Hand in Hand: Tools and techniques for understanding children's touch with a social robot.

Robots that facilitate touch by children have special requirements in terms of safety and robustness, but little is known about how and when children actually use touch with robots. Tools and techniques are required to sense the variety of children's touch and to interpret the volumes of data generated. This explorative user study investigated children's patterns of touch during game play with a robot. We examined where the children touch the robot and their patterns of touch over time, using a raster-based visualisation of each child's time series of touches, recording patterns of touch across different games and children. We found that children readily engage with the robot, in particular spontaneously touching the robot's hands more than any other area. This user study and the tools developed may aid future designs of robots to autonomously detect when they have been touched.