{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,10]],"date-time":"2026-01-10T07:45:44Z","timestamp":1768031144942,"version":"3.49.0"},"reference-count":91,"publisher":"Springer Science and Business Media LLC","issue":"7","license":[{"start":{"date-parts":[[2021,2,13]],"date-time":"2021-02-13T00:00:00Z","timestamp":1613174400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0"},{"start":{"date-parts":[[2021,2,13]],"date-time":"2021-02-13T00:00:00Z","timestamp":1613174400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0"}],"funder":[{"name":"Projekt DEAL"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Int J of Soc Robotics"],"published-print":{"date-parts":[[2021,11]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>This study investigated how touching and being touched by a humanoid robot affects human physiology, impressions of the interaction, and attitudes towards humanoid robots. 21 healthy adult participants completed a 3 (touch style: <jats:italic>touching<\/jats:italic>, <jats:italic>being touched<\/jats:italic>, <jats:italic>pointing<\/jats:italic>)\u2009\u00d7\u20092 (body part: <jats:italic>hand<\/jats:italic> vs <jats:italic>buttock<\/jats:italic>) within-subject design using a <jats:italic>Pepper<\/jats:italic> robot. Skin conductance response (SCR) was measured during each interaction. Perceived impressions of the interaction (i.e., friendliness, comfort, arousal) were measured per questionnaire after each interaction. Participants\u2019 demographics and their attitude towards robots were also considered. We found shorter SCR rise times in the <jats:italic>being touched<\/jats:italic> compared to the <jats:italic>touching<\/jats:italic> condition, possibly reflecting psychological alertness to the unpredictability of robot-initiated contacts. The <jats:italic>hand<\/jats:italic> condition had shorter rise times than the <jats:italic>buttock<\/jats:italic> condition. Most participants evaluated the <jats:italic>hand<\/jats:italic> condition as most friendly and comfortable and the robot-initiated interactions as most arousing. Interacting with <jats:italic>Pepper<\/jats:italic> improved attitudes towards robots. Our findings require future studies with larger samples and improved procedures. They have implications for robot design in all domains involving tactile interactions, such as caring and intimacy.<\/jats:p>","DOI":"10.1007\/s12369-021-00749-x","type":"journal-article","created":{"date-parts":[[2021,2,14]],"date-time":"2021-02-14T13:42:49Z","timestamp":1613310169000},"page":"1657-1677","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":16,"title":["Tactile Interaction with a Humanoid Robot: Effects on Physiology and Subjective Impressions"],"prefix":"10.1007","volume":"13","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-3489-2900","authenticated-orcid":false,"given":"Yuefang","family":"Zhou","sequence":"first","affiliation":[]},{"given":"Tristan","family":"Kornher","sequence":"additional","affiliation":[]},{"given":"Janett","family":"Mohnke","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3818-7272","authenticated-orcid":false,"given":"Martin H.","family":"Fischer","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2021,2,13]]},"reference":[{"key":"749_CR1","doi-asserted-by":"publisher","first-page":"603","DOI":"10.1037\/a0023164","volume":"11","author":"B App","year":"2011","unstructured":"App B, McIntosh DN, Reed CL, Hertenstein MJ (2011) Nonverbal channel use in communication of emotion: how may depend on why. Emotion 11:603\u2013617. https:\/\/doi.org\/10.1037\/a0023164","journal-title":"Emotion"},{"key":"749_CR2","doi-asserted-by":"publisher","first-page":"196","DOI":"10.1109\/TOH.2012.16","volume":"5","author":"G Avraham","year":"2012","unstructured":"Avraham G, Nisky I, Fernandes HL, Acuna DE, Kording KP, Loeb GE, Karniel A (2012) Toward perceiving robots as humans: three handshake models face the Turing-like handshake test. IEEE Trans Haptics 5:196\u2013207. https:\/\/doi.org\/10.1109\/TOH.2012.16","journal-title":"IEEE Trans Haptics"},{"key":"749_CR3","doi-asserted-by":"publisher","first-page":"5","DOI":"10.1007\/s11042-007-0171-2","volume":"37","author":"JN Bailenson","year":"2008","unstructured":"Bailenson JN, Yee N (2008) Virtual interpersonal touch: Haptic interaction and copresence in collaborative virtual environments. Multimed Tools Appl 37:5\u201314. https:\/\/doi.org\/10.1007\/s11042-007-0171-2","journal-title":"Multimed Tools Appl"},{"key":"749_CR4","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4614-1126-0","volume-title":"Electrodermal activity","author":"W Boucsein","year":"2012","unstructured":"Boucsein W (2012) Electrodermal activity, 2nd