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In this study, we developed a robot named Moffuly-II, that hugs people and rubs their heads during a hug because head-touching behaviors are typical affective interactions between intimate persons. Moffuly-II is a large huggable teddy-bear type robot and it has enough capability to both hug and touch the head. We conducted an experiment with human participants and evaluated the effectiveness of combining intra-hug gestures (squeezing and rubbing) and the touch area (back and head). From experimental results, we identified the advantages of implementing rubbing gestures compared to squeezing gestures and some of the advantages of head-touching behaviors compared to back-touching behaviors.<\/jats:p>","DOI":"10.1007\/s12369-023-01070-5","type":"journal-article","created":{"date-parts":[[2023,12,5]],"date-time":"2023-12-05T15:01:40Z","timestamp":1701788500000},"page":"299-309","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":16,"title":["Moffuly-II: A Robot that Hugs and Rubs Heads"],"prefix":"10.1007","volume":"16","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-3645-9190","authenticated-orcid":false,"given":"Yuya","family":"Onishi","sequence":"first","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1511-9525","authenticated-orcid":false,"given":"Hidenobu","family":"Sumioka","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4338-801X","authenticated-orcid":false,"given":"Masahiro","family":"Shiomi","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2023,12,5]]},"reference":[{"issue":"4","key":"1070_CR1","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. 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