机器人领域发展迅速，已经融入到人们的生活中。目前，人与机器人的交互（HRI）方式还仅限于视觉和听觉范畴。为了促进人与机器人的情感交流，建立更好的亲密关系，本文以触觉为例，研究更多情感传达方式在机器人上的应用。本文基于机器人的相关概念及非语言交互方式的基本理论，结合现实触觉交互技术的趋势及具体案例，找出合理的验证方法。通过测试验证近体学（Proxemics）理论应用于陪伴机器人是否合理；小针刺激触觉方法能否清晰传达机器人意图。通过分析及比较已经上市的陪伴机器人成功案例找出技术与造型参考点。最终设计出与人触觉交互的宠物机器人，切实探讨机器人通过触觉交互方式与人建立陪伴关系的可行性。本文的理论优势和实验创新在于之前小针排列触觉刺激交互方式（Pin-array Tactile Display）的表现内容基本上只以形态与质感为主，本文将该方式深化，表达机器人的主观感受与交互反馈。
The future of humans and robots will be accompanied by emotional interaction. But now human feel uncomfortable about communication with robots. In this study, the author hopes to establish a closer relationship between human and robot through the diversification of human-robot interaction (HRI) - tactile interaction.Through the concept of robots and the theoretical output of non-verbal interaction , the reasonable content and method of human-robot tactile interaction are found out. Then the trend of tactile interaction technology and specific technical cases are analyzed. Before the design practice, the first test proves that the proxemics theory, which is about the content of companionship relationship, is reasonable to apply to the distance between human and companion robot. The second test proves whether the person who uses the small needle to stimulate tactile sense can really feel the intention conveyed by the robot. Finally, through the case analysis and comparison of companion robots which have been listed on the market, the reference points of technology and modeling are found out. On this basis, a pet robot with human tactile interaction is designed to confirm the development possibility of human-robot tactile interaction and establishment of companionship relationship.The existing human-robot interaction (HRI) modes are limited to the range of vision and hearing, but the significance of this study is to try to explore the field of human-robot interaction through tactile interaction. Moreover, the existing Pin-array Tactile Display mainly expresses shape (including words) and texture, but this research expresses the robot's emotion and feedback, which is independent of the research.