edn. Springer, Boston. https:\/\/doi.org\/10.1007\/978-1-4614-1126-0","edition":"2"},{"key":"749_CR5","doi-asserted-by":"publisher","first-page":"167","DOI":"10.1016\/S0921-8890(02)00373-1","volume":"42","author":"C Breazeal","year":"2003","unstructured":"Breazeal C (2003) Toward sociable robots. Robot Auton Syst 42:167\u2013175. https:\/\/doi.org\/10.1016\/S0921-8890(02)00373-1","journal-title":"Robot Auton Syst"},{"key":"749_CR6","doi-asserted-by":"publisher","first-page":"256","DOI":"10.1177\/089801010101900306","volume":"19","author":"E Bush","year":"2001","unstructured":"Bush E (2001) The use of human touch to improve the well-being of older adults: A holistic nursing intervention. J Holist Nurs 19:256\u2013270. https:\/\/doi.org\/10.1177\/089801010101900306","journal-title":"J Holist Nurs"},{"key":"749_CR7","doi-asserted-by":"publisher","first-page":"237","DOI":"10.1080\/15534510.2012.719479","volume":"8","author":"J Camps","year":"2013","unstructured":"Camps J, Tuteleers C, Stouten J, Nelissen J (2013) A situational touch: How touch affects people\u2019s decision behavior. Soc Influ 8:237\u2013250. https:\/\/doi.org\/10.1080\/15534510.2012.719479","journal-title":"Soc Influ"},{"key":"749_CR8","doi-asserted-by":"publisher","first-page":"820","DOI":"10.1046\/j.1365-2648.2001.01721.x","volume":"33","author":"SO Chang","year":"2001","unstructured":"Chang SO (2001) The conceptual structure of physical touch in caring. J Adv Nurs 33:820\u2013827. https:\/\/doi.org\/10.1046\/j.1365-2648.2001.01721.x","journal-title":"J Adv Nurs"},{"key":"749_CR9","doi-asserted-by":"publisher","first-page":"141","DOI":"10.1007\/s12369-013-0215-x","volume":"6","author":"TL Chen","year":"2014","unstructured":"Chen TL, King C-HA, Thomaz AL, Kemp CC (2014) An investigation of responses to robot-initiated touch in a nursing context. Int J of Soc Robot 6:141\u2013161. https:\/\/doi.org\/10.1007\/s12369-013-0215-x","journal-title":"Int J of Soc Robot"},{"key":"749_CR10","doi-asserted-by":"publisher","first-page":"1032","DOI":"10.1111\/j.1467-9280.2006.01832.x","volume":"17","author":"JA Coan","year":"2006","unstructured":"Coan JA, Schaefer HS, Davidson RJ (2006) Lending a hand: Social regulation of the neural response to threat. Psychol Sci 17:1032\u20131039. https:\/\/doi.org\/10.1111\/j.1467-9280.2006.01832.x","journal-title":"Psychol Sci"},{"key":"749_CR11","doi-asserted-by":"publisher","DOI":"10.4324\/9781315802411","volume-title":"Emotional expression","author":"G Collier","year":"1985","unstructured":"Collier G (1985) Emotional expression. Psychology Press, New York. https:\/\/doi.org\/10.4324\/9781315802411"},{"key":"749_CR12","doi-asserted-by":"publisher","first-page":"437","DOI":"10.1002\/cav.317","volume":"20","author":"H Cramer","year":"2009","unstructured":"Cramer H, Kemper N, Amin A, Wielinga B, Evers V (2009) \u2018Give me a hug\u2019: the effects of touch and autonomy on people\u2019s responses to embodied social agents. Comp Anim Virtual Worlds 20:437\u2013445. https:\/\/doi.org\/10.1002\/cav.317","journal-title":"Comp Anim Virtual Worlds"},{"key":"749_CR13","doi-asserted-by":"publisher","first-page":"463","DOI":"10.1080\/10350330.2011.591993","volume":"21","author":"A Cranny-Francis","year":"2011","unstructured":"Cranny-Francis A (2011) Semefulness: a social semiotics of touch. Soc Semiot 21:463\u2013481. https:\/\/doi.org\/10.1080\/10350330.2011.591993","journal-title":"Soc Semiot"},{"key":"749_CR14","doi-asserted-by":"publisher","DOI":"10.1098\/rstb.2018.0024","author":"ES Cross","year":"2019","unstructured":"Cross ES, Hortensius R, Wykowska A (2019) From social brains to social robots: applying neurocognitive insights to human\u2013robot interaction. Phil Trans R Soc B. https:\/\/doi.org\/10.1098\/rstb.2018.0024","journal-title":"Phil Trans R Soc B"},{"key":"749_CR15","doi-asserted-by":"publisher","first-page":"512","DOI":"10.1177\/0146167284104003","volume":"10","author":"AH Crusco","year":"1984","unstructured":"Crusco AH, Wetzel CG (1984) The Midas touch: The effects of interpersonal touch on restaurant tipping. Pers Soc Psychol Bull 10:512\u2013517. https:\/\/doi.org\/10.1177\/0146167284104003","journal-title":"Pers Soc Psychol Bull"},{"key":"749_CR16","doi-asserted-by":"publisher","first-page":"111","DOI":"10.1037\/a0022619","volume":"4","author":"ME Dawson","year":"2011","unstructured":"Dawson ME, Schell AM, Courtney CG (2011) The skin conductance response, anticipation, and decision-making. J Neurosci Psychol Econ 4:111\u2013116. https:\/\/doi.org\/10.1037\/a0022619","journal-title":"J Neurosci Psychol Econ"},{"key":"749_CR17","first-page":"159","volume-title":"Handbook of psychophysiology","author":"ME Dawson","year":"2007","unstructured":"Dawson ME, Schell AM, Filion DL (2007) The electrodermal system. In: Cacioppo JT, Tassinary LG, Berntson G (eds) Handbook of psychophysiology, 3rd edn. Cambridge University Press, New