In this paper we outline the design process of the TaSST (Tactile Sleeve for Social Touch), a touch-sensitive vibrotactile arm sleeve. The TaSST was designed to enable two people to communicate different types of touch over a distance. The touch-sensitive surface of the sleeve consists of a grid of 4x3 sensor compartments filled with conductive wool. Each compartment controls the vibration intensity of a vibration motor, located in a grid of 4x3 motors beneath the touch-sensitive layer. An initial evaluation of the TaSST revealed that it was mainly suitable for communicating protracted (e.g. pressing), and simple (e.g. poking) touches.

Gentle stroking touches are rated most pleasant when applied at a velocity of between 1-10 cm/s. Such touches are considered highly relevant in social interactions. Here, we investigate whether stroking sensations generated by a vibrotactile array can produce similar pleasantness responses, with the ultimate goal of using this type of haptic display in technology mediated social touch. A study was conducted in which participants received vibrotactile stroking stimuli of different velocities and intensities, applied to their lower arm. Results showed that the stimuli were perceived as continuous stroking sensations in a straight line. Furthermore, pleasantness ratings for low intensity vibrotactile stroking followed an inverted U-curve, similar to that found in research into actual stroking touches. The implications of these findings are discussed.

In this paper we investigate the expression of emotions through mediated touch. Participants used the Tactile Sleeve for Social Touch (TaSST), a wearable sleeve that consists of a pressure sensitive input layer, and a vibration motor output layer, to record a number of expressions of discrete emotions. The aim was to investigate if these participants could make meaningful distinctions in their tactile expressions of the emotions.

Part 1: Fundamental IssuesInternational audienceIn this paper we outline the design and development of an embodied conversational agent setup that incorporates an augmented reality screen and tactile sleeve. With this setup the agent can visually and physically touch the user. We provide a literature overview of embodied conversational agents, as well as haptic technologies, and argue for the importance of adding touch to an embodied conversational agent. Finally, we provide guidelines for studies involving the touching virtual agent (TVA) setup

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