Speech-touch integration for affective human-robot interaction: a scoping review
Abstract
Background: Artificial intelligence is increasingly capable of expressing empathy through language, yet the integration of physical touch-an important cue for social connection-remains fragmented. Although robots utilise language or touch individually, few systems coordinate both modalities, potentially limiting their capacity for affective human-robot interaction (HRI). This scoping review maps social robots that combine spoken language and tactile interaction (e.g., hugging, stroking, warmth, vibration), examines how these modalities are coordinated in existing systems, and synthesises reported user outcomes and design implications.
Methods: Following the Preferred Reporting Items for Systematic Reviews and Meta-Analyses extension for Scoping Reviews (PRISMA-ScR) guidelines, searches across five databases (IEEE Xplore, PubMed, ACM, Web of Science, Scopus) and supplementary web sources identified 11 distinct HRI implementations that pair speech with active or invited touch. Of these, eight implementations included explicit comparison conditions (e.g., speech-only vs. speech + touch, or touch-only vs. touch + speech), enabling assessment of the added value of combining modalities.
Results: Across comparative studies, combining speech and touch showed potential to be more effective than speech-only or touch-only HRI in some contexts. This integration can make robots appear more caring, empathic, and human-like, while strengthening attachment, increasing willingness to…
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Evidence Hub reads this as a systematic review. Its evidence level is 1 of 5 (Highest · pooled evidence). Pooled evidence from several studies sits at the top of the evidence pyramid.
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