What are some examples of soft robotic actuators used in human-robot interaction and social robotics, and how do they enable robots to convey emotions, gestures, or expressions for enhancing communication, engagement, and empathy in interactions with humans in various settings such as healthcare, education, or entertainment?

Examples include soft actuators for facial expressions, gesture-emitting materials, and pneumatic actuators for soft touch. These actuators allow robots to exhibit human-like expressions, gestures, and movements, fostering rapport, trust, and emotional connection in human-robot interactions, thereby enhancing user experience and acceptance of robots in social settings.