NEFFY – A Social Robot for Multimodal Support of Slow-Paced Breathing Exercises

Abstract

This paper demonstrates Neffy, an anthropomorphic social robot designed in a sustainable way to support slow-paced breathing for stress reduction through multimodal interaction. Neffy is an evolution of the prototype Ommie, previously developed at Yale University, and incorporates a sustainable design approach, utilizing environmentally friendly materials and energy-efficient components. We present the background, design, and development considerations. An exploratory pilot usability study with 25 participants was conducted, demonstrating that the exercise led to a significant reduction in STAI-6 anxiety measures. Qualitative feedback from interviews highlighted the benefits of the haptic experience with Neffy, which was described as motivating, organic, and fostering a sense of co-presence.