Haptically Experienced Animacy Facilitates Emotion Regulation: A Theory-Driven Investigation

TL;DR

The paper investigates whether haptic co-regulation via CHORA, a zoomorphic robot with breathing and heartbeat cues, can facilitate emotion regulation by supporting Gross’s four ER strategies. Using a mixed-methods, within-subject design (N=30) with active animate and control conditions, the study triangulates physiological, self-report, and qualitative data to validate a theory-driven framework for affective haptics. Results show robust passive calming and evidence of ER facilitation across multiple pathways, with significant effects on valence, anxiety, and heart rate, though group-level additive benefits of heartbeat are not consistently detected. The findings advance understanding of how animate, touch-based interfaces can support real-time regulation and highlight design considerations for tailoring haptic therapies to individual differences and contexts. The work therefore offers a principled foundation for developing next-generation affective haptic tools that aid mental well-being in everyday, high-stress settings.

Abstract

Emotion regulation (ER) is essential to mental well-being but often difficult to access, especially in high-intensity moments or for individuals with clinical vulnerabilities. While existing technology-based ER tools offer value, they typically rely on self-reflection (e.g., emotion tracking, journaling) or co-regulation through verbal modalities (reminders, text-based conversational tools), which may not be accessible or effective when most needed. The biological role of the touch modality makes it an intriguing alternate pathway, but empirical evidence is limited and under-theorized. Building on our prior theoretical framework describing how a comforting haptic co-regulating adjunct (CHORA) can support ER, we developed a zoomorphic robot CHORA with looped biomimetic breathing and heartbeat behaviors. We evaluated its effects in a mixed-methods in-lab study (N=30), providing physiological, self-report, custom questionnaire, and retrospective interview data. Our findings demonstrate the regulatory effects of haptically experienced animacy, corroborate prior work, and validate CHORA's {theoretically grounded} potential to facilitate four ER strategies.

Figures (9)

• Figure 1: A participant interacting with the chora.
• Figure 2: Research test-bed architecture with components of the chora.
• Figure 3: The chora prototype. From left to right: the instrumented 'Ribbit' skeleton cang_cuddlebits_2015; the foam-covered, touch sensor instrumented rib-cage; and the faux fur encasing.
• Figure 4: Study setting through a participant's POV.
• Figure 5: Quantitative measures for four conditions. $\Delta$ indicates the mean of the respective condition (ina, ref or opt) subtracted from the baseline (abs). Annotations: mean (dot marker), standard deviation (whisker), abs mean (horizontal dashed line), and offset $\Delta$ from abs (highlighted vertical lines). The $\uparrow$$\downarrow$ in the chart name indicates that metric's hypothesized shift from abs. Statistics are calculated for $\Delta$ values; * indicates metric pairs with p$<$0.05.