本研究透過不斷地與臨床心理治療師們討論，以設計出一款填充動物型陪伴機器人，並根據以下五點需求去實現：柔軟舒適的絨毛外皮、可愛的動物外型、來自不同觸摸行為的聲音反饋、播放具有治療效果的音檔、能記錄患者使用時陪伴機器人的姿勢以及患者的觸摸行為。使用情境有三種：當使用者根據不同的觸摸行為觸摸陪伴機器人的頭部或背部時，它會產生相應的動物聲音；當使用者按下尾巴時，陪伴機器人將播放具有治療效果的音檔；臨床心理治療師可以在患者使用後取出儲存在陪伴機器人內部中的姿勢及觸摸的訊息。
實作為以絨毛布縫製的熊型機器人，並設計一個機構將所需的硬體元件放置其中，以便拆卸。此陪伴機器人能記錄其被使用時的姿勢，以供日後臨床心理治療師們取出作分析研究用。

A stuffed animal companion robot is designed, implemented and refined with continuously discussion with clinical psychotherapists. Five basic requirements were met: soft and comfortable fluffy skin, cute animal appearance, audio feedback from different touch behaviors, playing the audio files to have the therapeutic effect, and recording the data about the posture of the companion robot and the touch behavior of the patient when the patient is using it. There are three scenarios: (1)When a user touches the head or back of the companion robot according to different touch behaviors, it responses with corresponding animal sounds; (2)When a user presses the tail, the companion robot plays the audio file given by the clinical psychotherapist to have therapeutic effect; (3)clinical psychotherapists can access the information about the posture and touch of the companion robot stored in the companion robot after the patient uses it.
A bear-shaped robot was designed and sewed with fluff, and a mechanism was designed to place the hardware components in it for easy to install and disassemble. This companion robot can record its posture when it is being used, and clinical psychotherapists can access posture records for analysis and research.

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