This study investigated the integration of smell detection, storage, and reproduction capabilities in robot avatars, examining how these functions impact interactions between a remote operator and a co-present partner. We developed a robot avatar system equipped with olfactory technology, using a combination of actual hardware and Wizard-of-Oz techniques. In an experimental setting, participants engaged in a task that involved spontaneous discussions about smells. Our findings show that the inclusion of olfactory functionality not only affected the dynamics of interaction but also enhanced the perceived quality of the experience for both the operator and the partner.

We considered the robot’s use of smells as a nonverbal way of interacting with people. In particular, we were interested in active smell delivery, which involves delivering scents to specific locations and at precise moments. Since smell is still largely unexplored as an interaction modality for human-robot interactions, many aspects are unknown. To address this gap, through exploratory studies we identified the important factors of mounting positions as well as timing and movement coordination, which need to be considered for the successful integration of active smell delivery on robots.