York, pp 159\u2013181","edition":"3"},{"key":"749_CR18","doi-asserted-by":"publisher","first-page":"565","DOI":"10.1016\/j.psyneuen.2007.03.011","volume":"32","author":"B Ditzen","year":"2007","unstructured":"Ditzen B, Neumann ID, Bodenmann G, von Dawans B, Turner RA, Ehlert U, Heinrichs M (2007) Effects of different kinds of couple interaction on cortisol and heart rate responses to stress in women. Psychoneuroendocrinology 32:565\u2013574. https:\/\/doi.org\/10.1016\/j.psyneuen.2007.03.011","journal-title":"Psychoneuroendocrinology"},{"key":"749_CR19","doi-asserted-by":"publisher","first-page":"383","DOI":"10.1080\/01463379309369899","volume":"41","author":"DJ Dolin","year":"1993","unstructured":"Dolin DJ, Booth-Butterfield M (1993) Reach out and touch someone: analysis of nonverbal comforting responses. Commun Q 41:383\u2013393. https:\/\/doi.org\/10.1080\/01463379309369899","journal-title":"Commun Q"},{"key":"749_CR20","doi-asserted-by":"crossref","unstructured":"Dougherty EG, Scharfe H (2011) Initial formation of trust: designing an interaction with Geminoid-DK to promote a positive attitude for cooperation. In: International conference on social robotics. Springer, pp 95\u2013103","DOI":"10.1007\/978-3-642-25504-5_10"},{"key":"749_CR21","doi-asserted-by":"publisher","first-page":"96","DOI":"10.1111\/j.1469-8986.1985.tb01565.x","volume":"22","author":"VM Drescher","year":"1985","unstructured":"Drescher VM, Whitehead WE, Morrill-Corbin ED, Cataldo MF (1985) Physiological and subjective reactions to being touched. Psychophysiology 22:96\u2013100. https:\/\/doi.org\/10.1111\/j.1469-8986.1985.tb01565.x","journal-title":"Psychophysiology"},{"key":"749_CR22","doi-asserted-by":"publisher","unstructured":"van Erp JBF, Toet A (2013) How to touch humans: guidelines for social agents and robots that can touch. In: 2013 humaine association conference on affective computing and intelligent interaction, pp 780\u2013785. https:\/\/doi.org\/10.1109\/ACII.2013.145","DOI":"10.1109\/ACII.2013.145"},{"key":"749_CR23","doi-asserted-by":"publisher","DOI":"10.3389\/fdigh.2015.00002","author":"JBF van Erp","year":"2015","unstructured":"van Erp JBF, Toet A (2015) Social touch in human-computer interaction. Front Digit Humanit. https:\/\/doi.org\/10.3389\/fdigh.2015.00002","journal-title":"Front Digit Humanit"},{"key":"749_CR24","doi-asserted-by":"publisher","first-page":"1149","DOI":"10.3758\/BRM.41.4.1149","volume":"41","author":"F Faul","year":"2009","unstructured":"Faul F, Erdfelder E, Buchner A, Lang A-G (2009) Statistical power analyses using G*Power 3.1: tests for correlation and regression analyses. Behav Res Methods 41:1149\u20131160. https:\/\/doi.org\/10.3758\/BRM.41.4.1149","journal-title":"Behav Res Methods"},{"key":"749_CR25","doi-asserted-by":"publisher","DOI":"10.7551\/mitpress\/6845.001.0001","volume-title":"Touch","author":"T Field","year":"2001","unstructured":"Field T (2001) Touch. MIT Press, Cambridge"},{"key":"749_CR26","doi-asserted-by":"publisher","first-page":"367","DOI":"10.1016\/j.dr.2011.01.001","volume":"30","author":"T Field","year":"2010","unstructured":"Field T (2010) Touch for socioemotional and physical well-being: a review. Dev Rev 30:367\u2013383. https:\/\/doi.org\/10.1016\/j.dr.2011.01.001","journal-title":"Dev Rev"},{"key":"749_CR27","doi-asserted-by":"publisher","unstructured":"Fukuda H, Shiomi M, Nakagawa K, Ueda K (2012) \u2018Midas touch\u2019 in human\u2013robot interaction: Evidence from event-related potentials during the ultimatum game. In: Proceedings of the seventh annual ACM\/IEEE international conference on Human\u2013Robot Interaction (HRI \u201912), ACM, pp 131\u2013132. https:\/\/doi.org\/10.1145\/2157689.2157720","DOI":"10.1145\/2157689.2157720"},{"key":"749_CR28","doi-asserted-by":"publisher","first-page":"246","DOI":"10.1016\/j.neubiorev.2008.10.004","volume":"34","author":"A Gallace","year":"2010","unstructured":"Gallace A, Spence C (2010) The science of interpersonal touch: An overview. Neurosci Biobehav Rev 34:246\u2013259. https:\/\/doi.org\/10.1016\/j.neubiorev.2008.10.004","journal-title":"Neurosci Biobehav Rev"},{"key":"749_CR29","volume-title":"Cognitive neuroscience: the biology of the mind","author":"MS Gazzaniga","year":"2013","unstructured":"Gazzaniga MS, Ivry RB, Mangun GR (2013) Cognitive neuroscience: the biology of the mind, 4th edn. W.W. Norton, New York","edition":"4"},{"key":"749_CR30","doi-asserted-by":"publisher","first-page":"1850","DOI":"10.1017\/S0263574719000304","volume":"37","author":"F Goengoer","year":"2019","unstructured":"Goengoer F, Tutoy O (2019) Design and implementation of a facial character analysis algorithm for humanoid robots. Robotica 37:1850\u20131866. https:\/\/doi.org\/10.1017\/S0263574719000304","journal-title":"Robotica"},{"key":"749_CR31","doi-asserted-by":"publisher","unstructured":"Gonsior