Interaction with animals has the effect of reducing anxiety and stress in humans. In this study, we focused on scent rubbing, in which animals rub their own bodies against humans, as one of the active behaviors of animals, and proposed a therapy robot that implements behaviors inspired by the scent rubbing of cats. We propose a therapy robot that implements behaviors inspired by feline scent rubbing, and investigate whether these behaviors have a therapeutic effect. We built a prototype with one degree of freedom in the neck and three degrees of freedom in the head to investigate the factors that are related to the impression the robot gives to humans when it rubs its head against the human abdomen. In this paper, we introduce the first prototype, and report the findings and future prospects of the evaluation of the impressions of the motion.