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.
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NEFFY – A Social Robot for Multimodal Support of Slow-Paced Breathing Exercises
OpenAlex · Social Robot Interaction and HRI · 2025
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.