Figure 2

Experimental situation. (a) Two robots used a brush to touch neck of participant sitting in chair. Robots touched neck for 2 min for each condition. Participant had controller and was able to operate it in OT and ST. Participants experienced all three touch conditions and completed self-report after each condition and interview after all conditions. (b) One robot. Each robot held brush and moved it back-and-forth to touch participant’s neck. (c) Controller.