B, Sosnowski S, Bu\u00df M, Wollherr D, K\u00fchnlenz K (2012) An emotional adaption approach to increase helpfulness towards a robot. In: 2012 IEEE\/RSJ international conference on intelligent robots and systems, pp 2429\u20132436. https:\/\/doi.org\/10.1109\/IROS.2012.6385941","DOI":"10.1109\/IROS.2012.6385941"},{"key":"749_CR32","doi-asserted-by":"publisher","first-page":"123","DOI":"10.1080\/08964280309596065","volume":"29","author":"KM Grewen","year":"2003","unstructured":"Grewen KM, Anderson BJ, Girdler SS, Light KC (2003) Warm partner contact is related to lower cardiovascular reactivity. Behav Med 29:123\u2013130. https:\/\/doi.org\/10.1080\/08964280309596065","journal-title":"Behav Med"},{"key":"749_CR33","doi-asserted-by":"publisher","first-page":"355","DOI":"10.2466\/pms.2002.95.2.355","volume":"95","author":"N Gu\u00e9guen","year":"2002","unstructured":"Gu\u00e9guen N (2002) Touch, awareness of touch, and compliance with a request. Percept Mot Skills 95:355\u2013360. https:\/\/doi.org\/10.2466\/pms.2002.95.2.355","journal-title":"Percept Mot Skills"},{"key":"749_CR34","doi-asserted-by":"publisher","first-page":"673","DOI":"10.1037\/h0047884","volume":"13","author":"HF Harlow","year":"1958","unstructured":"Harlow HF (1958) The nature of love. Am Psychol 13:673\u2013685. https:\/\/doi.org\/10.1037\/h0047884","journal-title":"Am Psychol"},{"key":"749_CR35","doi-asserted-by":"publisher","first-page":"53","DOI":"10.3109\/10253890.2015.1117449","volume":"19","author":"MM Havranek","year":"2016","unstructured":"Havranek MM, Bolliger B, Roos S, Pryce CR, Quednow BB, Seifritz E (2016) Uncontrollable and unpredictable stress interacts with subclinical depression and anxiety scores in determining anxiety response. Stress 19:53\u201362. https:\/\/doi.org\/10.3109\/10253890.2015.1117449","journal-title":"Stress"},{"key":"749_CR36","doi-asserted-by":"publisher","first-page":"1389","DOI":"10.1016\/S0006-3223(03)00465-7","volume":"54","author":"M Heinrichs","year":"2003","unstructured":"Heinrichs M, Baumgartner T, Kirschbaum C, Ehlert U (2003) Social support and oxytocin interact to suppress cortisol and subjective responses to psychosocial stress. Biol Psychiat 54:1389\u20131398. https:\/\/doi.org\/10.1016\/S0006-3223(03)00465-7","journal-title":"Biol Psychiat"},{"key":"749_CR37","doi-asserted-by":"publisher","first-page":"244","DOI":"10.1016\/j.ctcp.2008.03.003","volume":"14","author":"M Henricson","year":"2008","unstructured":"Henricson M, Ersson A, M\u00e4\u00e4tt\u00e4 S, Segesten K, Berglund AL (2008) The outcome of tactile touch on stress parameters in intensive care: a randomized controlled trial. Complement Ther Clin Pract 14:244\u2013254. https:\/\/doi.org\/10.1016\/j.ctcp.2008.03.003","journal-title":"Complement Ther Clin Pract"},{"key":"749_CR38","doi-asserted-by":"publisher","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 9:566\u2013573. https:\/\/doi.org\/10.1037\/a0016108","journal-title":"Emotion"},{"key":"749_CR39","doi-asserted-by":"publisher","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 6:528\u2013533. https:\/\/doi.org\/10.1037\/1528-3542.6.3.528","journal-title":"Emotion"},{"key":"749_CR40","doi-asserted-by":"publisher","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 132:5\u201394. https:\/\/doi.org\/10.3200\/MONO.132.1.5-94","journal-title":"Genet Soc Gen Psychol Monogr"},{"key":"749_CR41","doi-asserted-by":"publisher","first-page":"151","DOI":"10.1207\/s15327051hci1901&2_7","volume":"19","author":"PJ Hinds","year":"2004","unstructured":"Hinds PJ, Roberts TL, Jones H (2004) Whose job is it anyway? A study of human\u2013robot interaction in a collaborative task. Hum Comput Interact 19:151\u2013181","journal-title":"Hum Comput Interact"},{"key":"749_CR42","doi-asserted-by":"publisher","first-page":"21","DOI":"10.1007\/s12369-017-0425-8","volume":"10","author":"T Hirano","year":"2018","unstructured":"Hirano T, Shiomi M, Iio T, Kimoto M, Tanev I, Shimohara K, Hagita N (2018) How do communication cues change impressions of human\u2013robot touch interaction? Int J of Soc Robotics 10:21\u201331. https:\/\/doi.org\/10.1007\/s12369-017-0425-8","journal-title":"Int J of Soc Robotics"},{"key":"749_CR43","doi-asserted-by":"publisher","first-page":"8","DOI":"10.1111\/j.1469-8986.1966.tb02673.x","volume":"3","author":"LC Johnson","year":"1966","unstructured":"Johnson LC, Lubin A (1966) Spontaneous electrodermal activity during waking and sleeping. Psychophysiology 3:8\u201317. https:\/\/doi.org\/10.1111\/j.1469-8986.1966.tb02673.x","journal-title":"Psychophysiology"},{"key":"749_CR44","doi-asserted-by":"publisher","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 52:19\u201356. https:\/\/doi.org\/10.1080\/03637758509376094","journal-title":"Commun