An experimental study on embodiment forms and interaction modes in affective robots for anxiety relief and emotional connection

Affective robots can elicit psychological responses such as attachment and intimacy, which may help alleviate anxiety and enrich users’ emotional experiences. While such robots can take the form of agents (controlled by algorithms) or avatars (controlled by humans or animals), the differential effects of these embodiment forms on users’ emotional responses remain underexplored, particularly in scenarios where avatars are controlled by animals. In this study, we conducted a Wizard of Oz experiment to compare the emotional experience and anxiety relief provided by a robotic cat under different embodiment forms and interaction modes (unidirectional vs. bidirectional). The results indicate that the avatar embodiment significantly enhances users’ affective experiences, fostering stronger emotional bonds and more effective anxiety relief. However, no significant differences were found between the interaction modes with respect to either anxiety relief or emotional outcomes. These findings offer valuable insights for the design of emotionally engaging embodied intelligent systems in contexts such as emotional companionship and mental health interventions. • A wearable robot prototype enables remote interaction between humans and real cats. • Robot embodiment forms and interaction modes affect users’ anxiety and affective experience. • The avatar form leads to greater anxiety relief and stronger affective experiences. • No significant emotional differences are found between interaction modes.