Virtual Humans are on the border of fiction and realism: while it is obvious that they do not exist in reality and function on different principles than real people, they have been endowed with human features such as being emotionally sensitive. In this article we argue that many dimensions, both human-like ones and ones made possible by the computer technology, are still unexploited to increase the effectivity and engagement of interaction with

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This article provides a comprehensive introduction to the design of the minimally expressive robot KASPAR which is particularly suitable for human-robot interaction studies. A low-cost design with off-the-shelf components has been used in a novel design inspired from a multi-disciplinary viewpoint, including comics design and Japanese Noh theatre. The design rationale of the robot and its technical features are described in detail. Three research studies will be presented that have been using KASPAR extensively. Firstly, we present its application in robot-assisted play and therapy for children with autism. Secondly, we illustrate its use in human-robot interaction studies investigating the role of interaction kinesics and gestures. Lastly, we describe a study in the field of developmental robotics into computational architectures based on interaction histories for robot ontogeny. The three areas differ in the way how the robot is being operated and its role in social interaction scenarios. Each will be introduced briefly and examples of the results are presented. Reflections on the specific design features of KASPAR that were important in these studies and lessons learnt from these studies concerning the design of