"Haru": Hardware Design of an Experimental Tabletop Robot Assistant

This paper discusses the design and development of an experimental tabletop robot called "Haru" based on Design Thinking methodology. Right from the very beginning of the design process, we have brought an interdisciplinary team that includes animators, performers and sketch artists to help create the first iteration of a distinctive anthropomorphic robot design based on a concept that leverages form factor with functionality. Its unassuming physical affordance is intended to keep human expectation grounded while its actual interactive potential stokes human interest. The meticulous combination of both subtle and pronounced mechanical movements together with its stunning visual displays, highlight its affective affordance. As a result, we have developed the first iteration of our tabletop robot rich in affective potential for use in different research fields involving long-term human-robot interaction.