A Study of Perceived Safety for Soft Robotics in Caregiving Tasks

TL;DR

This study addresses whether soft robotics can improve perceived safety in intimate caregiving tasks. It employs finite element analysis to design a three-finger soft pneumatic gripper, fabricated via DLP printing and mounted on a 7-DoF robotic arm, with positive/negative pressure control and overhead sensing. A 106-participant user study demonstrates that post-demonstration trust in robots increases significantly, suggesting enhanced acceptance for soft grippers in care settings. The work highlights potential practical benefits for safety and autonomy in caregiving while outlining the need for longer, more objective evaluations and improved sensing to substantiate safety benefits beyond perception.

Abstract

In this project, we focus on human-robot interaction in caregiving scenarios like bathing, where physical contact is inevitable and necessary for proper task execution because force must be applied to the skin. Using finite element analysis, we designed a 3D-printed gripper combining positive and negative pressure for secure yet compliant handling. Preliminary tests showed it exerted a lower, more uniform pressure profile than a standard rigid gripper. In a user study, participants' trust in robots significantly increased after they experienced a brief bathing demonstration performed by a robotic arm equipped with the soft gripper. These results suggest that soft robotics can enhance perceived safety and acceptance in intimate caregiving scenarios.

Figures (2)

• Figure 1: (Top) Test setup for preliminary force testing using a rigid (left) and soft (right) gripper to brush a towel on a mannequin arm; (Bottom) average force profile of n=3 tests for both grippers.
• Figure 2: Self-reported user trust in robots against experience with robots before and after the bathing demonstration on a 7-point Likert scale.