Simulating Vocal Imitation in Infants, using a Growth Articulatory Model and Speech Robotics

In order to shed lights on the cognitive representations likely to underlie early vocal imitation, we tried to simulate Kuhl and Meltzoff's experiment (1996), using Bayesian robotics and a statistical model of the vocal tract that had been fitted to pre-babblers' actual vocalizations. It was shown that audition is compulsory to account for infants' early vocal imitation performance, inasmuch as the simulation of purely visual imitation failed to reproduce infants' score and pattern of imitation. Further, a small number of vocalizations (less than 100!) appeared to be enough for a learning process to provide scores at least as high as those of pre-babblers. Thus, early vocal imitation lies in the reach of a baby robot, with only a few assumptions about learning and imitation

Expressive social exchange between humans and robots

Thesis (Sc.D.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2000.Includes bibliographical references (p. 253-264).Sociable humanoid robots are natural and intuitive for people to communicate with and to teach. We present recent advances in building an autonomous humanoid robot, Kismet, that can engage humans in expressive social interaction. We outline a set of design issues and a framework that we have found to be of particular importance for sociable robots. Having a human-in-the-loop places significant social constraints on how the robot aesthetically appears, how its sensors are configured, its quality of movement, and its behavior. Inspired by infant social development, psychology, ethology, and evolutionary perspectives, this work integrates theories and concepts from these diverse viewpoints to enable Kismet to enter into natural and intuitive social interaction with a human caregiver, reminiscent of parent-infant exchanges. Kismet perceives a variety of natural social cues from visual and auditory channels, and delivers social signals to people through gaze direction, facial expression, body posture, and vocalizations. We present the implementation of Kismet's social competencies and evaluate each with respect to: 1) the ability of naive subjects to read and interpret the robot's social cues, 2) the robot's ability to perceive and appropriately respond to naturally offered social cues, 3) the robot's ability to elicit interaction scenarios that afford rich learning potential, and 4) how this produces a rich, flexible, dynamic interaction that is physical, affective, and social. Numerous studies with naive human subjects are described that provide the data upon which we base our evaluations.by Cynthia L. Breazeal.Sc.D

Building Robota, a Mini-Humanoid Robot for the Rehabilitation of Children with Autism

The Robota project constructs a series of multiple degrees of freedom doll-shaped humanoid robots, whose physical features resemble those of a human baby. The Robota robots have been applied as assistive technologies in behavioral studies with low-functioning children with autism. These studies investigate the potential of using an imitator robot to assess children’s imitation ability and to teach children simple coordinated behaviors. In this paper, we review the recent technological developments that have made the Robota robots suitable for use with children with autism. We critically appraise the main outcomes of two sets of behavioral studies conducted with Robota and discuss how these results inform future development of the Robota robots and generally, robots for the rehabilitation of children with complex developmental disabilities

Characteristics of Exuberance: Novelty-Seeking, Sociability or Emotion?

Current theories of temperament posit that individual differences in activity, reactivity, emotionality, sociability and self-regulation arise from biologically based systems and that these differences remain relatively stable over the lifespan (Goldsmith et al., 1987). One temperamental profile, Exuberance, has emerged from both conceptual and empirical work. Exuberance has been variously conceptualized in the extant temperament literature and has been associated with both positive and negative socio-emotional outcomes in children. In order to ascertain the impact of Exuberance on later adaptation, the first major goal of the current study was to identify its core features. The second major goal of the study was to examine the relations between Exuberance and later adaptation. Sixty toddlers and their caregivers participated in the study. At 24-months toddlers were invited to interact with a variety of novelty social and non-social stimuli and their caregivers were asked to complete the Toddler Behavior Assessment Questionnaire (TBAQ; Goldsmith, 1996). When the toddlers were 36-months old, caregivers were asked to complete the Child Behavior Checklist (CBCL/1.5-5; Achenbach & Rescorla, 2000) and the Infant-Toddler Social and Emotional Battery (ITSEA; Carter & Briggs-Gowan, 2003). Separate confirmatory factor analyses were used to examine the factor structure of Exuberance and Sociability and to examine the relations between Exuberance and behavioral inhibition. Findings supported an orthogonal two-factor of Sociability (i.e. quality of attachment to caregiver and sociability with an unfamiliar adult) and an orthogonal two-factor model of Exuberance (i.e. novelty-seeking and sociability with an unfamiliar adult). The current study also lent support for the distinctiveness of Exuberance (i.e. novelty-seeking and sociability with an unfamiliar adult) from behavioral inhibition. Also, little convergence between the scale items from the TBAQ and behavioral observations of Exuberance was found. Emotion regulation was found to predict both positive and negative adaptation and to mediate the relations between novelty-seeking and later positive and negative adaptation. Also, novelty-seeking predicted later externalizing problems. Taken together, these findings indicate the need for examining the unique facets of Exuberance in order to understand the impact of this temperamental profile on later social and emotional development

