructured":"Russell JA (1980) A circumplex model of affect. J Pers Soc Psychol 39(6):1161\u20131178","journal-title":"J Pers Soc Psychol"},{"issue":"1","key":"126_CR35","doi-asserted-by":"crossref","first-page":"102","DOI":"10.1037\/0033-2909.115.1.102","volume":"115","author":"JA Russell","year":"1994","unstructured":"Russell JA (1994) Is there universal recognition of emotion from facial expression? A review of the cross-cultural studies. Psychol Bull 115(1):102\u2013141","journal-title":"Psychol Bull"},{"issue":"3","key":"126_CR36","doi-asserted-by":"crossref","first-page":"493","DOI":"10.1037\/0022-3514.57.3.493","volume":"57","author":"JA Russell","year":"1989","unstructured":"Russell JA, Weiss A, Mendelsohn GA (1989) Affect grid: a single-item scale of pleasure and arousal. J Pers Soc Psychol 57(3):493\u2013502","journal-title":"J Pers Soc Psychol"},{"issue":"2","key":"126_CR37","first-page":"3","volume":"2","author":"J Saldien","year":"2008","unstructured":"Saldien J, Goris K, Yilmazyildiz S, Verhelst W, Lefeber D (2008) On the design of the huggable robot Probo. J Phys Agents 2(2):3\u201311","journal-title":"J Phys Agents"},{"key":"126_CR38","volume-title":"Workshop on interactive robotics and entertainment","author":"M Scheeff","year":"2000","unstructured":"Scheeff M, Pinto J, Rahardja K, Snibbe S, Tow R (2000) Experiences with Sparky, a social robot. In: Workshop on interactive robotics and entertainment, Pittsburgh, Pennsylvania, USA, April 2000. AAAI Press, Menlo Park"},{"issue":"4","key":"126_CR39","doi-asserted-by":"crossref","first-page":"411","DOI":"10.1007\/s10514-006-9018-3","volume":"22","author":"M Scheutz","year":"2007","unstructured":"Scheutz M, Schermerhorn P, Kramer J, Anderson D (2007) First steps toward natural human-like HRI. Auton Robots 22(4):411\u2013423","journal-title":"Auton Robots"},{"key":"126_CR40","volume-title":"In the company of animals: a study of human-animal relationships","author":"JA Serpell","year":"1996","unstructured":"Serpell JA (1996) In the company of animals: a study of human-animal relationships. Cambridge University Press, Cambridge"},{"key":"126_CR41","first-page":"3","volume-title":"Animal companions and human well-being: an historical exploration of the value of human-animal relationships","author":"JA Serpell","year":"2000","unstructured":"Serpell JA (2000) Handbook on animal-assisted therapy: theoretical foundations and guidelines for practice. In: Animal companions and human well-being: an historical exploration of the value of human-animal relationships. Academic Press, New York, pp 3\u201319. Chap\u00a01"},{"key":"126_CR42","first-page":"1053","volume-title":"Proceedings of IEEE\/ASME international conference on advanced intelligent mechatronics","author":"T Shibata","year":"2001","unstructured":"Shibata T, Mitsui T, Wada K, Touda A, Kumasaka T, Tagami K, Tanie K (2001) Mental commit robot and its application to therapy of children. In: Proceedings of IEEE\/ASME international conference on advanced intelligent mechatronics, IEEE\/ASME, July 2001, vol 2, pp 1053\u20131058"},{"key":"126_CR43","doi-asserted-by":"crossref","first-page":"408","DOI":"10.1109\/ROMAN.2005.1513813","volume-title":"ROMAN 2005. IEEE international workshop on robot and human interactive communication","author":"WD Stiehl","year":"2005","unstructured":"Stiehl WD, Lieberman J, Breazeal C, Basel L, Lalla L, Wolf M (2005) Design of a therapeutic robotic companion for relational, affective touch. In: ROMAN 2005. IEEE international workshop on robot and human interactive communication, August 2005, pp 408\u2013415"},{"key":"126_CR44","unstructured":"Ugobe (2007) PleoWorld\u2014the home of Pleo, the robotic baby dinosaur from Ugobe Life Forms. http:\/\/www.pleoworld.com\/"},{"key":"126_CR45","doi-asserted-by":"crossref","first-page":"2785","DOI":"10.1109\/ROBOT.2005.1570535","volume-title":"Proceedings of the 2005 IEEE international conference on robotics and automation, 2005. ICRA 2005","author":"K Wada","year":"2005","unstructured":"Wada K, Shibata T, Saito T, Sakamoto K, Tanie K (2005) Psychological and social effects of one year robot assisted activity on elderly people at a health service facility for the aged. In: Proceedings of the 2005 IEEE international