This dissertation reports on the development of soft robotic surfaces installed in small spaces, especially domestic ones in urban environments, where inhabitants may feel particularly confined and detached from nature. The aim of these robotic surfaces is to make confined spaces feel more supportive of inhabitants’ wellbeing by way of the surface’s interactive behaviors. Informed by the restorative effects of nature, the system’s behaviors provide support through positive distractions and mesmerizing stimuli to cultivate a sense of escape from daily life and make micro-environments feel less confining. In the development of the surfaces, bio-inspired and biophilic design were explored. The robotic surfaces were also designed to provide awareness of one’s emotional state, empowering people to self-soothe through guided breathing exercises that can improve wellbeing. Several prototypes were designed and evaluated through a cycle of user studies to explore the therapeutic effects of this bio-inspired cyber-physical system. Qualitative and quantitative outcomes of these studies suggest that the surfaces were effective at leading guided breathing exercises to reduce stress and were able to capture involuntary attention for a soothing effect. Moreover, the system consistently evoked analogies to other natural phenomena and biological lifeforms, suggesting that the design captured key aspects of biophilic design to support human wellbeing in the built environment. Notably, the system also caused some experiences of discomfort, as interactions with the prototypes caused an Uncanny Valley effect, due to the life-like but synthetic qualities of the materiality and movement of the surfaces. However, feedback from the user-studies demonstrated that these negative reactions often subsided, establishing the need for longitudinal studies with soft robotic surfaces to understand how our relationship to these cyber-physical systems evolves over time. This research offers insights for future designers and researchers working on adaptive environments and human-robot interaction with soft robots, especially as society becomes increasingly urbanized and distanced from nature.