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arXiv · 2607.04981

Designing Touch for Trauma-Informed Social Robots: A Design Space for Direct and Indirect Actuation

Madeleine Rischer·Benedikt Bußmann
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Abstract

Touch is a fundamental communication modality in human-robot interaction and may support grounding, emotional regulation, and stress reduction in therapeutic contexts. However, designing touch-based interactions for individuals with post-traumatic stress disorder (PTSD) requires careful consideration of trauma-informed care (TIC) principles, including safety, transparency, autonomy, and trigger avoidance. This paper investigates how touch actuation in social robots can be designed to align with trauma-informed care. We distinguish between direct touch, involving physical contact between a user and a robot, and indirect touch, mediated through artifacts such as wearables or smart textiles. Building on this distinction, we propose a design space comprising three dimensions: Actuation Modality, Objective of the Actuation, and Intended Effect of the Actuation. We analyze these dimensions through the lens of trauma-informed care and derive key design considerations for touch-based interventions. The resulting approach provides a conceptual foundation for developing trauma-sensitive social robots that support individuals with PTSD through touch-based interactions.

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Madeleine Rischer, Benedikt Bußmann. 2026-07-06. Designing Touch for Trauma-Informed Social Robots: A Design Space for Direct and Indirect Actuation. https://arxiv.org/abs/2607.04981

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