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Dyssemic (socially challenged) is a term that refers to kids that have trouble communicating
their ideas with other people and expressing themselves in general. Autism [1] is a subset of
dyssemia and is considered a spectrum disorder meaning that each child has different
characteristics in the way autism effects them. More therapy at a younger age has been proven to
reduce the effects of this disability. However the cost and availability of good therapists are
always challenging. The use of robotics is an ideal method to combat this challenge. The field of
robotics is constantly growing and new applications for robots are appearing daily, ranging from
industrial to medical applications. Robotics is also currently becoming increasingly relevant in the
lives of children and therapy.
Research is being done at major universities on using robots for treating Autism [2]. These
robots are not readily available to the public and may need significant robotics knowledge to
program and use [3] [4] [5]. This means that in order for children to use these special robots they
need special assistance at all times, which we are trying to eliminate in our project. Another
major setback with other robots that we have observed is the cost that involves making and using
one of these robots. The robots that are being tailored for these specific reasons cost from
$3,000 to $30,000 which may not be easily affordable by the average family [6] [7]. This was one
of the more pressing issues that we saw with other robots in this field, and we really hoped to
mitigate this issue in our platforms. This showed us that robots in the real world currently were
not able to have a combination of cost-effectiveness, ease of usage and capabilities. These were
the three components that we focused on deeply in all of our platforms and as the project
progressed we saw that some of the platforms had limitations while the TheraPlay design was a
culmination of all the aspects we wished to incorporate.
Our engineering project will focus on creating an engaging platform that will assist dyssemic
children. This will be done through designing and developing different economically feasible
robots and comparing their features to see which aspects work and which areas have major
limitations. For this project we focused on using LEGO Mindstorms NXT, LEGO Mindstorms EV3,
and Parallax Propeller Board of Education as well as a vast kit of parts.
Introduction
Creating an Engaging Robotic Platform for Dyssemic and Autistic (ASD) Children
By: Akshay Rathish and Bala Chandrasekaran
1. Kids are energetic when they enter the classroom but once they sit down, they relax
2. Kids seem to be more attentive when shapes and colors are involved than just plain words
3. Repetition and pointing help get attention and reinforce learning
4. Kids respond well to a reward system; they like “high fives” too
5. Each kid is unique; some can articulate while others cannot; some create noise and other
don’t like noises
6. Most kids like soothing music and respond well to known voices
7. Kids feed a dog in the classroom
8. Kids are learning a lot about what happens in everyday life
Input/Output Device Integration Results and Analysis
References
[1] Scassellati, Brian , Henny Admoni, and Maja Mataric. "Robots for Use in Autism
Research." yale.edu. Yale University, n.d. Web. 1 Apr. 2014.
<http://scazlab.yale.edu/sites/default/files/files/annurev-bioeng-071811-150036.pdf>.
[2] Joshua, Diehl J., Schmitt M. Lauren, and Crowell R. Charles. "The Clinical Use of Robots for
Individuals with Autism Spectrum Disorder." Ncbi.nlm.nih.gov. NIH Public Access, n.d. Web. 14
Dec. 2013. <http://www.ncbi.nlm.nih.gov/pmc/articles/PMC3223958/>.
[3] Dorrier, Jason. "RoboKind’s Expressive ZENO R25 Robot." Singularity Hub, 4 Nov. 2013. Web.
15 Dec. 2013.
[4] "Buy NAO Robot, Buy DARwIn Robot." Buy NAO Robot, Buy DARwIn Robot, Buy Q.bo Robot,
STEM Robot, Educational Robots. RobotsLAB, n.d. Web. 15 Dec. 2013.
[5] "Research Areas." nsf.gov. National Science Foundation, 18 Nov. 2013. Web. 13 Dec. 2013.
<http://www.nsf.gov/news/special_reports
[6] Weiss, Deb. "The Cost of Therapy." The Cost of Things. The Billfold, 28 May 2013. Web. 16
Dec. 2013. <http%3A%2F%2Fthebillfold.com%2F2013%2F05%2Fand-how-does-that-make-you-feel-
the-cost-of-therapy%2F>.
