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Hum.-Robot Interact."],"published-print":{"date-parts":[[2019,3,31]]},"abstract":"<jats:p>Blossom is an open-source social robotics platform responding to three challenges in human-robot interaction (HRI) research: (1) Designing, manufacturing, and programming social robots requires a high level of technical knowledge; (2) social robot designs are fixed in appearance and movement capabilities, making them hard to adapt to a specific application; and (3) the use of rigid mechanisms and hard outer shells limits the robots\u2019 expressive capabilities. Addressing these challenges, Blossom aims at three design objectives: accessibility, flexibility, and expressiveness. The robot\u2019s mechanism can be quickly assembled and partially extended by end-users. Blossom\u2019s appearance is open-ended through handcrafted fabric exteriors created and customized by users. Smooth organic movements are achieved with tensile mechanisms, elastic components, and a soft exterior cover attached loosely to the body. Blossom\u2019s smartphone-based gesture generation requires neither programming nor character animation experience, allowing lay users to create their own behaviors. All elements in the design were conceived with a low barrier-of-entry in mind. The result is an accessible and customizable social robot for researchers. 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