Designing a feedback breathable soft-stuffed robot: Exploring its potential for enhancing sleep quality

Abstract

Insomnia significantly impacts human productivity and can lead to long-term health issues. Sleeplessness is often caused by stress, particularly in adults. While hugging another human or animal can effectively reduce stress due to the breathing motion synchronization, but it is often challenging and impractical in many situations. This study proposes a potential alternative solution to alleviate stress by utilizing a soft-stuffed robot. The robot is designed with a breathing mechanism that mimics the respiration of a living being. By using flexible 3D materials, artificial ribs and spine are created to imitate animal breathing motion. The 3D materials are carefully selected due to their properties. To measure the human breathing rhythm, a biosensor called Medtex, consisting of conductive fabric, can captures the human signal. This signal is then utilized as feedback in a control system, employing a PID control algorithm to achieve synchronization between the robot and human breathing motion in terms of phase and frequency. The robot imitator actuator, a customized Maxon RE motor, is controlled by a magnetic encoder and feedback signal. To ensure safety and comfort, the imitator is enveloped in a cushion. Experimental trials conducted during nighttime involved volunteers hugging the robot while sleeping, with the resulting output recorded and analyzed. The findings demonstrate that the designed robot can be effectively controlled and accurately determine sleep states with proper synchronization.