conference on robotics and automation, 2005. ICRA 2005, pp 2785\u20132790"},{"issue":"3","key":"126_CR46","doi-asserted-by":"crossref","first-page":"308","DOI":"10.1177\/104649647500600305","volume":"6","author":"DN Walker","year":"1975","unstructured":"Walker DN (1975) A dyadic interaction model for nonverbal touching behavior in encounter groups. Small Group Res 6(3):308\u2013324","journal-title":"Small Group Res"},{"issue":"2","key":"126_CR47","doi-asserted-by":"crossref","first-page":"82","DOI":"10.1097\/00006199-199203000-00005","volume":"41","author":"SJ Weiss","year":"1992","unstructured":"Weiss SJ (1992) Measurement of the sensory qualities in tactile interaction. Nurs Res 41(2):82\u201386","journal-title":"Nurs Res"},{"issue":"1","key":"126_CR48","doi-asserted-by":"crossref","first-page":"49","DOI":"10.1007\/BF00987054","volume":"5","author":"FN Willis Jr","year":"1980","unstructured":"Willis FN Jr, Hamm HK (1980) The use of interpersonal touch in securing compliance. J Nonverbal Behav 5(1):49\u201355","journal-title":"J Nonverbal Behav"},{"key":"126_CR49","series-title":"Lecture notes in computer science","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1007\/11922162_1","volume-title":"Advances in multimedia information processing\u2014PCM 2006","author":"S Yilmazyildiz","year":"2006","unstructured":"Yilmazyildiz S, Mattheyses W, Patsis Y, Verhelst W (2006) Expressive speech recognition and synthesis as enabling technologies for affective robot-child communication. In: Zhuang Y, Yang S, Rui Y, He Q (eds) Advances in multimedia information processing\u2014PCM 2006. Lecture notes in computer science, vol\u00a04261. Springer, Berlin, pp 1\u20138"},{"key":"126_CR50","first-page":"7","volume-title":"Proceedings of the AISB 2008 symposium on the reign of catz & dogz: the second AISB symposium on the role of virtual creatures in a computerised society","author":"S Yohanan","year":"2008","unstructured":"Yohanan S, MacLean K (2008) The Haptic Creature project: social human-robot interaction through affective touch. In: Proceedings of the AISB 2008 symposium on the reign of catz & dogz: the second AISB symposium on the role of virtual creatures in a computerised society, April 2008, vol 1, pp 7\u201311"},{"key":"126_CR51","doi-asserted-by":"crossref","first-page":"4153","DOI":"10.1145\/1520340.1520632","volume-title":"CHI \u201909: Proceedings of the 27th international conference extended abstracts on human factors in computing systems","author":"S Yohanan","year":"2009","unstructured":"Yohanan S, MacLean KE (2009) A tool to study affective touch: goals & design of the haptic creature. In: CHI \u201909: Proceedings of the 27th international conference extended abstracts on human factors in computing systems, New York, New York, USA, 2009. ACM, New York, pp 4153\u20134158"},{"key":"126_CR52","doi-asserted-by":"crossref","first-page":"473","DOI":"10.1145\/1957656.1957820","volume-title":"HRI \u201911: Proceedings of the 6th ACM\/IEEE international conference on human-robot interaction","author":"S Yohanan","year":"2011","unstructured":"Yohanan S, MacLean KE (2011) Design and assessment of the Haptic Creature\u2019s affect display. In: HRI \u201911: Proceedings of the 6th ACM\/IEEE international conference on human-robot interaction, New York, New York, USA, March 2011. ACM, New York, pp 473\u2013480"}],"container-title":["International Journal of Social Robotics"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s12369-011-0126-7.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s12369-011-0126-7\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s12369-011-0126-7","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,3,16]],"date-time":"2025-03-16T12:45:37Z","timestamp":1742129137000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s12369-011-0126-7"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2011,12,24]]},"references-count":52,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2012,4]]}},"alternative-id":["126"],"URL":"https:\/\/doi.org\/10.1007\/s12369-011-0126-7","relation":{},"ISSN":["1875-4791","1875-4805"],"issn-type":[{"value":"1875-4791","type":"print"},{"value":"1875-4805","type":"electronic"}],"subject":[],"published":{"date-parts":[[2011,12,24]]}}}