Monogr"},{"key":"749_CR45","doi-asserted-by":"publisher","first-page":"581","DOI":"10.2466\/pms.104.2.581-588","volume":"104","author":"R-V Joule","year":"2007","unstructured":"Joule R-V, Gu\u00e9guen N (2007) Touch, compliance, and awareness of tactile contact. Percept Mot Skills 104:581\u2013588. https:\/\/doi.org\/10.2466\/pms.104.2.581-588","journal-title":"Percept Mot Skills"},{"key":"749_CR46","doi-asserted-by":"publisher","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. https:\/\/doi.org\/10.1111\/j.2044-8260.1966.tb00978.x","journal-title":"Br J Soc Clin Psychol"},{"key":"749_CR47","unstructured":"Jung Y, Lee KM (2004) Effects of physical embodiment on social presence of social robots. In: 7th annual international workshop on presence (PRESENCE 2004), pp 80\u201387"},{"key":"749_CR48","doi-asserted-by":"publisher","DOI":"10.3389\/fnhum.2015.00164","author":"H Kawamichi","year":"2015","unstructured":"Kawamichi H, Kitada R, Yoshihara K, Takahashi HK, Sadato N (2015) Interpersonal touch suppresses visual processing of aversive stimuli. Front Hum Neurosci. https:\/\/doi.org\/10.3389\/fnhum.2015.00164","journal-title":"Front Hum Neurosci"},{"key":"749_CR49","doi-asserted-by":"publisher","first-page":"372","DOI":"10.1037\/0003-066X.50.5.372","volume":"50","author":"PJ Lang","year":"1995","unstructured":"Lang PJ (1995) The emotion probe: Studies of motivation and attention. Am Psychol 50:372\u2013385. https:\/\/doi.org\/10.1037\/0003-066X.50.5.372","journal-title":"Am Psychol"},{"key":"749_CR50","doi-asserted-by":"publisher","first-page":"27","DOI":"10.1111\/j.1468-2885.2004.tb00302.x","volume":"14","author":"KM Lee","year":"2004","unstructured":"Lee KM (2004) Presence, explicated. Commun Theory 14:27\u201350. https:\/\/doi.org\/10.1111\/j.1468-2885.2004.tb00302.x","journal-title":"Commun Theory"},{"key":"749_CR51","doi-asserted-by":"publisher","first-page":"962","DOI":"10.1016\/j.ijhcs.2006.05.002","volume":"64","author":"KM Lee","year":"2006","unstructured":"Lee KM, Jung Y, Kim J, Kim SR (2006) Are physically embodied social agents better than disembodied social agents? The effects of physical embodiment, tactile interaction, and people\u2019s loneliness in human\u2013robot interaction. Int J Hum Comput Stud 64:962\u2013973. https:\/\/doi.org\/10.1016\/j.ijhcs.2006.05.002","journal-title":"Int J Hum Comput Stud"},{"key":"749_CR52","volume-title":"Love and sex with robots: The evolution of human-robot relations","author":"D Levy","year":"2007","unstructured":"Levy D (2007) Love and sex with robots: The evolution of human-robot relations. HarperCollins, New York"},{"key":"749_CR53","doi-asserted-by":"publisher","first-page":"118","DOI":"10.5898\/JHRI.6.3.Li","volume":"6","author":"JJ Li","year":"2017","unstructured":"Li JJ, Ju W, Reeves B (2017) Touching a mechanical body: tactile contact with body parts of a humanoid robot is physiologically arousing. JHRI 6:118\u2013130","journal-title":"JHRI"},{"key":"749_CR54","volume-title":"Touch: the science of hand, heart and mind","author":"DJ Linden","year":"2015","unstructured":"Linden DJ (2015) Touch: the science of hand, heart and mind. Penguin Books, London"},{"key":"749_CR55","doi-asserted-by":"publisher","first-page":"173","DOI":"10.1016\/j.cortex.2020.01.008","volume":"126","author":"O Maddaluno","year":"2020","unstructured":"Maddaluno O, Guidali G, Zazio A, Miniussi C, Bolognini N (2020) Touch anticipation mediates cross-modal Hebbian plasticity in the primary somatosensory cortex. Cortex 126:173\u2013181. https:\/\/doi.org\/10.1016\/j.cortex.2020.01.008","journal-title":"Cortex"},{"key":"749_CR56","doi-asserted-by":"publisher","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 6:148\u2013162. https:\/\/doi.org\/10.1007\/BF00987064","journal-title":"J Nonverbal Behav"},{"key":"749_CR57","doi-asserted-by":"publisher","DOI":"10.3389\/fpsyg.2019.00450","author":"S Marchesi","year":"2019","unstructured":"Marchesi S, Ghiglino D, Ciardo F, Baykara E, Wykowska A (2019) Do we adopt the intentional stance toward humanoid robots? Front Psychol. https:\/\/doi.org\/10.3389\/fpsyg.2019.00450","journal-title":"Front Psychol"},{"key":"749_CR58","doi-asserted-by":"publisher","first-page":"18","DOI":"10.1113\/jphysiol.1951.sp004552","volume":"113","author":"RA McCance","year":"1951","unstructured":"McCance RA, Otley M (1951) Course of the blood urea in newborn rats, pigs and kittens. J Physiol 113:18\u201322. https:\/\/doi.org\/10.1113\/jphysiol.1951.sp004552","journal-title":"J Physiol"},{"key":"749_CR59","doi-asserted-by":"publisher","first-page":"305","DOI":"10.1007\/s00221-009-2007-y","volume":"204","author":"I Morrison","year":"2010","unstructured":"Morrison I, L\u00f6ken LS, Olausson H (2010) The skin as a social organ. Exp Brain Res 