Recently, robots are more and more utilized in entertainment area. Stuffed toy robots or pet-like robots are developed to entertain or to heal people with intimate touch interactions. Softness of the robot is important for comfort in such interactions. However, most entertainment robots with expressive body motions include hard structures to actuate body, and they cause rough feelings in touch or hugging interactions. In this paper, we propose the soft-to-the-bone robot looks like a stuffed toy, driven by a novel mechanism made by a fabric material and pulling strings. The robot has large movable range and move speedy enough for various body motion expressions. Moreover, the proposed robot is evaluated to have more familiar and comfort impressions than conventional hard stuffed toy robots.
