Mehmet Ege Cansev ^1* Alexandra J. Miller ² Jeremy D. Brown ² Philipp Beckerle ^1,3

• ¹ Chair of Autonomous Systems and Mechatronics, Department Electrical Engineering, Faculty of Engineering, Friedrich-Alexander-Universität, Erlangen-Nürnberg, Germany
• ² Department of Mechanical Engineering, Whiting School of Engineering, Johns Hopkins University, Baltimore, Maryland, United States
• ³ Department of Artificial Intelligence in Biomedical Engineering, Friedrich-Alexander-Universität Erlangen-Nürnberg, Erlangen, Germany

In this paper, we discuss the potential contribution of affective touch to the user experience and robot performance in human-robot interaction, with an in-depth look into upper-limb prosthesis use as a well-suited example. Research on providing haptic feedback in human-robot interaction has worked to relay discriminative information during functional activities of daily living, like grasping a cup of tea. However, this approach neglects to recognize the affective information our bodies give and receive during social activities of daily living, like shaking hands. The discussion covers the emotional dimensions of affective touch and its role in conveying distinct emotions. In this work, we provide a human needs-centered approach to human-robot interaction design and argue for an equal emphasis to be placed on providing affective haptic feedback channels to meet the social tactile needs and interactions of human agents. We suggest incorporating affective touch to enhance user experience when interacting with and through semi-autonomous systems such as prosthetic limbs, particularly in fostering trust. Real-time analysis of trust as a dynamic phenomenon can pave the way towards adaptive shared autonomy strategies and consequently enhance the acceptance of prosthetic limbs. Here we highlight certain feasibility considerations, emphasizing practical designs and multi-sensory approaches for the effective implementation of affective touch interfaces.