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Affective Translation: Material and Virtual Embodiments of Kinetic Textile Robots

Berfin Ataman, Rodrigo Gallardo, Qilmeg Doudatcz

TL;DR

The paper tackles how embodiment and materiality shape affective engagement by comparing four nature-inspired textile soft robots in physical installations with their AR digital twins. It uses a between-subjects design so one group experiences the physical sculptures and another engages with AR twins, with identical motion, geometry, and protocols. The study builds four textile robots with different actuation schemes and surface designs to elicit affective states like liveliness, calmness, and curiosity, and collects self-assessment data complemented by planned biometric measures. The findings are intended to inform the design of hybrid human–robot–virtual systems where material feedback and motion quality guide emotionally legible interactions.

Abstract

This study presents a comparative framework for evaluating emotional engagement with textile soft robots and their augmented-reality (AR) counterparts. Four robotic sculptures were developed, each embodying nature-inspired dynamic behaviors such as breathing and gradual deformation. Using a between-subjects design, two independent groups, one experiencing the physical installations and one engaging with their virtual (AR) twins, follow identical protocols and complete the same self-assessment survey on affective and perceptual responses. This approach minimizes carryover and novelty effects while enabling a direct comparison of sensations such as calmness, curiosity, and discomfort across modalities. The analysis explores how motion, form, and material behavior shape emotional interpretation in physical versus digital contexts, informing the design of hybrid systems that evoke meaningful, emotionally legible interactions between humans, robots, and digital twins.

Affective Translation: Material and Virtual Embodiments of Kinetic Textile Robots

TL;DR

The paper tackles how embodiment and materiality shape affective engagement by comparing four nature-inspired textile soft robots in physical installations with their AR digital twins. It uses a between-subjects design so one group experiences the physical sculptures and another engages with AR twins, with identical motion, geometry, and protocols. The study builds four textile robots with different actuation schemes and surface designs to elicit affective states like liveliness, calmness, and curiosity, and collects self-assessment data complemented by planned biometric measures. The findings are intended to inform the design of hybrid human–robot–virtual systems where material feedback and motion quality guide emotionally legible interactions.

Abstract

This study presents a comparative framework for evaluating emotional engagement with textile soft robots and their augmented-reality (AR) counterparts. Four robotic sculptures were developed, each embodying nature-inspired dynamic behaviors such as breathing and gradual deformation. Using a between-subjects design, two independent groups, one experiencing the physical installations and one engaging with their virtual (AR) twins, follow identical protocols and complete the same self-assessment survey on affective and perceptual responses. This approach minimizes carryover and novelty effects while enabling a direct comparison of sensations such as calmness, curiosity, and discomfort across modalities. The analysis explores how motion, form, and material behavior shape emotional interpretation in physical versus digital contexts, informing the design of hybrid systems that evoke meaningful, emotionally legible interactions between humans, robots, and digital twins.
Paper Structure (20 sections, 9 figures, 1 table)

This paper contains 20 sections, 9 figures, 1 table.

Table of Contents

  1. Introduction
  2. Related Work
  3. Representational Soft Robotics vs Material-Driven and Nature-Inspired Soft Robotics
  4. Virtual Affect
  5. Summary
  6. Methodology
  7. Overview
  8. Participants and Study Design
  9. Building of the physical pieces
  10. Physical System Design
  11. Surface Design
  12. Actuation and Control Systems
  13. Waiting for the Dark
  14. Thirsty for Air
  15. Searching for the Sun
  16. ...and 5 more sections

Figures (9)

  • Figure 6: Texture mapping and visualization pipeline within Blender.
  • Figure 7: All four robots visualized in the AR environment for interaction.
  • Figure 8: Mesh texturing and rendered output in Blender.
  • Figure : Fig 2. Waiting for the Dark Soft Robot. (a) Physical sculpture. (b) Placement of the system within the sculpture. (c) Birdseye view of the motion system.
  • Figure : Fig 4. Searching for the Sun Soft Robot. (a)Placement of the system within the robot shell. (b)Physical robot. (c) Supporting mechanical motion system.
  • ...and 4 more figures