We propose a new robotic cover prototype that achieves thermal display while also being soft. We focus on the thermal cue because previous human studies have identified it as part of the touch pleasantness. The robotic cover surface can be regulated to the desired temperature by circulating water through a thermally conductive pipe embedded in the cover, of which temperature is controlled. Besides, an observer for estimating heat from human contact is implemented; it can detect human interaction while displaying the desired temperature without temperature sensing on the surface directly. We assessed the validity of the prototype in experiments of temperature control and contact detection by human hand.

翻译：我们提出一个新的机器人覆盖原型,既能实现热显示,又能软化。我们把重点放在热提示上,因为以前的人类研究已经将它确定为触感舒适的一部分。机器人覆盖表面可以通过嵌入掩体的热导管循环水,调节到理想的温度。此外,还安装了一名观察者,以估计人类接触的热量;它可以检测人类互动,同时在表面显示理想的温度而不直接进行温度感测。我们评估了该原型在温度控制和人体接触探测实验中的有效性。