Automatic vocal recognition of a child's perceived emotional state within the Speechome corpus

Thesis (S.M.)--Massachusetts Institute of Technology, School of Architecture and Planning, Program in Media Arts and Sciences, 2010.Cataloged from PDF version of thesis.Includes bibliographical references (p. 137-149).With over 230,000 hours of audio/video recordings of a child growing up in the home setting from birth to the age of three, the Human Speechome Project has pioneered a comprehensive, ecologically valid observational dataset that introduces far-reaching new possibilities for the study of child development. By offering In vivo observation of a child's daily life experience at ultra-dense, longitudinal time scales, the Speechome corpus holds great potential for discovering developmental insights that have thus far eluded observation. The work of this thesis aspires to enable the use of the Speechome corpus for empirical study of emotional factors in early child development. To fully harness the benefits of Speechome for this purpose, an automated mechanism must be created to perceive the child's emotional state within this medium. Due to the latent nature of emotion, we sought objective, directly measurable correlates of the child's perceived emotional state within the Speechome corpus, focusing exclusively on acoustic features of the child's vocalizations and surrounding caretaker speech. Using Partial Least Squares regression, we applied these features to build a model that simulates human perceptual heuristics for determining a child's emotional state. We evaluated the perceptual accuracy of models built across child-only, adult-only, and combined feature sets within the overall sampled dataset, as well as controlling for social situations, vocalization behaviors (e.g. crying, laughing, babble), individual caretakers, and developmental age between 9 and 24 months. Child and combined models consistently demonstrated high perceptual accuracy, with overall adjusted R-squared values of 0.54 and 0.58, respectively, and an average of 0.59 and 0.67 per month. Comparative analysis across longitudinal and socio-behavioral contexts yielded several notable developmental and dyadic insights. In the process, we have developed a data mining and analysis methodology for modeling perceived child emotion and quantifying caretaker intersubjectivity that we hope to extend to future datasets across multiple children, as new deployments of the Speechome recording technology are established. Such large-scale comparative studies promise an unprecedented view into the nature of emotional processes in early childhood and potentially enlightening discoveries about autism and other developmental disorders.by Sophia Yuditskaya.S.M

Feasibility of a smartphone application to identify young children at risk for Autism Spectrum Disorder in a low-income community setting in South Africa

