Cuddle-Fish: Exploring a Soft Floating Robot with Flapping Wings for Physical Interactions

Flying robots, such as quadrotor drones, offer new possibilities for human-robot interaction but often pose safety risks due to fast-spinning propellers, rigid structures, and noise. In contrast, lighter-than-air flapping-wing robots, inspired by animal movement, offer a soft, quiet, and touch-safe alternative. Building on these advantages, we present \textit{Cuddle-Fish}, a soft, flapping-wing floating robot designed for safe, close-proximity interactions in indoor spaces. Through a user study with 24 participants, we explored their perceptions of the robot and experiences during a series of co-located demonstrations in which the robot moved near them. Results showed that participants felt safe, willingly engaged in touch-based interactions with the robot, and exhibited spontaneous affective behaviours, such as patting, stroking, hugging, and cheek-touching, without external prompting. They also reported positive emotional responses towards the robot. These findings suggest that the soft floating robot with flapping wings can serve as a novel and socially acceptable alternative to traditional rigid flying robots, opening new possibilities for companionship, play, and interactive experiences in everyday indoor environments.

@article{xu2025_2504.01293,
  title={ Cuddle-Fish: Exploring a Soft Floating Robot with Flapping Wings for Physical Interactions },
  author={ Mingyang Xu and Jiayi Shao and Yulan Ju and Ximing Shen and Qingyuan Gao and Weijen Chen and Qing Zhang and Yun Suen Pai and Giulia Barbareschi and Matthias Hoppe and Kouta Minamizawa and Kai Kunze },
  journal={arXiv preprint arXiv:2504.01293},
  year={ 2025 }
}