Robotic objects are simple actuated systems that subtly blend into human environments. We design and introduce Lantern, a minimalist robotic object platform to enable building simple robotic artifacts. We conducted in-depth design and engineering iterations of Lantern's mechatronic architecture to meet specific design goals while maintaining a low build cost (~40 USD). As an extendable, open-source platform, Lantern aims to enable exploration of a range of HRI scenarios by leveraging human tendency to assign social meaning to simple forms. To evaluate Lantern's potential for HRI, we conducted a series of explorations: 1) a co-design workshop, 2) a sensory room case study, 3) distribution to external HRI labs, 4) integration into a graduate-level HRI course, and 5) public exhibitions with older adults and children. Our findings show that Lantern effectively evokes engagement, can support versatile applications ranging from emotion regulation to focused work, and serves as a viable platform for lowering barriers to HRI as a field.

翻译：机器人对象是简单的驱动系统，能巧妙地融入人类环境。我们设计并介绍了Lantern，一个极简主义机器人对象平台，旨在支持构建简单的机器人制品。我们通过深入的机电架构设计与工程迭代，使Lantern在保持较低构建成本（约40美元）的同时满足特定设计目标。作为一个可扩展的开源平台，Lantern旨在利用人类倾向于为简单形态赋予社会意义的特性，促进一系列人机交互场景的探索。为评估Lantern在人机交互领域的潜力，我们开展了一系列探索：1）协同设计工作坊，2）感官室案例研究，3）向外部人机交互实验室分发平台，4）整合至研究生级别的人机交互课程，以及5）面向老年人与儿童的公共展览。研究结果表明，Lantern能有效激发参与度，支持从情绪调节到专注工作等多种应用，并作为降低人机交互领域入门门槛的可行平台。