Self-Reconfigurable Robot - A Platform of Evolutionary Robotics
Development and evaluation of a social robot platform for therapy in
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Development and evaluation of a social robot platform for therapy in
autism
Daniele Mazzei, University of Pisa
EMBC11Boston 29th August - 3th Sept 2011
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ASDs and Robotics• One of the main difficulties in subjects
with autism spectrum disorders (ASDs) is their inability to understand and analyze the emotional state of their interlocutor.
• Recent research shows that ASDs perceive robots not as machines, but as their artificial partners
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Our Hypothesis
A THERAPIST GUIDED INTERACTION BETWEEN A ROBOT ABLE TO
EXPRESS EMOTIONS AND ASDS CAN HELP THEM TO IMPROVE
SOCIAL SKILLS.
The FACE of Autism, Mazzei et. All, ROMAN2010, Viareggio Italy, Sept. 2010
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What we need?
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The FACE Android
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The FACE ‘mood’• Emotion Cartesian Space (ECS) based on the
Posner theory called ”The circumplex model of affect”
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FACET platform
Face Control Unit(Bodymap and brain)
Face tracking and facial
expression recognition
Gaze tracking
hat
Sensorized
T-Shirt
Inertial platform
Room motorized cameras Environmental
microphone
Face configurator and control
interface
FACE android
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FACET Software modules
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Physiological signal acquisition• Based on e-textiles• HR, HRV, RR, skin conductance, skin
temperature, respiratory rate and accelerations
• All this signals can be correlated with subject emotional states
Valenza, G et all., Towards a smart glove: Arousal recognition based on textile Electrodermal Response, EMBC10
Made by Smartex
Srl, Ita
ly
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HATCAM Eye Tracker• Wearable and specifically
designed to investigate early attention disorders in infants
• Hat or Band mounted system • fast and easy calibration
procedure • Mirror allows to use images of
both eyes (3D gaze point identification)
A.Armato, Implementation of new assistive technologies for people affected by Autistic Spectrum Disorders ASDs", Pisa May 2011. (Patent: TO2008A000862)
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FACET platform
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The FACET protocol
Subject – Robot interaction
Phase A:Familiarization with
the FACET room and the android
Phase B:Exposition and
inteprretation of FACE’s expressions
Phase C:Conversation with psycologist about
FACE
Phase D:Conversation with
FACE (if starts)
20 min0 min
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Preliminary results• At the moment this therapy/paradigm has been tested
with 4 ASD subjects and 2 controls • No subjects showed discomfort or fear during the
therapy
increased cardiac sympathetic activity was observed in ASDs.
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Conclusions• Well accepted by ASDs• Could have a wide range of
applications in the study of non-verbal communication and expression.
• Can become an innovative therapeutic approach aimed to gradually increase social cognitive skills of ASDs.
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Future Works• On going experiments on control and ASDs• More tests of the FACET hardware/software
infrastructure• Using of the FACET platform to perform generic
studies about human-robot empathic link
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Future WorksComplete and integrate the face adaptive control algorithm
trying to close the loop