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Soft Pneumatic Robot Modulates Graph Theory Metrics of Brain Network for Hand Rehabilitation After Stroke
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Analgesic effect of robotic stroking with speech.

Kota Nieda1, Taishi Sawabe2, Masayuki Kanbara3

  • 1Graduate School of Science and Technology, Nara Institute of Science and Technology, Ikoma, Nara, 630-0192, Japan. nieda.kota.nf4@is.naist.jp.

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|June 29, 2026
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Summary

Robotic stroking combined with speech significantly increases pain thresholds, offering a non-pharmacological approach to pain relief. This multimodal interaction proves more effective than touch or speech alone.

Keywords:
AnalgesiaGate control theoryHuman–robot interactionMultimodal interactionPain thresholdSocial touch

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Area of Science:

  • Human-Robot Interaction
  • Pain Perception
  • Non-pharmacological Interventions

Background:

  • Stroking with speech is common in healthcare for anxiety and pain relief.
  • Robotic stroking with speech shows potential for enhanced emotional responses.
  • Quantitative analgesic effects of this multimodal interaction require further investigation.

Purpose of the Study:

  • To investigate if robotic stroking with speech modulates pain perception.
  • To examine if this interaction increases pain thresholds compared to stroking alone.
  • To utilize the gate control theory as a framework for understanding the effects.

Main Methods:

  • An experiment involving 37 healthy volunteers.
  • Measurement of pain thresholds using electrical stimulation.
  • Comparison of three conditions: No Interaction, Stroking Only, and Stroking with Speech.

Main Results:

  • Both Stroking Only and Stroking with Speech significantly increased pain thresholds compared to No Interaction.
  • Stroking with Speech resulted in a significantly higher pain threshold than Stroking Only.
  • The findings support the analgesic potential of combined robotic touch and speech.

Conclusions:

  • Robotic stroking with speech effectively modulates pain perception.
  • This multimodal approach offers enhanced analgesic effects over stroking alone.
  • It presents a promising non-pharmacological intervention for pain management.