[7] "Speech & Language Therapy for Infants, Toddlers & Young Children." - National Down
Syndrome Society. National Down Syndrome Society, n.d. Web. 21 Mar. 2014.
<https://www.ndss.org/Resources/Therapies-Development/Speech-Language-Therapy/Speech-
Language-Therapy-for-Infants-Toddlers-Young-Children/>.
Conclusion
We conclude that a low-cost robotic platform is feasible and we showcase this with a prototype.
Each of the Platforms can be used incrementally by parents to help their dyssemic children.
TheraPlay (Parallax Basic) is more customizable and provides better Cost per Feature or Game
and LEGO Mindstorms provided better configurability but is not accurate in monitoring children.
In addition, adding the toy exterior was extremely successful in providing a more friendly
appearance instead of the normal, robotic feel. Attaching the LCD display was beneficial in
creating a colorful visual and to help track the progress of the children and give encouraging
feedback.
To create an economically feasible robotic platform to engage dyssemic children
To empower parents and enrich their dyssemic children using robot-assisted play therapy sessions
To compare retail low-cost robotics systems for play therapy
To include customizable features on the robot that the child can relate to
Engineering Goals
Robot Design Process
Observations of Dyssemic Children
Sample Game Infrastructure
“Can you give me the Red apple?”
Check Sensors?
Color Matching (Fruits Matching)
Initialization
Match
Reward & Congratulate
Go to Next Fruit
Gently Encourage
No Response
Wait for some time
No Match
Gently Encourage
Acknowledgments We thank Andy Lindsay of Parallax Inc. for helping us interface several sensors.
We thank Mrs. Pedersen and Mrs. Wilbur for their patience and guidance
We thank our parents for their support
Application NXT EV3 TheraPlay 1.0 TheraPlay 2.0 Ultimate
Student Monitoring 0 1 3 4 4
Card Matching 0 0 4 4 4
Counted Clapping 1 1 3 3 3
Color Matching 3 3 4 4 4
Follow Movement 0 0 3 3 3
Application TOTAL 2 3 5 5 5
COST ($) NXT EV3 TheraPlay 1.0 TheraPlay 2.0 Ultimate
Processor Board
373 350
130 130 130
Software 0 0 0
Build Material 30 50 80
Included I/O 0 0 0
Additional I/O 35 0 207 316 376
TOTAL ($) 408 350 367 496 586
ROBOT FEATURES NXT EV3 TheraPlay 1.0 TheraPlay 2.0 Ultimate
Motion recognition 1 1 3 4 4
Hand movements 1 1 1 1 1
Neck movements 1 1 1 1 1
Mouth movements 0 1 1 1 1
Mobility 0 0 1 1 1
Display (Touch) 0 0 0 1 1
Voice Recognition 0 0 0 0 1
Facial expression 0 0 0 0 0.5
Configurability 1 1 0 1 1
Feature TOTAL 4 5 7 10 11.5
NXT EV3 TheraPlay 1.0 TheraPlay 2.0 Ultimate
Cost per Feature 102 70 52.43 49.60 50.96
Cost per Application 204 116.67 73.4 99.20 117.20
Customizability
-100%
0%
100%
Accelerometer Values in both Sitting and Standing Positions for
Up and Down Movements
ax low ax high ay low ay high az low az high
0200400600800
1000
Red Apple Orange Green Pear YellowBanana
T B S1 S2Min/MaxT B S1 S2Min/MaxT B S1 S2Min/MaxT B S1Min/Max
ColorPal Sensor Values for Various Fruits
R-Low R-High G-Low G-High B-Low B-High
3D Printing Toy Adaptation
Sensor Variation
TheraPlay 1.0
Table 3: Robot Features
Tale 5: Cost per Feature and Cost per Game for the platforms
Table 2: Comparison of various games on each of the platforms
Table 4: Cost of three robot designs
3D printing technology provides a unique
feature for our robot. The outside features of
the robot can be custom designed for the
specific child. This gives a personal connection
between the child and the robot which is very
crucial for them when dealing with emotions
and sentiments. For example the outside could
resemble a friend, parent, or favorite
superhero.
