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Softness, Warmth, and Responsiveness Improve Robot Hugs

Alexis E. Block, Katherine J. Kuchenbecker
2018 International Journal of Social Robotics  
Specifically, we aim to test the hypothesis that a soft, warm, touch-sensitive PR2 humanoid robot can provide humans with satisfying hugs by matching both their hugging pressure and their hugging duration  ...  Furthermore, users prefer hugs that physically squeeze them and release immediately when they are ready for the hug to end.  ...  Her research centers on haptic interfaces, which enable a user to touch virtual and distant objects as though they were real and within reach, as well as haptic sensing systems, which allow robots to physically  ... 
doi:10.1007/s12369-018-0495-2 fatcat:tgfj24us5bdhtmu6kpkgqb265m

The Subjective Comfort Test of Autism Hug Machine Portable Seat

Mohamad Izzur Maula, Department of Mechanical Engineering, Faculty of Engineering Diponegoro University, Jl. Prof. Soedarto SH, Tembalang, Semarang (50275), Central Java, Indonesia, Akhmad Lutfiyan Aji, M. Bahtiar Aliyafi, Ilham Yustar Afif, Muhammad Imam Ammarullah, Tri Indah Winarni, J. Jamari
2021 Journal of Intellectual Disability - Diagnosis and Treatment  
This preliminary study proposes to investigate (i) the mean comfortable deep pressure of Autism Hug Machine Portable Seat (AHMPS) manual pull and inflatable wrap models; and (ii) the effect of using AHMPS  ...  The mean comfort pressure was obtained from 15 healthy subjects, which was 0.81 psi on the chest and 0.80 psi on the thigh for the manual pull; and 0.65 psi on the chest and 0.45 psi on the thigh for the  ...  We are very grateful to all participants who willing to involve in this study, thanks to the teachers of the Putra Mandiri Public Special School, Semarang, for the enormous help in conducting this study  ... 
doi:10.6000/2292-2598.2021.09.02.4 fatcat:zd34wdwu5vca3ieefhgekzsnlq

Wearing a Ball Vest in Everyday Activities: Experiences from Adolescents with Neuropsychiatric Disorders, their Parents and Teachers

Ingrid Breivik, Staffan Josephsson, Helene Lidström
2019 Asian Journal of Occupational Therapy  
The authors alone are responsible for the content and writing of the article.  ...  Declaration of Interest: The ball vests used in this study were loaned from Komikapp AB. The company had however no affiliation with the development, or execution of this research.  ...  For the purpose of enabling activity participation interventions are developed that use deep pressure to calm down [15, 24, 28] .  ... 
doi:10.11596/asiajot.15.53 fatcat:onor4h7vs5fwng47bj32vf5a2a

A Study on Tactile Defensiveness in Children with Autism Spectrum Disorder

Amrita Roy, Himadri Ghosh, Isha Bhatt
2018 Journal of National Development  
The application of deep touch pressure has been suggested to provide positive effects, have a substantial calming in mood, and better control of behaviour in the children with autism ,  ...  Children with tactile defensiveness get fomented by light touch and dislikes getting cuddled.  ...  of Hope, Vasant Vihar; OT4KIDS, Greater Kailash and Hari Nagar Delhi, for their support in this study.  ... 
doi:10.29070/31/58287 fatcat:m5uo3hhhezg73ied4zm7bwijg4

Design of haptic interfaces for therapy

Cati Vaucelle, Leonardo Bonanni, Hiroshi Ishii
2009 Proceedings of the 27th international conference on Human factors in computing systems - CHI 09  
Based on the most promising touch therapy protocols, we are presenting the first devices that simulate touch through haptic devices to bring relief and assist clinical therapy for mental health.  ...  Touch is fundamental to our emotional well-being. Medical science is starting to understand and develop touch-based therapies for autism spectrum, mood, anxiety and borderline disorders.  ...  Touch Me Touch Me is a system for the remote application of touch therapy similar to the Wilbarger Protocol.  ... 
doi:10.1145/1518701.1518776 dblp:conf/chi/VaucelleBI09 fatcat:gczg6fhhrbfpjed6qk2oldt344

