A novel stuffed-toy robot that expresses its intentions throughthe sense of force and touch is proposed. The robot is sosoft that one might wish to embrace it. Compliance of therobot can also be determined by holding its hands, similar tonewborn babies or small animals.Core technologies of our robot design include a distributedprocess multi-rate data-driven force control for the robot’sarms and a new force sensor mechanism for detecting external forces acting on the arms. The robot can change its mobility by changing the stiffness of the force control to realizeits intention expression.
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