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Lantern: A Minimalist Robotic Object Platform

Victor Nikhil Antony, Zhili Gong, Guanchen Li, Clara Jeon, Chien-Ming Huang

TL;DR

Lantern introduces a minimalist, holdable, low-cost robotic object platform to democratize HRI research. The design combines a paper-lantern-inspired mechanical system, a Raspberry Pi Pico W controller, haptic actuators, and two software stacks (Lantern SDK and microROS/ROS2) to support rapid prototyping and ROS integration. The authors validate Lantern through a design workshop, a sensory-room case study, external lab replication, a graduate course, and public exhibitions, showing it can evoke engagement and support applications from emotion regulation to therapy. They provide an open-source, adaptable platform and discuss design opportunities, limitations, and paths for expanding tactile, verbal, and dynamic interactions.

Abstract

Robotic objects are simple actuated systems that subtly blend into human environments. We design and introduce Lantern, a minimalist robotic object platform to enable building simple robotic artifacts. We conducted in-depth design and engineering iterations of Lantern's mechatronic architecture to meet specific design goals while maintaining a low build cost (~40 USD). As an extendable, open-source platform, Lantern aims to enable exploration of a range of HRI scenarios by leveraging human tendency to assign social meaning to simple forms. To evaluate Lantern's potential for HRI, we conducted a series of explorations: 1) a co-design workshop, 2) a sensory room case study, 3) distribution to external HRI labs, 4) integration into a graduate-level HRI course, and 5) public exhibitions with older adults and children. Our findings show that Lantern effectively evokes engagement, can support versatile applications ranging from emotion regulation to focused work, and serves as a viable platform for lowering barriers to HRI as a field.

Lantern: A Minimalist Robotic Object Platform

TL;DR

Lantern introduces a minimalist, holdable, low-cost robotic object platform to democratize HRI research. The design combines a paper-lantern-inspired mechanical system, a Raspberry Pi Pico W controller, haptic actuators, and two software stacks (Lantern SDK and microROS/ROS2) to support rapid prototyping and ROS integration. The authors validate Lantern through a design workshop, a sensory-room case study, external lab replication, a graduate course, and public exhibitions, showing it can evoke engagement and support applications from emotion regulation to therapy. They provide an open-source, adaptable platform and discuss design opportunities, limitations, and paths for expanding tactile, verbal, and dynamic interactions.

Abstract

Robotic objects are simple actuated systems that subtly blend into human environments. We design and introduce Lantern, a minimalist robotic object platform to enable building simple robotic artifacts. We conducted in-depth design and engineering iterations of Lantern's mechatronic architecture to meet specific design goals while maintaining a low build cost (~40 USD). As an extendable, open-source platform, Lantern aims to enable exploration of a range of HRI scenarios by leveraging human tendency to assign social meaning to simple forms. To evaluate Lantern's potential for HRI, we conducted a series of explorations: 1) a co-design workshop, 2) a sensory room case study, 3) distribution to external HRI labs, 4) integration into a graduate-level HRI course, and 5) public exhibitions with older adults and children. Our findings show that Lantern effectively evokes engagement, can support versatile applications ranging from emotion regulation to focused work, and serves as a viable platform for lowering barriers to HRI as a field.
Paper Structure (32 sections, 5 figures, 1 table)

This paper contains 32 sections, 5 figures, 1 table.

Table of Contents

  1. Introduction
  2. Related Works
  3. Robotic Objects and Their Uses
  4. Open-Source Robots
  5. Design Goals
  6. The Design of Lantern
  7. Mechanical Design
  8. Form Factor and Embodiment
  9. Electrical Components
  10. Software Architecture
  11. Lantern SDK
  12. microROS system
  13. Customizing Lantern: Imaging Use Cases
  14. Exploring Lantern's Potential
  15. Design Workshop: Hacking Lantern
  16. ...and 17 more sections

Figures (5)

  • Figure 1: Lantern is an affordable, adaptable robotic platform inspired by East Asian paper lanterns, designed to enable the creation of simple robotic objects for diverse HRI use cases.
  • Figure 2: Lantern underwent several design iterations. #1: Initial design had six guide rods and a servo-driven belt system but suffered from tilting and incomplete strokes due to misalignment. #2: A major iteration replaced the guide rods with a belt guide and introduced integrated base housing. #3: Final design added structural braces and a stand for stability.
  • Figure 3: Exploded view of Lantern’s CAD model, highlighting the base housing with servo-driven GT2 belt, the PET-G shield exterior with top brace, the pulley and belt guide for alignment, and the snap-on stand for stability
  • Figure 4: Illustrations of Lantern’s use cases. (a) As a Circadian rhythm lamp, it guides wake-up routines. (b) As a fluffy toy with touch sensing, it can be a cuddly companion.
  • Figure 5: We explore Lantern's potential through a series of interactions featuring graduate students, older adults and children.