204:305\u2013314. https:\/\/doi.org\/10.1007\/s00221-009-2007-y","journal-title":"Exp Brain Res"},{"key":"749_CR60","doi-asserted-by":"publisher","first-page":"766","DOI":"10.1016\/j.jamda.2017.03.018","volume":"18","author":"W Moyle","year":"2017","unstructured":"Moyle W, Jones CJ, Murfield JE, Thalib L, Beattie ER, Shum DK, O\u2019Dwyer ST, Mervin MC, Draper BM (2017) Use of a robotic seal as a therapeutic tool to improve dementia symptoms: a cluster-randomized controlled trial. J Am Med Dir Assoc 18:766\u2013773. https:\/\/doi.org\/10.1016\/j.jamda.2017.03.018","journal-title":"J Am Med Dir Assoc"},{"key":"749_CR61","doi-asserted-by":"publisher","unstructured":"Mukai T, Hirano S, Nakashima H, Kato Y, Sakaida Y, Guo S, Hosoe S (2010) Development of a nursing-care assistant robot RIBA that can lift a human in its arms. In: 2010 IEEE\/RSJ international conference on intelligent robots and systems, pp 5996\u20136001. https:\/\/doi.org\/10.1109\/IROS.2010.5651735","DOI":"10.1109\/IROS.2010.5651735"},{"key":"749_CR62","doi-asserted-by":"publisher","unstructured":"Nakagawa K, Shiomi M, Shinozawa K, Matsumura R, Ishiguro H, Hagita N (2011) Effect of robot\u2019s active touch on people\u2019s motivation. In: Proceedings of the 6th international conference on human-robot interaction (HRI \u201911), ACM, pp 465\u2013472. https:\/\/doi.org\/10.1145\/1957656.1957819","DOI":"10.1145\/1957656.1957819"},{"key":"749_CR63","doi-asserted-by":"publisher","first-page":"138","DOI":"10.1007\/s00146-005-0012-7","volume":"20","author":"T Nomura","year":"2006","unstructured":"Nomura T, Kanda T, Suzuki T (2006) Experimental investigation into influence of negative attitudes toward robots on human\u2013robot interaction. AI & oc 20:138\u2013150. https:\/\/doi.org\/10.1007\/s00146-005-0012-7","journal-title":"AI & oc"},{"key":"749_CR64","doi-asserted-by":"publisher","unstructured":"Nomura T, Kanda T, Suzuki T, Kato K (2004) Psychology in human-robot communication: An attempt through investigation of negative attitudes and anxiety toward robots. In: RO-MAN 2004. 13th IEEE international workshop on robot and human interactive communication (IEEE catalog no.04TH8759), IEEE, pp 35\u201340. https:\/\/doi.org\/10.1109\/ROMAN.2004.1374726","DOI":"10.1109\/ROMAN.2004.1374726"},{"key":"749_CR65","doi-asserted-by":"publisher","first-page":"442","DOI":"10.1109\/TRO.2007.914004","volume":"24","author":"T Nomura","year":"2008","unstructured":"Nomura T, Kanda T, Suzuki T, Kato K (2008) Prediction of human behavior in human\u2013robot interaction using psychological scales for anxiety and negative attitudes toward robots. IEEE Trans Robot 24:442\u2013451. https:\/\/doi.org\/10.1109\/TRO.2007.914004","journal-title":"IEEE Trans Robot"},{"key":"749_CR66","doi-asserted-by":"publisher","unstructured":"Nomura T, Suzuki T, Kanda T, Kato K (2006) Measurement of negative attitudes toward robots. IS 7:437\u2013454. https:\/\/doi.org\/10.1075\/is.7.3.14nom","DOI":"10.1075\/is.7.3.14nom"},{"key":"749_CR67","doi-asserted-by":"publisher","first-page":"646","DOI":"10.1073\/pnas.1321664111","volume":"111","author":"L Nummenmaa","year":"2014","unstructured":"Nummenmaa L, Glerean E, Hari R, Hietanen JK (2014) Bodily maps of emotions. Proc Natl Acad Sci 111:646\u2013651. https:\/\/doi.org\/10.1073\/pnas.1321664111","journal-title":"Proc Natl Acad Sci"},{"key":"749_CR68","doi-asserted-by":"publisher","first-page":"27","DOI":"10.1111\/ajag.12099","volume":"34","author":"H Robinson","year":"2015","unstructured":"Robinson H, MacDonald B, Broadbent E (2015) Physiological effects of a companion robot on blood pressure of older people in residential care facility: a pilot study. Aust J Ageing 34:27\u201332. https:\/\/doi.org\/10.1111\/ajag.12099","journal-title":"Aust J Ageing"},{"key":"749_CR69","doi-asserted-by":"publisher","first-page":"661","DOI":"10.1016\/j.jamda.2013.02.007","volume":"14","author":"H Robinson","year":"2013","unstructured":"Robinson H, MacDonald B, Kerse N, Broadbent E (2013) The psychosocial effects of a companion robot: a randomized controlled trial. J Am Med Dir Assoc 14:661\u2013667. https:\/\/doi.org\/10.1016\/j.jamda.2013.02.007","journal-title":"J Am Med Dir Assoc"},{"key":"749_CR70","doi-asserted-by":"publisher","first-page":"496","DOI":"10.1007\/978-3-642-34103-8_50","volume-title":"Social robotics","author":"S Schneider","year":"2012","unstructured":"Schneider S, Berger I, Riether N, Wrede S, Wrede B (2012) Effects of different robot interaction strategies during cognitive tasks. In: Ge SS, Khatib O, Cabibihan JJ, Simmons R, Williams MA (eds) Social robotics. Springer, Berlin, pp 496\u2013505. https:\/\/doi.org\/10.1007\/978-3-642-34103-8_50"},{"key":"749_CR71","doi-asserted-by":"publisher","first-page":"108","DOI":"10.1109\/TAFFC.2015.2457893","volume":"7","author":"YS