Design and Integration of Thermal and Vibrotactile Feedback for Lifelike Touch in Social Robots

Zoomorphic Socially Assistive Robots (SARs) offer an alternative source of social touch for individuals who cannot access animal companionship. However, current SARs provide only limited, passive touch-based interactions and lack the rich haptic cues, such as warmth, heartbeat or purring, that are characteristic of human-animal touch. This limits their ability to evoke emotionally engaging, life-like physical interactions. We present a multimodal tactile prototype, which was used to augment the established PARO robot, integrating thermal and vibrotactile feedback to simulate feeling biophysiological signals. A flexible heating interface delivers body-like warmth, while embedded actuators generate heartbeat-like rhythms and continuous purring sensations. These cues were iteratively designed and calibrated with input from users and haptics experts. We outline the design process and offer reproducible guidelines to support the development of emotionally resonant and biologically plausible touch interactions with SARs.