Designing Touch for Trauma-Informed Social Robots: A Design Space for Direct and Indirect Actuation
2026-07-06 • Robotics
Robotics
AI summaryⓘ
The authors explore how robots can use touch in ways that are safe and helpful for people with post-traumatic stress disorder (PTSD). They explain that touch from robots can happen directly (when the robot touches the person) or indirectly (through things like smart clothes). The authors create a framework to decide how robot touch should work, considering what kind of touch is used, why it is used, and what effect it should have, all while keeping trauma care principles in mind. Their work helps guide the design of robot touch interactions that respect and support the needs of people with PTSD.
post-traumatic stress disorder (PTSD)trauma-informed care (TIC)human-robot interactiontouch actuationdirect touchindirect touchsocial robotswearablessmart textiles
Authors
Madeleine Rischer, Benedikt Bußmann
Abstract
Touch is a fundamental communication modality in human-robot interaction and may support grounding, emotional regulation, and stress reduction in therapeutic contexts. However, designing touch-based interactions for individuals with post-traumatic stress disorder (PTSD) requires careful consideration of trauma-informed care (TIC) principles, including safety, transparency, autonomy, and trigger avoidance. This paper investigates how touch actuation in social robots can be designed to align with trauma-informed care. We distinguish between direct touch, involving physical contact between a user and a robot, and indirect touch, mediated through artifacts such as wearables or smart textiles. Building on this distinction, we propose a design space comprising three dimensions: Actuation Modality, Objective of the Actuation, and Intended Effect of the Actuation. We analyze these dimensions through the lens of trauma-informed care and derive key design considerations for touch-based interventions. The resulting approach provides a conceptual foundation for developing trauma-sensitive social robots that support individuals with PTSD through touch-based interactions.