Effect of Short-Term Deep-Pressure Portable Seat on Behavioral and Biological Stress in Children with Autism Spectrum Disorders: A Pilot Study

Ilham Yustar Afif, Muhammad Farkhan, Ojo Kurdi, Mohamad Izzur Maula, Muhammad Imam Ammarullah, Budi Setiyana, J. Jamari, Tri Indah Winarni
2022 Bioengineering  
Deep pressure is a therapeutic modality in occupational therapy, and it was reported to produce a calming effect.  ...  This study enrolled children with ASD who were administered with the inflatable wrap (group I) and manual pull (group II) for 20 min twice a week for 3 weeks.  ...  Acknowledgments: All authors would like to thank all participants for joining this study and for their great cooperation.  ... 
doi:10.3390/bioengineering9020048 pmid:35200402 pmcid:PMC8869092 fatcat:eoacprfbh5e2xprbghclnoh5sa


Amy A. McGinnis, Elbert Q. Blakely, Ada C. Harvey, Ansley C. Hodges, Joyce B. Rickards
2012 Behavioral interventions  
Pediatric occupational therapists often use specific activities associated with deep pressure touch as a modality when providing services based in sensory integration theory.  ...  Initially, preference assessments identified that activities such as being swaddled in a blanket or sandwiched between halves of a therapy mat were potential reinforcers for each of the three participants  ...  Although Mason and Iwata (1990) did not include activities associated with deep pressure touch in their study, the data demonstrate that although many pediatric occupational therapy procedures have not  ... 
doi:10.1002/bin.1355 fatcat:wqlx5gds3nfnjgf6hv7poa6rzi


2020 Asian Journal of Pharmaceutical and Clinical Research  
It has been used widely in the therapy aspect, but there is limited research evaluating the immediate effects of deep pressure.  ...  Objective: However, every occupational therapist used deep pressure for treating children with developmental coordination disorder (DCD).  ...  ETHICAL CLEARANCE Obtained from SRM College of Occupational therapy, SRMIST, Kattankulathur.  ... 
doi:10.22159/ajpcr.2020.v13i3.36625 fatcat:mpnhbrzz4fbprobgjerfwk5wjq


Allan Fong, Zahra Ashktorab, Jon Froehlich
2013 CHI '13 Extended Abstracts on Human Factors in Computing Systems on - CHI EA '13  
These forms of communication do not allow for more tangible modes of intimate expression like hugging.  ...  In contrast to previous work, Bear-With-Me is mobile, tangible, bi-directional, and realtime allowing for new types of exchanges of emotional, embodied communication.  ...  The TapTap, a wearable system, records nurturing human touch and allows it to be played back for emotional therapy.  ... 
doi:10.1145/2468356.2468537 dblp:conf/chi/FongAF13 fatcat:4scjgg4oxnevvava3fg7tuys4e

Physiological Effect of Deep Pressure in Reducing Anxiety of Children with ASD during Traveling: A Public Transportation Setting

Ilham Yustar Afif, Aloysius Raynaldo Manik, Kristian Munthe, Mohamad Izzur Maula, Muhammad Imam Ammarullah, Jamari Jamari, Tri Indah Winarni
2022 Bioengineering  
This study was designed to investigate the physiological effect of deep pressure, which is an autism hug machine portable seat (AHMPS) in children with autism spectrum disorders (ASD) in public transportation  ...  Deep pressure was reported to have a calming effect on people with autism.  ...  The results of these treatments showed that the use of a pressure vest can affect the activity of the autonomic system and provide a calming effect on the participants [24] .  ... 
doi:10.3390/bioengineering9040157 pmid:35447717 pmcid:PMC9030047 fatcat:fxqij6idunepxbtjw5og7wuggq

