In this article, effectiveness of air jet stimulation in mediated emotional communication was investigated by assessing cross-modal influences of visual emotional expressions on tactile perception. Brain responses to combined visual faces and air jet stimuli were measured using event-related potentials; whereas, emotional responses were assessed using self-reported pleasantness of the tactile stimulation. ERP results reveal significant differences between the different facial expressions for the same tactile air-jet intensity in the somatosensory area. Moreover, participants’ pleasantness ratings suggest an effect of the visual stimulus on the difference tactile conditions that correspond to air jet stimulation intensities: low, medium, and high. These promising results provide evidence in the potential efficiency of this stimulation technique in activating skin receptors that play an important role in social and affective behaviors.

We conducted an experimental study to investigate how the participants combine touch and facial expression to evaluate emotional valence. In this study, visual and haptic stimuli were presented separately and then presented together. The visual stimuli comprised pictures of facial expressions with different emotional levels, and the touch stimuli consisted of air jet tactile stimulation performed on the arms of the participants. The participants were asked to evaluate the communicated emotional valence on a continuous scale. Information Integration Theory was used to model the algebraic rule (addition, multiplication, averaging, and so on) that underlies the multimodal perception of emotional valence. Analyses showed that the participants usually integrated both visual and touch information to evaluate the emotional valence. The main integration rule was averaging, with nonsystematic predominance of each modality over the other modality.

This study presents an experiment highlighting how participants combine facial expressions and haptic feedback to perceive emotions when interacting with an expressive humanoid robot. Participants were asked to interact with the humanoid robot through a handshake behavior while looking at its facial expressions. Experimental data were examined within the information integration theory framework. Results revealed that participants combined Facial and Haptic cues additively to evaluate the Valence, Arousal, and Dominance dimensions. The relative importance of each modality was different across the emotional dimensions. Participants gave more importance to facial expressions when evaluating Valence. They gave more importance to haptic feedback when evaluating Arousal and Dominance.

This paper deals with the haptic affective social interaction during a greeting handshaking between a human and a humanoid robot. The goal of this work is to study how the haptic interaction conveys emotions, and more precisely, how it in'uences the perception of the dimensions of emotions expressed through the facial expressions of the robot. Moreover, we examine the bene'ts of the multimodality (i.e., visuo-haptic) over the monomodality (i.e., visual-only and haptic-only). The experimental results with Meka robot show that the multimodal condition presenting high values for grasping force and joint stiffness are evaluated with higher values for the arousal and dominance dimensions than during the visual condition. Furthermore, the results corresponding to the monomodal haptic condition showed that participants discriminate well the dominance and the arousal dimensions of the haptic behaviours presenting low and high values for grasping force and joint stiffness.

Haptic devices are dedicated to render virtual tactile stimulation. A limitation of these devices is the intrusiveness of their mechanical structures, i.e. the user need to hold or wear the device to interact with the environment. Here, we propose a concept of new tactile device named HAIR. The device is composed of a computer vision system, a mechatronic device and air jets that stimulate the skin. We designed a first prototype and conducted a preliminary experiment to validate our concept. The interface enables a tactile interaction without using physical contact with material devices, providing better freedom of movement and enhancing the interaction transparency.

Several studies in affective computing consider the role of haptic channel via the tactile and kinesthetic components. However, these works used constraining haptic devices with limited stimulation strategies. This paper proposes to investigate a new haptic device for the tactile stimulation with a mobile air jet. This approach is more suitable for the stimulation of skin mechanoreceptors which play an important role in social and affective behaviors. An experimental study was conducted in order to understand the relationships between the physical features of the air jet and the perception of emotions by participants. The results highlight a main effect of the intensity and movement velocity of the air jet stimulation on the evaluations of valence, arousal, and dominance.

Haptic rendering technologies are becoming a strategic component of the new Human-Machines Interfaces. Many existing devices generally operate with intrusive mechanical structures that limit rendering and transparency of the haptic interaction. In the context of the design of a novel non-contact haptic device that exploit the air jet tactile stimulation with long distance, we carried out psychophysical experiments in order to characterize the human perception of the air jet tactile stimulation. This study focuses on the stimulation of the user's hand palm. Fluid mechanics suggests that perceived parameters of the air jet stimulation can be controlled by the air jet flow rate, the nozzle geometry, and the distance between the nozzle and the hand palm. In this paper we investigate how these control variables affect the perceived force on the hand palm. Two psychophysical studies were carried out. The first experiment investigated three distances from the air nozzle to determine the absolute threshold of the air flow rate on the hand palm. Results reveal that there is a linear relationship between the perceived absolute threshold and the distance from the hand palm to the nozzle. The second psychophysical experiment was made to determinate the just noticeable difference of the air flow rate according to three referential stimuli. Then we estimated the Weber fraction. These two results are important for the display control and will be used further for the design of the future noncontact haptic device.