Expression-rich communication through a squeezable device

This paper presents Squeeze Me, a squeezable device used to grab attention from the mobile robot Care-Obot, providing ground for expressive values to be shared between person and robot in a smart environment. Squeeze Me consists of a soft rubbery interactive cover, that can be mounted on a tablet, to enable expression-rich communication. The cover embeds two specifically designed resistive analogue pressure sensors. The expressions exerted on the device by the person are mapped to movements of the robot as well as to an expressive mask displayed on the graphical user interface (GUI) of the tablet that is used to control the robot. This mask shows the robot's view on the environment as well as its internal states (feelings). A short pinch exercised by the person on the cover results in a sturdy movement of the robot. A hard squeeze results in a quick movement and a gentle touch in a slow approach. All changes in movement are mapped to the modifications in the expressions of the mask, e.g. from neutral to surprise, or joy, depending on the context of interaction. The paper describes the design and implementation of the Squeeze Me prototype, together with a scenario of use in the context of an older person - robot interaction.