Introduction and aims More than 90% of children with Autism Spectrum Disorder (ASD) live in low- and middle-income countries (LMIC) where there is a great need for culturally appropriate, scalable and effective early identification and intervention tools. Smartphone technology and application (‘apps’) may potentially play an important role in this regard. The Autism&Beyond iPhone App was designed as a potential screening tool for ASD risk in children aged 12-72 months. Here we investigated the technical feasibility and cultural acceptability of a smartphone app to determine risk for ASD in children aged 12-72 months in a naturalistic, low-income South African community setting. Methodology 37 typically-developing African children and their parents/carers were recruited from community centres in Khayelitsha Township, Cape Town, South Africa. We implemented a mixed-methods design, collecting both quantitative and qualitative data from participants in 2 stages. In stage 1, we collected quantitative data. With appropriate ethics and consent, parents completed a short technology questionnaire about their familiarity with and access to smartphones, internet and apps, followed by electronic iPhone-based demographic and ASD-related questionnaires. Next, children were shown 3 short videos of 30s each and a mirror stimulus on a study smartphone. The smartphone front facing (“selfie”) camera recorded video of the child’s facial expressions and head movement. Automated computer algorithms quantified positive emotions and time attending to stimuli. We validated the automatic coding by a) comparing the computer-generated analysis to human coding of facial expressions in a random sample (N=9), and b) comparing automated analysis of the South African data (N=33) with a matched American sample (N=33). In stage 2, a subset of families were invited to participate in focus group discussions to provide qualitative data on accessibility, acceptability, and cultural appropriateness of the app in their local community. Results Most parents (64%) owned a smartphone of which all (100%) were Android based, and many used Apps (45%). Human-automated coding showed excellent correlation for positive emotion (ICC= 0.95, 95% CI 0.81-0.99) and no statistically significant differences were observed between the South African and American sample in % time attending to the video stimuli. South African children, however, smiled less at the Toys&Rhymes (SA mean (SD) = 14% (24); USA mean (SD) = 31% (34); p=0.05) and Bunny video (SA mean (SD) = 12% (17); USA mean (SD) = 30% (0.27); p=0.006). Analysis of focus group data indicated that parents/carers found the App relatively easy to use, and would recommend it to others in their community provided the App and data transfer were free. Conclusion The results from this pilot study suggested the App to be technically accurate, accessible and culturally acceptable to families from a low-resource environment in South Africa. Given the differences in positive emotional response between the groups, careful consideration should be given to identify suitable stimuli if % time smiling is to be used as a global marker for autism risk across cultures and environments

Maternal Sensitivity As a Mediator of Maternal History of Care and Children\u27s Emotion Regulation and Attachment at 2 ½ Years of Age

Abstract The aim of this study was to determine whether maternal sensitivity acts as a mediator in the associations between a mother‟s childhood history of care and her child‟s emotion regulation and attachment security at 2 ½ years of age. It was hypothesized that children of mothers who perceived their own childhood experiences with parents as caring and accepting would display more adaptive regulatory behaviors in fear-eliciting contexts and be more securely attached than children of mothers who recollected rejection in their own childhood experiences, with maternal sensitivity mediating these associations. Participants were 82 toddlers and their mothers. Mothers rated their childhood experiences of care and acceptance with their own parents prior to the laboratory procedure. Each child was presented with four novel stimuli, with mothers present, but not involved for the first two tasks and involved in the remaining two. Presentation of the novel stimuli was in pairs including one toy task (i.e., monster or robot) and one person task (i.e., clown or masks). Children‟s emotion regulation behaviors were coded continuously during the mother not involved condition, whereas observed maternal sensitivity was rated in the mother involved condition. Information about maternal sensitivity and children‟s attachment behaviors was reported by mothers using a diary technique. A path analysis was used to test the model examining the relationship between maternal history of care and sensitivity and children‟s attachment security and emotion regulation behaviors (i.e., distraction, withdrawal, contact with mother). Maternal sensitivity mediated the association between a mother‟s childhood history of care and acceptance and child attachment. Post-hoc analysis showed that this conditional indirect effect was significant only for children of mothers with less than a complete college education. In contrast, a childhood history of care and acceptance did not predict children‟s emotional regulation behaviors, although it interacted with education to predict distraction. Maternal sensitivity was associated positively with distraction and negatively with withdrawal, whereas children‟s attachment security was not associated with any emotion regulation behavior. Results are discussed in relation to attachment theory and continuities and discontinuities in the transmission process in mother-child relationships

Bonding with Robotic Pets. Children’s Cognitions, Emotions and Behaviors towards Pet-Robots. Applications in a Robot Assisted Quality of Life Intervention in a Pediatric Hospital

