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These robots base their way of communicating on direct interaction (touch, listening, view), supported by a range of sensors on the surrounding environment that provide a radially central and partial knowledge on it. Over the past few years, social robots have been demonstrated to implement different features, going from biometric applications to the fusion of machine learning environmental information collected on the edge. This article aims at describing the experiences performed and still ongoing and characterizes a simulation environment developed for the social robot Pepper that aims to foresee the new scenarios and benefits that tactile connectivity will enable.<\/jats:p>","DOI":"10.1145\/3421507","type":"journal-article","created":{"date-parts":[[2021,6,16]],"date-time":"2021-06-16T14:51:35Z","timestamp":1623855095000},"page":"1-19","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":3,"title":["Waiting for Tactile: Robotic and Virtual Experiences in the Fog"],"prefix":"10.1145","volume":"21","author":[{"given":"Lucia","family":"Cascone","sequence":"first","affiliation":[{"name":"Department of Computer Science, University of Salerno, Fisciano (SA), Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0571-1074","authenticated-orcid":false,"given":"Aniello","family":"Castiglione","sequence":"additional","affiliation":[{"name":"DIST, University of Naples \u201cParthenope,\u201d, Naples, Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Michele","family":"Nappi","sequence":"additional","affiliation":[{"name":"Department of Computer Science, University of Salerno, Fisciano (SA), Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4879-7138","authenticated-orcid":false,"given":"Fabio","family":"Narducci","sequence":"additional","affiliation":[{"name":"Department of Computer Science, University of Salerno, Fisciano (SA), Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ignazio","family":"Passero","sequence":"additional","affiliation":[{"name":"Department of Computer Science, University of Salerno, Fisciano (SA), Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"320","published-online":{"date-parts":[[2021,6,16]]},"reference":[{"volume-title":"Proceedings of the 3rd International Conference on Inventive Systems and Control (ICISC\u201919)","author":"Akshatha N.","key":"e_1_2_1_1_1","unstructured":"N. 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