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What is Affective Touch Made Of? A Soft Capacitive Sensor Array Reveals the Interplay between Shear, Normal Stress and Individuality

Authors:

Devyani McLaren,

Rúbia Reis Guerra,

John David Wyndham Madden,

Karon E MacLeanAuthors Info & Claims

UIST '24: Proceedings of the 37th Annual ACM Symposium on User Interface Software and Technology

Article No.: 52, Pages 1 - 31

https://doi.org/10.1145/3654777.3676346

Published: 11 October 2024 Publication History

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UIST '24: Proceedings of the 37th Annual ACM Symposium on User Interface Software and Technology

What is Affective Touch Made Of? A Soft Capacitive Sensor Array Reveals the Interplay between Shear, Normal Stress and Individuality

Pages 1 - 31

Abstract
Supplemental Material
References

Abstract

Humans physically express emotion by modulating parameters that register on mammalian skin mechanoreceptors, but are unavailable in current touch-sensing technology. Greater sensory richness combined with data on affect-expression composition is a prerequisite to estimating affect from touch, with applications including physical human-robot interaction. To examine shear alongside more easily captured normal stresses, we tailored recent capacitive technology to attain performance suitable for affective touch, creating a flexible, reconfigurable and soft 36-taxel array that detects multitouch normal and 2-dimensional shear at ranges of 1.5kPa-43kPa and ± 0.3-3.8kPa respectively, wirelessly at 43Hz (1548 taxels/s). In a deep-learning classification of 9 gestures (N=16), inclusion of shear data improved accuracy to 88%, compared to 80% with normal stress data alone, confirming shear stress’s expressive centrality. Using this rich data, we analyse the interplay of sensed-touch features, gesture attributes and individual differences, propose affective-touch sensing requirements, and share technical considerations for performance and practicality.

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Cited By

Umesh TShetty YSeifi HJohal WLemaignan SBrščić DVázquez MCharisi V(2025)Evaluating Social Touch Gesture Recognition with a Skin-Like Soft SensorProceedings of the 2025 ACM/IEEE International Conference on Human-Robot Interaction10.5555/3721488.3721748(1700-1704)Online publication date: 4-Mar-2025
https://dl.acm.org/doi/10.5555/3721488.3721748

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What is Affective Touch Made Of? A Soft Capacitive Sensor Array Reveals the Interplay between Shear, Normal Stress and Individuality

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cover image ACM Other conferences

UIST '24: Proceedings of the 37th Annual ACM Symposium on User Interface Software and Technology

October 2024

2334 pages

ISBN:9798400706288

DOI:10.1145/3654777

Editors:
Lining Yao
University of California, Berkeley
,
Mayank Goel
Carnegie Mellon University
,
Alexandra Ion
Carnegie Mellon University
,
Pedro Lopes
University of Chicago

Copyright © 2024 Owner/Author.

This work is licensed under a Creative Commons Attribution International 4.0 License.

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Published: 11 October 2024

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UIST '24

UIST '24: The 37th Annual ACM Symposium on User Interface Software and Technology

October 13 - 16, 2024

PA, Pittsburgh, USA

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Umesh TShetty YSeifi HJohal WLemaignan SBrščić DVázquez MCharisi V(2025)Evaluating Social Touch Gesture Recognition with a Skin-Like Soft SensorProceedings of the 2025 ACM/IEEE International Conference on Human-Robot Interaction10.5555/3721488.3721748(1700-1704)Online publication date: 4-Mar-2025
https://dl.acm.org/doi/10.5555/3721488.3721748

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