Abstract
Soft robotics is an exciting new field of robotics that replaces stiff components with soft materials and actuators, making it an ideal way to design robotic companions. Robotic companions are becoming common and can be helpful in treating patients with dementia by providing comfort, a sense of companionship, and promoting a healthier lifestyle. This work presents a soft robotic companion that uses acupuncture and acupressure principles to facilitate relaxation to its users. Inspired by the hedgehog, the robot provides a unique interaction mode and uses a functional quill array to stimulate pressure points.