TheraPlay 2.0
The proximity (PIR)
sensor is not used
for any specific
game. Instead this
sensor is used as a
safety device. It
scans the area to
sense if the child is
still present.
The RFID sensor is
used in the matching
game. This game
allows kids to scan
the correct card
onto the RFID to
teach valuable
listening skills.
The ColorPal sensor
is used in the color
matching game. This
game tests the kid’s
ability to identify
the correct fruit and
place it in the
basket in front of
the robot. Helps
with social skills.
The PING sensor is
used in conjunction
with the PIR. This
sensor scans the
area moving from
left to right and
once it senses a
target it focuses and
stops searching.
The Veho speaker is used
to play encouraging
music after the kid does
something. Music is
played whether the kid
did something right or
wrong.
The LCD screen
incorporates a reward
system that tracks the
progress of the child.
It also gives the child
a visual on what each
game is asking for.
The nunchuk is used
for the built in
accelerometer. This
device is used for the
Simon Says game,
which tests the
physical ability of the
child
The Sound Impact
sensor is primarily
used in the listening
game, which tests the
ability of the child to
listen and follow a set
of instructions
LEGO Mindstorms NXT
LEGO Mindstorms EV3
FEATURES NXT Comments
Processor Arm7
# Cores 1
# Sensors 4
# Motors 3
Software Pay
Storage No
Expansion No
LEGO Mindstorms
gives an excellent
platform to
customize any design
the parents want.
However, the having
of only one core
makes it difficult to
monitor two sensors
at the same time.
FEATURES EV3 Comments
Processor Arm9
# Cores 1
# Sensors 4
# Motors 4
Software Free
Storage Yes
Expansion No
EV3 is the newest
version of LEGO
Mindstorms. It retains
all the advantages
and disadvantages of
the NXT platform. In
addition features
include; Wi-Fi
capabilities, the
option to incorporate
a micro SD card for
increased storage.
FEATURES Parallax Comments
Processor Propeller
# Cores 8
# Sensors 10+
# Motors 6
Software Free
Storage Yes
Expansion Yes
The Parallax
microcontroller
features 8 cores
which allows multiple
sensors to be
managed
simultaneously. In
addition, the robot
structure is
developed aside from
Parallax.
FEATURES Parallax Comments
Processor Propeller
# Cores 8
# Sensors 10+
# Motors 6
Software Free
Storage Yes
Expansion Yes
TheraPlay 2.0
improves on the
customizability of the
robot. In this
particular robot an
Iron Man exterior was
used as an example
to showcase the
different options that
are available.
While programming, it was made apparent that
each fruit had a range of color values because
the sensor registered different colors depending
on the orientation of the fruit. To account for
the different values, readings were taken of
each fruit in different positions which include:
top, bottom, side 1 and side 2. These values
were then compiled into a range with the
lowest and highest color values being used.
It is essential for the robot to maintain a
friendly exterior so that the child is not afraid
to approach the robot. By fusing a stuffed toy
with a robotic infrastructure it allows the child
to view the robot as a friend without sacrificing
any valuable features. The stuffed toy used can
change depending on the preference of the
child and what is most comfortable for them.
The accelerometer was extremely user-
dependent, in the sense that the readings
varied depending on the height and position of
the user. Because of this problem, it was
essential to create a calibration program to sync
up the user’s environment with the range
incorporated in the accelerometer program.
These are sample calibration readings based on
our environment and height.
Based on the observations of the Dyssemic children and discussion with the teachers and therapists,
we compiled four different games and created a infrastructure for additional games. These games
include Color Matching, Simon Says, Card Matching, and Clapping game. These all improve one or
more social, physical, or listening skills.
TheraPlay