Soft floating robots (SFRs) represent a shift from rigid machines, offering gravity-defying, compliant, and tactile embodiments for indoor cohabitation. However, their development remains fragmented across isolated prototypes, lacking a coherent design vocabulary. Without a systematic understanding of their interactional capabilities, designers struggle to leverage SFRs’ unique affordances, and these systems often remain limited to novelty applications that are difficult to integrate into everyday life. To address this, we propose a design space for interaction with SFRs. Informed by an exploratory study with 12 experts from HCI, Design, and Robotics, we identify ten design dimensions spanning physical, interactive, and behavioral properties, along with a range of application scenarios. We further present proof-of-concept design examples to demonstrate how this design space can support diverse interaction possibilities. This work contributes a structured framework for understanding and designing interactions with SFRs, supporting their integration into everyday indoor environments.

In human conversation, empathic dialogue requires nuanced temporal cues indicating whether the conversational partner is paying attention. This type of "active listening"is overlooked in the design of Conversational Agents (CAs), which use the same pacing for one conversation. To model the temporal cues in human conversation, we need CAs that dynamically adjust response pacing according to user input. We qualitatively analyzed ten cases of active listening to distill five context-aware pacing strategies: Reflective Silence, Facilitative Silence, Empathic Silence, Holding Space, and Immediate Response. In a between-subjects study (N=50) with two conversational scenarios (relationship and career-support), the context-aware agent scored higher than static-pacing control on perceived human-likeness, smoothness, and interactivity, supporting deeper self-disclosure and higher engagement. In the career-support scenario, the CA yielded higher perceived listening quality and affective trust. This work1 shows how insights from human conversation like context-aware pacing can empower the design of more empathic human-AI communication. © 2026 Copyright held by the owner/author(s).

Animal behavior (ethology) has emerged as a promising source of inspiration for social robot design. However, existing efforts have commonly resulted in isolated design instances. Our high-level understanding of the design processes for integrating ethological insights into social robot design and evaluation remains limited. To address this gap, we conducted a two-step investigation. First, we developed a stage-based framework through a systematic review, identifying six core design stages along with their descriptive dimensions. Using this framework as an analytic lens, we then analyzed design cases drawn from academic, commercial, and public contexts, deriving stage-specific considerations and actionable strategies to support designers in navigating the process. Our findings provide a conceptual scaffold for operationalizing ethology as a design resource, enabling more systematic, reflective, and transferable practices, while also surfacing new opportunities for future social robot interaction design.

Pet ownership creates profound human-animal bonds, making pet loss significant. However, compared to human loss, Human-Computer Interaction (HCI) has given pet loss less attention. Addressing this, we conducted an exploratory mixed-methods study. The study began with a large-scale survey (N=611) revealing critical challenges: a strong desire to preserve memories but limited support for continuing bonds. Built upon these findings, our participatory design sessions(N=10) co-designed Bondi, a tangible prototype supporting continuing bonds through multimodal and customizable interactions (e.g. touch, sound, and light), evoking pets’ unique sounds, tail movements, and lighting effects. We then conducted a three-week field-deployment study with four participants to evaluate how Bondi facilitated the maintenance of bonds with their deceased pets. Results showed that the customization and multimodality evoked vivid recollections, lowering the social barrier for grief sharing. Bondi fostered comforting and non-intrusive connections with pet memories. Furthermore, the study distilled design considerations for future pet bereavement support.

Robots extend beyond the tools of productivity; they also contribute to creativity. While typically defined as utility-driven technologies designed for productive or social settings, the role of robots in creative settings remains underexplored. This paper examines how robots participate in artistic creation. Through semi-structured interviews with robotic artists, we analyze the impact of robots on artistic processes and outcomes. We identify the critical roles of social interaction, material properties, and temporal dynamics in facilitating creativity. Our findings reveal that creativity emerges from the co-constitution of artists, robots, and audiences within spatial-temporal dimensions. Based on these insights, we propose several implications for socially informed, material-attentive, and process-oriented approaches to creation with computing systems. These approaches can inform the domains of HCI, including media and art creation, craft, digital fabrication, and tangible computing. © 2025 Copyright held by the owner/author(s).

Dental anxiety is prevalent among children, often leading to missed treatment and potential negative effects on their mental well-being. While several interventions (e.g., pharmacological and psychotherapeutic techniques) have been introduced for anxiety alleviation, the recently emerged virtual reality (VR) technology, with its immersive and playful nature, opened new opportunities for complementing and enhancing the therapeutic effects of existing interventions. In this light, we conducted a series of co-design workshops with 13 children aged 10-12 to explore how they envisioned using VR to address their fear and stress associated with dental visits, followed by interviews with parents (n = 13) and two dentists. Our findings revealed that children expected VR to provide immediate relief, social support, and a sense of control during dental treatment, parents and dentists prioritized treatment efficiency and safety issues. Drawing from the findings, we discuss the considerations of multi-stakeholders for developing VR-assisted anxiety management applications for children within and beyond dental settings.

Deep learning can predict depth maps and capsule ego-motion from capsule endoscopy videos, aiding in 3D scene reconstruction and lesion localization. However, the collisions of the capsule endoscopies within the gastrointestinal tract cause vibration perturbations in the training data. Existing solutions focus solely on vision-based processing, neglecting other auxiliary signals like vibrations that could reduce noise and improve performance. Therefore, we propose V2-SfMLearner, a multimodal approach integrating vibration signals into vision-based depth and capsule motion estimation for monocular capsule endoscopy. We construct a multimodal capsule endoscopy dataset containing vibration and visual signals, and our artificial intelligence solution develops an unsupervised method using vision-vibration signals, effectively eliminating vibration perturbations through multimodal learning. Specifically, we carefully design a vibration network branch and a Fourier fusion module, to detect and mitigate vibration noises. The fusion framework is compatible with popular vision-only algorithms. Extensive validation on the multimodal dataset demonstrates superior performance and robustness against vision-only algorithms. Without the need for large external equipment, our V2-SfMLearner has the potential for integration into clinical capsule robots, providing real-time and dependable digestive examination tools. The findings show promise for practical implementation in clinical settings, enhancing the diagnostic capabilities of doctors. Note to Practitioners—This paper is motivated by the problem of estimating the depth and ego-motion information for the wireless capsule endoscopy in the human gastrointestinal tract to realize accurate, efficient, robust, and real-time inspection. Our estimation method does not engage any external localization equipment. Instead, inspired by the existing research on integrating capsule endoscopy and inertial measurement units, we introduce vibration signals into vision-based depth and ego-motion estimation approaches, improving the accuracy and robustness of the estimation results based on multimodal learning methods. Research on capsule robots or computer vision can readily be combined with our framework for various clinical and industrial applications.

Robots are increasingly deployed in crowded, large-scale environments where the demands on their services can outweigh their ability to respond. When robots fail to respond, humans may interpret the unintended consequence negatively as a form of rejection, leading to a loss of trust. How do service robots recover from such rejection to remediate human trust due to perceived rejection? We created a task mimicking shopping malls where the robot arm is asked to provide coffee, juice, or tea to participants. When the robot rendered service elsewhere, participants reported feeling excluded and less trusting of the robot. When the robot subsequently apologized or provided promise of future favor, participants regained trust in the robot, with favor rendering yielding significantly more trust responses. This study highlights the importance of understanding inadvertently negative consequences of robot behaviors, and suggests design solutions for overcoming this negative perception through remediation strategies.