Relaxmr: a mixed reality-based semi-physical high-fidelity digital human massage system

As population aging intensifies and automation technology advances, robotic massage has emerged as a significant healthcare innovation. However, participants often experience discomfort and fear when facing cold robot arms. This study proposes and validates a Mixed Reality (MR) solution integrating high-fidelity virtual massage therapists with robotic massage systems to improve participant experience. We evaluated three conditions: real robot arm, virtual robot arm, and virtual massage therapist. Results demonstrate that virtual anthropomorphic representation significantly improves participant trust, positive affect, and engagement while reducing psychological barriers. Despite challenges like increased oculomotor strain, our research confirms MR technology’s potential in enhancing psychological acceptance of robotic massage, opening new avenues for robotic massage services that may extend to other intimate human-robot interaction scenarios.