Sefidgar","year":"2016","unstructured":"Sefidgar YS, MacLean KE, Yohanan S, Van der Loos HM, Croft EA, Garland EJ (2016) Design and evaluation of a touch-centered calming interaction with a social robot. IEEE Trans Affect Comput 7:108\u2013121. https:\/\/doi.org\/10.1109\/TAFFC.2015.2457893","journal-title":"IEEE Trans Affect Comput"},{"key":"749_CR72","doi-asserted-by":"publisher","first-page":"5","DOI":"10.1007\/s12369-016-0339-x","volume":"9","author":"M Shiomi","year":"2017","unstructured":"Shiomi M, Nakagawa K, Shinozawa K, Matsumura R, Ishiguro H, Hagita N (2017) Does a robot\u2019s touch encourage human effort? Int J of Soc Robot 9:5\u201315. https:\/\/doi.org\/10.1007\/s12369-016-0339-x","journal-title":"Int J of Soc Robot"},{"key":"749_CR73","doi-asserted-by":"publisher","first-page":"1017","DOI":"10.1111\/j.1469-8986.2012.01384.x","volume":"49","author":"Society for Psychophysiological Research Ad Hoc Committee on Electrodermal Measures","year":"2012","unstructured":"Society for Psychophysiological Research Ad Hoc Committee on Electrodermal Measures (2012) Publication recommendations for electrodermal measurements: publication standards for EDA. Psychophysiology 49:1017\u20131034. https:\/\/doi.org\/10.1111\/j.1469-8986.2012.01384.x","journal-title":"Psychophysiology"},{"key":"749_CR74","doi-asserted-by":"publisher","first-page":"440","DOI":"10.1037\/0022-3514.47.2.440","volume":"47","author":"DS Stier","year":"1984","unstructured":"Stier DS, Hall JA (1984) Gender differences in touch: An empirical and theoretical review. J Pers Soc Psychol 47:440\u2013459. https:\/\/doi.org\/10.1037\/0022-3514.47.2.440","journal-title":"J Pers Soc Psychol"},{"key":"749_CR75","doi-asserted-by":"publisher","first-page":"153","DOI":"10.5057\/E081120-ISES06","volume":"8","author":"H-J Suk","year":"2009","unstructured":"Suk H-J, Jeong S-H, Yang T-H, Kwon D-S (2009) Tactile sensation as emotion elicitor. KANSEI Eng Int 8:153\u2013158. https:\/\/doi.org\/10.5057\/E081120-ISES06","journal-title":"KANSEI Eng Int"},{"key":"749_CR76","doi-asserted-by":"publisher","DOI":"10.1007\/s10055-019-00423-8","author":"J \u015awidrak","year":"2020","unstructured":"\u015awidrak J, Pochwatko G, Navarro X, Os\u0119ka L, Doli\u0144ski D (2020) The joint influence of social status and personal attitudes in a contact and open versus a noncontact and homophobic culture on the virtual Midas touch. Virtual Real. https:\/\/doi.org\/10.1007\/s10055-019-00423-8","journal-title":"Virtual Real"},{"key":"749_CR77","unstructured":"Syrdal DS, Dautenhahn K, Koay KL, Walters ML (2009) The negative attitudes towards robots scale and reactions to robot behaviour in a live human-robot interaction study. In: Adaptive and emergent behaviour and complex systems: proceedings of the 23rd convention of the society for the study of Artificial Intelligence and Simulation Of Behaviour (AISB 2009), pp 109\u2013115"},{"key":"749_CR78","doi-asserted-by":"publisher","first-page":"17954","DOI":"10.1073\/pnas.0707769104","volume":"104","author":"F Tanaka","year":"2007","unstructured":"Tanaka F, Cicourel A, Movellan JR (2007) Socialization between toddlers and robots at an early childhood education center. Proc Natl Acad Sci 104:17954\u201317958. https:\/\/doi.org\/10.1073\/pnas.0707769104","journal-title":"Proc Natl Acad Sci"},{"key":"749_CR79","doi-asserted-by":"publisher","first-page":"1","DOI":"10.32398\/cjhp.v6i1.1289","volume":"6","author":"M Tomita","year":"2008","unstructured":"Tomita M (2008) Exploratory study of touch zones in college students on two campuses. Calif J Health Prom 6:1\u201322. https:\/\/doi.org\/10.32398\/cjhp.v6i1.1289","journal-title":"Calif J Health Prom"},{"key":"749_CR80","volume-title":"World robotics 2005","author":"United Nations Economic Commission for Europe, International Federation of Robotics","year":"2005","unstructured":"United Nations Economic Commission for Europe, International Federation of Robotics (2005) World robotics 2005. UN, New York"},{"key":"749_CR81","doi-asserted-by":"publisher","first-page":"301","DOI":"10.1016\/0006-8993(93)90968-S","volume":"628","author":"\u00c5 Vallbo","year":"1993","unstructured":"Vallbo \u00c5, Olausson H, Wessberg J, Norrsell U (1993) A system of unmyelinated afferents for innocuous mechanoreception in the human skin. Brain Res 628:301\u2013304. https:\/\/doi.org\/10.1016\/0006-8993(93)90968-S","journal-title":"Brain Res"},{"issue":"3","key":"749_CR82","doi-asserted-by":"publisher","first-page":"390","DOI":"10.1075\/is.17.3.04vla","volume":"17","author":"E Vlachos","year":"2016","unstructured":"Vlachos E, Jochum E, Demers LP (2016) The effects of exposure to different social robots on attitudes toward preferences. Interact Stud 17(3):390\u2013404","journal-title":"Interact