Progress in the touchability for various kinds of service robot: Here comes the body..... "3-D Printed Synthetic Muscle Opens Door to Lifelike Robots." https://internetofbusiness.com/3d-printed-synthetic-muscle-lifelike-robots/ Up until now the various muscles in the human body could have been considered oddly shaped -- which only means they were hard to manufacture, in all their variety, with conventional industrial equipment.
Progress in the empathy for various kinds of service robot:
The personal service robot industry is developing along at least two interesting tracks. The first is patient care. The second is synthetic sex partners. That might be considered a distant second-- but the acceptability standards are much lower. There are some very limited and very expensive versions for sale right now.
Japan has an eldercare crisis, a marriage strike by men, and a burgeoning robotics industry. Watch for converging technologies.
The Tactile Ethics of Soft Robotics: Designing Wisely for Human–Robot Interaction Thomas Arnold and Matthias Scheutz
Arnold Thomas and Scheutz Matthias. Soft Robotics. June 2017, 4(2): 81-87. https://doi.org/10.1089/soro.2017.0032 Published in Volume: 4 Issue 2: June 1, 2017 Online Ahead of Print: May 19, 2017
Abstract: Soft robots promise an exciting design trajectory in the field of robotics and human–robot interaction (HRI), promising more adaptive, resilient movement within environments as well as a safer, more sensitive interface for the objects or agents the robot encounters. In particular, tactile HRI is a critical dimension for designers to consider, especially given the onrush of assistive and companion robots into our society. In this article, we propose to surface an important set of ethical challenges for the field of soft robotics to meet. Tactile HRI strongly suggests that soft-bodied robots balance tactile engagement against emotional manipulation, model intimacy on the bonding with a tool not with a person, and deflect users from personally and socially destructive behavior the soft bodies and surfaces could normally entice. Keywords: tactile human–robot interaction, ethical challenges, designs of soft robots
For some further projections about the logical outcomes of all this: A science fiction projection into the near future
"House of Clockwork Women," wherein the establishment, Hareem House, offers a broad selection of female robots. Available from Amazon in ebook format. And coming soon; an anthology of stories about human/robot coevolution: "Love and Robots"