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We propose a new robotic cover prototype that achieves thermal display whilealso being soft. We focus on the thermal cue because previous human studieshave identified it as part of the touch pleasantness. The robotic cover surfacecan be regulated to the desired temperature by circulating water through athermally conductive pipe embedded in the cover, of which temperature iscontrolled. Besides, an observer for estimating heat from human contact isimplemented; it can detect human interaction while displaying the desiredtemperature without temperature sensing on the surface directly. We assessedthe validity of the prototype in experiments of temperature control and contactdetection by human hand.

A Soft Robotic Cover with Dual Thermal Display and Sensing Capabilities