Recent Advances and Opportunities of Active Materials for Haptic Technologies in Virtual and Augmented Reality

Tae‐Heon Yang, Jin Ryong Kim, Hanbit Jin, Hyunjae Gil, Jeong‐Hoi Koo, Hye Jin Kim
2021 Advanced Functional Materials  
It first provides an overview of the current VR/AR applications of active materials for haptic sensing and actuation.  ...  Recent developments of haptic innovations based on active materials show that active materials can significantly contribute to addressing the needs and challenges for the current and future VR/AR technologies  ...  The active-hugging vest [7] is an SMA device designed for pressure therapy (Figure 6e ).  ... 
doi:10.1002/adfm.202008831 fatcat:4iapieex6nfphh67jwevoijaqa

The Six Hug Commandments: Design and Evaluation of a Human-Sized Hugging Robot with Visual and Haptic Perception [article]

Alexis E. Block, Sammy Christen, Roger Gassert, Otmar Hilliges, Katherine J. Kuchenbecker
2021 pre-print
Receiving a hug is one of the best ways to feel socially supported, and the lack of social touch can have severe negative effects on an individual's well-being.  ...  The results show that adding haptic reactivity definitively improves user perception a hugging robot, largely verifying our four new tenets and illuminating several interesting opportunities for further  ...  touch pressure therapy [12] .  ... 
doi:10.1145/3434073.3444656 arXiv:2101.07679v1 fatcat:i2ocfhwnibatdaxjudytedjn4i

Somatosensory processing in neurodevelopmental disorders

Carissa J. Cascio
2010 Journal of Neurodevelopmental Disorders  
Neurodevelopmental disorders that represent a range of symptoms and etiologies, and for which multiple peer-reviewed articles on somatosensory differences have been published, were chosen to include in  ...  Given the central role of touch in early development, both experimental and clinical approaches should take into consideration the role of somatosensory processing in the etiology and treatment of neurodevelopmental  ...  Tactile seeking is common in ASD and can manifest as repetitive rubbing of certain textures or surfaces, or an affinity for deep pressure input such as intense hugging or squeezing (see Grandin 2000)  ... 
doi:10.1007/s11689-010-9046-3 pmid:22127855 pmcid:PMC3164038 fatcat:klf5ldipxrabvfjutdddoysztq

Clinical Utility of Multisensory Environments for People With Intellectual and Developmental Disabilities: A Scoping Review

Lauren Breslin, Nichole Guerra, Lori Ganz, David Ervin
2020 American Journal of Occupational Therapy  
Studies examined the effects of MSEs on maladaptive behaviors, positive behaviors, distress and discomfort, activity and alertness states, and cost of care for people with IDD.  ...  The findings support the potential of MSEs as a tool that occupational therapy practitioners can use to support their clients with IDD who have sensory sensitivities in clinical settings.  ...  The American Journal of Occupational Therapy, January/February 2020, Vol. 74, No. 1 7401205060p10  ... 
doi:10.5014/ajot.2020.037267 pmid:32078517 pmcid:PMC7018453 fatcat:jodvc5xs5nhoxh2m7xim4udbya

Exploring Awareness of Breathing through Deep Touch Pressure

Annkatrin Jung, Miquel Alfaras, Pavel Karpashevich, William Primett, Kristina Höök
2021 Proceedings of the 2021 CHI Conference on Human Factors in Computing Systems  
Deep Pressure Therapy relies on exerting frm touch to help individuals with sensory sensitivity.  ...  We performed frst-person explorations of deep pressure enabled by shape-changing actuation driven by breathing sensing.  ...  Such vests are the most common form of designs for deep touch pressure and make up the majority of commercially available DTP products, such as the Tjacket [53] or the Squease vest [52] .  ... 
doi:10.1145/3411764.3445533 fatcat:fun7axwj6jdanfwln47d5h4aea
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