AZRA: Extending the Affective Capabilities of Zoomorphic Robots using Augmented Reality

2025-08-11

AI Summary

Current biomimetic robots exhibit limited affective interaction capabilities and low user acceptance in domestic environments. To address this, we propose the first augmented reality (AR) framework integrated with an affective computing model, enabling perceptual and emotional augmentation of existing robots without physical modification. Our framework unifies multimodal sensing—speech, touch, proximity, and gaze—with virtual affective expressions rendered via AR—including facial animations, dynamic lighting, expressive sounds, and speech bubbles. It supports real-time emotion responsiveness, daily mood modeling, long-term personality evolution, and adaptive demand inference. Evaluated on the Petit Qoobo platform, the system demonstrates significant improvements in the nuance, dynamism, and personalization of emotional expression. Furthermore, it facilitates rapid participatory prototyping and establishes a novel paradigm for cost-effective enhancement of affective intelligence in consumer-grade biomimetic robots.

Technology Category

• Intelligent Robots: Multimodal Perception & Sensor Fusion
• Cognitive Modeling & Cognitive Systems: Affective Computing
• Humans and AI: Game Design — Virtual Humans, NPCs and Autonomous Characters

Application Category

• User Modeling, Personalization and Recommendation: User modeling and simulation for interactive and conversational systems
• Search and Retrieval-Augmented AI: Assisted, interactive, and conversational search
• Responsible Web: Machine-in-the-loop, human agency and autonomy

Abstract

Zoomorphic robots could serve as accessible and practical alternatives for users unable or unwilling to keep pets. However, their affective interactions are often simplistic and short-lived, limiting their potential for domestic adoption. In order to facilitate more dynamic and nuanced affective interactions and relationships between users and zoomorphic robots we present AZRA, a novel augmented reality (AR) framework that extends the affective capabilities of these robots without physical modifications. To demonstrate AZRA, we augment a zoomorphic robot, Petit Qoobo, with novel emotional displays (face, light, sound, thought bubbles) and interaction modalities (voice, touch, proximity, gaze). Additionally, AZRA features a computational model of emotion to calculate the robot's emotional responses, daily moods, evolving personality and needs. We highlight how AZRA can be used for rapid participatory prototyping and enhancing existing robots, then discuss implications on future zoomorphic robot development.

Problem

• Enhancing affective interactions in zoomorphic robots
• Overcoming simplistic emotional displays in robotic pets
• Extending robot capabilities without physical modifications

Innovation

• AR framework enhances zoomorphic robot emotions
• Computational model drives dynamic emotional responses
• Participatory prototyping for rapid robot enhancement