Situated Haptic Interaction: Exploring the Role of Context in Affective Perception of Robotic Touch

Affective interaction is not merely about recognizing emotions; it is an embodied, situated process shaped by context and co-created through interaction. In affective computing, the role of haptic feedback within dynamic emotional exchanges remains underexplored. This study investigates how situational emotional cues influence the perception and interpretation of haptic signals given by a robot. In a controlled experiment, 32 participants watched video scenarios in which a robot experienced either positive actions (such as being kissed), negative actions (such as being slapped) or neutral actions. After each video, the robot conveyed its emotional response through haptic communication, delivered via a wearable vibration sleeve worn by the participant. Participants rated the robot's emotional state-its valence (positive or negative) and arousal (intensity)-based on the video, the haptic feedback, and the combination of the two. The study reveals a dynamic interplay between visual context and touch. Participants' interpretation of haptic feedback was strongly shaped by the emotional context of the video, with visual context often overriding the perceived valence of the haptic signal. Negative haptic cues amplified the perceived valence of the interaction, while positive cues softened it. Furthermore, haptics override the participants' perception of arousal of the video. Together, these results offer insights into how situated haptic feedback can enrich affective human-robot interaction, pointing toward more nuanced and embodied approaches to emotional communication with machines.