Multi-robot Stimulation for Immersive Robotic Massage with Virtual Therapists

This study proposes an integrated robotic massage platform designed to bridge the gap between mechanical stimulation and human-like care. Conventional systems often require a prone posture and lack psychological immersion, limiting embodiment and safety. To address this, we developed a system featuring seated multi-robot actuation—simultaneously targeting the forearm and sole—and a first-person perspective (1PP) VR interface with synchronized virtual therapists. A field study with 32 participants evaluated feasibility and user experience. Results showed high ratings for overall satisfaction and psychological safety. Notably, a strong positive correlation was found between "perceived human-likeness" and user satisfaction. This suggests that inducing a sense of human agency via 1PP VR effectively complements mechanical stimulation, thereby significantly elevating the quality of the care experience. We contribute (i) a seated dual-limb multi-robot massage platform with 1PP VR therapists and (ii) in-the-wild user evidence that perceived human-likeness and safety/relaxation are key correlates of satisfaction.