## 1 Introduction  
Social robots are designed to communicate and to engage in social interaction with humans. They can recognize, follow and react to humans action in social contexts. Different from robots, social robots combine functional and social characteristics. One of the challenges involves the design of social robots for home environments that can communicate with and assist humans in everyday life situations. These types of social robots are commonly known as companion robots. Companion robots assist users in everyday tasks through an intuitive, expressive and affective interaction [1]. These types of robots are designed mainly to interact with the users and, by this, to create a feeling of companionship. Companion robots need to be carefully designed to meet the user's expectations to be able to be adopted into everyday life situations. Like any other social robot, when designing a companion robot, it is essential to understand its form, function, and context in order to emphasize its social attribution [2]. \"Form\" refers to the aesthetics, physical features that contribute to the communication between the robot and the user. \"Function\" relates to the actions that the robot can perform. \"Context\" is the application for the robot, the scenario where the robot is placed. These three aspects are interrelated and influence each other. For example, the aesthetic form of the robot conveys social cues, and its physical form defines the behavior of a robot. The different robot companions found in the literature can be classified using these aspects. In terms of form, companion robots such as iPad [3], FLASH [4] and Pepper [5] were designed with a humanoid appearance. Paro [6], Aibo [7] and Joy for All [8] are examples of companion robots and animatronics with zoomorphic features. The huggable [9] and Jerry the Bear [10] were designed with a friendly teddy bear-like body, falling in the category of caricatured appearance. Buddy [11],Zenbo [12], Furo-i [13] and Jibo [14] have a functional appearance with machine-like features and a body without limbs. In terms of function, recognition of tangible gestures such as touch [7; 8; 14] have more complex ones such as hugs or strokes [6; 9], user's recognition [11; 14], navigation [11; 12; 13], and conversation [4; 14]. A common function among companion robots is the support of affective expressions either by mechanical facial expressions [4], facial expressions made using displays [11; 12; 13] or more abstract expressions using colors [14] or body movements [6; 7; 8]. Finally, when the robots are analyzed in terms of context, it is observed that robots with animal appearance and soft skins [6; 8] were designed for therapeutic applications and to provide comfort. Robots with caricature appearance [9; 10] were designed as characters that need attention and care from the users. Robots with more functional appearance [11] Zenbo [12; 13; 14] were designed to support different tasks as home assistants. Humanoid robots are commonly used as a social peer for educational or service purposes. Robots with screen are designed as assistants and for telepresence applications [11; 13; 14]. Based on the importance of endowing social robots with affective expressions, we explore a way to enhance the robot's expressiveness using projected avatars from the robot body. This approach is beneficial as the images can be projected on different surfaces, increasing the size of the images, and making it possible to share the images with multiple users on the same physical space. Following this, we propose the companion robot Pepita, designed to sense affective touch-based gestures such as hubs and provide visual feedback using projected avatars. We selected different features that define the form and function of Pepita as a companion robot. The combination of two types of embodiment (physical and virtual) to enhance the capabilities of a physically constrained robot is underrepresented.