Soft robotics is increasingly explored in artistic contexts, where tactile interaction provides audiences with embodied engagement beyond visual or auditory signals. This work presents an interactive installation that maps semantic emotion analysis of narrative text into variable stiffness of soft pneumatic modules. A natural language model identifies two dominant emotions from a predefined set of six, driving the inflation of seven hexagonally arranged soft actuators. The central actuator represents the primary emotion, while the surrounding ones express the secondary. We develop and mechanically characterize silicone actuators, called soft modules, featuring a thin membrane layer, demonstrating how this morphological control expands the achievable stiffness range while preserving simplicity and low-cost fabrication. A user study with ten participants further evaluates how multisensory coupling of stiffness and LEDs intensity influences emotional perception. The results suggest that stiffness modulation accompanied by color change can support emotionally meaningful and engaging tactile interaction in soft robotic installations.

翻译：软体机器人在艺术语境中的应用日益增多，其中触觉交互可为观众提供超越视觉或听觉信号的具身参与。本作品呈现一个交互装置，将叙事文本的语义情感分析映射至软体气动模块的可变刚度。通过自然语言模型从预设的六种情感中识别两种主导情绪，驱动七个按六边形排列的软体执行器充气：中心执行器代表主要情感，而周边执行器表达次要情感。我们开发并表征了名为"软体模块"的硅胶执行器——具有薄膜层结构，证明这种形态控制可在保持简易性与低成本制造的同时扩展可实现的刚度范围。通过十名参与者的用户研究，进一步评估了刚度与LED强度的多感官耦合对情感感知的影响。结果表明，伴随颜色变化的刚度调制能够支持软体机器人装置中具有情感意义且富有吸引力的触觉交互。