Behavioral Analysis of a Touch-Based Interaction between Humans and an Egg-shaped Robot According to Protrusions

For a service robot, touch is one of the major interaction components. However, because many robot designs and touch sensor arrangements are designed by a company, actual user interactions do not match the implemented sensors in the robot. So it is necessary to investigate practical human touch patterns without advanced user knowledge of the robot's touch sensor. This study seeks to measure the influence of pointed and smooth-shaped protrusion types on touch interactions with an egg-shaped robot. Based on the results, a pointed protrusion creates distributed touch interaction while a smooth-shaped protrusion concentrates touch interaction.