Stud"},{"key":"749_CR83","doi-asserted-by":"publisher","first-page":"462","DOI":"10.1111\/1469-8986.3540462","volume":"35","author":"SR Vrana","year":"1998","unstructured":"Vrana SR, Rollock D (1998) Physiological response to a minimal social encounter: Effects of gender, ethnicity, and social context. Psychophysiology 35:462\u2013469. https:\/\/doi.org\/10.1111\/1469-8986.3540462","journal-title":"Psychophysiology"},{"key":"749_CR84","doi-asserted-by":"publisher","unstructured":"Walker R, Bartneck C (2013) The pleasure of receiving a head massage from a robot. In: 2013 IEEE RO-MAN, pp 807\u2013813. https:\/\/doi.org\/10.1109\/ROMAN.2013.6628412","DOI":"10.1109\/ROMAN.2013.6628412"},{"key":"749_CR85","doi-asserted-by":"publisher","first-page":"87","DOI":"10.1037\/0022-3514.37.1.87","volume":"37","author":"SJ Whitcher","year":"1979","unstructured":"Whitcher SJ, Fisher JD (1979) Multidimensional reaction to therapeutic touch in a hospital setting. J Pers Soc Psychol 37:87\u201396. https:\/\/doi.org\/10.1037\/0022-3514.37.1.87","journal-title":"J Pers Soc Psychol"},{"key":"749_CR86","doi-asserted-by":"publisher","first-page":"181","DOI":"10.1016\/S0301-0511(01)00113-2","volume":"58","author":"FH Wilhelm","year":"2001","unstructured":"Wilhelm FH, Kochar AS, Roth WT, Gross JJ (2001) Social anxiety and response to touch: Incongruence between self-evaluative and physiological reactions. Biol Psychol 58:181\u2013202. https:\/\/doi.org\/10.1016\/S0301-0511(01)00113-2","journal-title":"Biol Psychol"},{"key":"749_CR87","doi-asserted-by":"publisher","first-page":"285","DOI":"10.1007\/s12369-018-0500-9","volume":"11","author":"CJAM Willemse","year":"2019","unstructured":"Willemse CJAM, van Erp JBF (2019) Social touch in human\u2013robot interaction: robot-initiated touches can induce positive responses without extensive prior bonding. Int J Soc Robot 11:285\u2013304. https:\/\/doi.org\/10.1007\/s12369-018-0500-9","journal-title":"Int J Soc Robot"},{"key":"749_CR88","doi-asserted-by":"publisher","DOI":"10.3389\/fict.2017.00012","author":"CJAM Willemse","year":"2017","unstructured":"Willemse CJAM, Toet A, van Erp JBF (2017) Affective and behavioral responses to robot-initiated social touch: toward understanding the opportunities and limitations of physical contact in human\u2013robot interaction. Front ICT. https:\/\/doi.org\/10.3389\/fict.2017.00012","journal-title":"Front ICT"},{"key":"749_CR89","doi-asserted-by":"publisher","DOI":"10.1098\/rstb.2015.0375","author":"A Wykowska","year":"2016","unstructured":"Wykowska A, Chaminade T, Cheng G (2016) Embodied artificial agents for understanding human social cognition. Philos Trans R Soc B. https:\/\/doi.org\/10.1098\/rstb.2015.0375","journal-title":"Philos Trans R Soc B"},{"key":"749_CR90","doi-asserted-by":"publisher","DOI":"10.2196\/resprot.4189","author":"R Yu","year":"2015","unstructured":"Yu R, Hui E, Lee J, Poon D, Ng A, Sit K, Ip K, Yeung F, Wong M, Shibata T, Woo J (2015) Use of a therapeutic, socially assistive pet robot (PARO) in improving mood and stimulating social interaction and communication for people with dementia: study protocol for a randomized controlled trial. JMIR Res Protoc. https:\/\/doi.org\/10.2196\/resprot.4189","journal-title":"JMIR Res Protoc"},{"key":"749_CR91","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-19734-6","volume-title":"AI love you: developments in human\u2013robot intimate relationships","author":"Y Zhou","year":"2019","unstructured":"Zhou Y, Fischer MH (2019) AI love you: developments in human\u2013robot intimate relationships. Springer, Cham"}],"container-title":["International Journal of Social Robotics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s12369-021-00749-x.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s12369-021-00749-x\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s12369-021-00749-x.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2021,11,11]],"date-time":"2021-11-11T12:36:30Z","timestamp":1636634190000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s12369-021-00749-x"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,2,13]]},"references-count":91,"journal-issue":{"issue":"7","published-print":{"date-parts":[[2021,11]]}},"alternative-id":["749"],"URL":"https:\/\/doi.org\/10.1007\/s12369-021-00749-x","relation":{},"ISSN":["1875-4791","1875-4805"],"issn-type":[{"value":"1875-4791","type":"print"},{"value":"1875-4805","type":"electronic"}],"subject":[],"published":{"date-parts":[[2021,2,13]]},"assertion":[{"value":"8 January 2021","order":1,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"13 February 2021","order":2,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Compliance with Ethical Standards"}},{"value":"The authors declare that they have no conflict of interest.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Conflict of interest"}}]}}