[eng] This dissertation addresses the emergence of emotional involvement in the interaction with social robots. More specifically, we investigate the dynamics of children bonding with robotic pets to design robot based programs to improve patients’ experience in pediatric hospitals. Pet-robots are robots that mimic real pets as dogs or cats, both in appearance and in behavior. We assume that gaining understanding of the emotional dimension of children/pet-robots interaction would contribute to evaluate the impact of pet-robots in children’s lives, and to inform both robots’ design and robot-based applications for health and wellbeing. First, this research presents a novel model of bonding with robotic pets inspired in the human-animal affiliation and particularly in child-dog relatedness, where bonding is envisaged as a process towards companionship that evolves through three stages –first impression, short-term interaction and lasting relationship- characterized by distinguishable patterns of behaviors, cognitions and feelings that can be identified and measured. Secondly, a behavioral analysis of children interacting with the Pleo robot -a robotic pet shaped as a baby dinosaur-, with an emphasis on the interactional surface and particularly on the sequences of dyad’s reciprocal exchange is presented. The outcomes are twofold: the ethograms and coding schemes of Pleo’s and children’s behaviors and a higher level categorization of behaviors involved in bond forming that can be applied to other platforms and users. Thirdly, a naturalistic study carried out in a pediatric hospital to observe the interactive practices with the Pleo robot in the wild and to evaluate the feasibility and effectiveness of a Pleo-based intervention to accompany children is analyzed and discussed. Inspired on the beneficial effects of real pets’ company, the study consisted in an intensive ethnography, a systematic observation of a group play session and a follow-up case study of an experience of adopting a Pleo. Our results show that the key mechanism driving bond forming is the robot’s capability to deploy credible attachment behaviors –proximity seeking and resource soliciting- that elicit complementary nurturing and play behaviors in children. Beyond the novelty effect, self-reinforcing processes as learning and evolution can keep children engaged in rewarding interaction with the robot over time. Moreover, Pleo’s versatility allows diverse modalities of interaction and individual and group play, satisfying different needs as company, technological curiosity, entertainment and social facilitation both for normatively developed children and for children with special needs and their families. In general, the introduction of robot-based play was regarded by the hospital professionals not only as compatible with their daily day practice but valuable as a regular resource to smooth children’s stay at the hospital.[cat] Aquesta tesi aborda el sorgiment de la implicació emocional en la interacció amb els robots socials. Més específicament, s'investiga la dinàmica de la afiliació dels nens amb les mascotes robòtiques – robots que evoquen els animals de companyia- per tal de dissenyar programes basats en robots per millorar l'experiència dels pacients en els hospitals pediàtrics. Considerem que investigar la dimensió emocional de la interacció nen/robots-mascota contribuirà a avaluar-ne el seu impacte en la vida del nens i nenes, i a informar el disseny d’aquests robots i de les aplicacions que se’n deriven per a la seva salut i benestar. A partir d’un model evolutiu original de vinculació nen-robot inspirat en la afiliació d'humans i animals - i més concretament, en la relació nen-gos- s’analitza el comportament de nens interactuant amb el robot Pleo –robot mascota en forma de nadó dinosaure-, amb un èmfasi en les seqüències d'intercanvi recíproc de la diada. Els resultats són de dos tipus: els etogrames del Pleo i dels nens, i una categorització conductual a més alt nivell, aplicables a altres plataformes i usuaris. A partir d’aquest estudi, s’analitza una experiència d’intervenció en un hospital pediàtric per observar les pràctiques interactives amb el robot Pleo, i per avaluar la viabilitat i l'eficàcia d'una intervenció basada en el Pleo per acompanyar els nens. Inspirat en els efectes beneficiosos de la companyia de mascotes reals, l'estudi va consistir en una etnografia, una anàlisi observacional d'una sessió de joc en grup amb el robot, i un estudi de cas longitudinal d'una experiència d’adopció d’un Pleo. Els resultats mostren que l’aspecte clau que impulsa la formació del vincle és la capacitat del robot per desplegar conductes d’aferrament creïbles –cerca de proximitat i sol·licitud de recursos- que provoquen comportaments complementaris de criança i joc en els nens, més enllà de l'efecte novetat. D'altra banda, la versatilitat de Pleo permet diverses modalitats d'interacció i joc, i satisfer diferents necessitats dels usuaris, com ara companyia, curiositat, entreteniment i facilitació social, també per nens i nenes amb necessitats especials i les seves famílies. En general, la introducció del joc basat en el robot va ser considerada pels professionals de l'hospital no només compatible amb la seva pràctica professional, sinó també com un recurs valuós per alleugerir l'estada dels nens a l'hospital

Robot-assisted fMRI assessment of early brain development

Preterm birth can interfere with the intra-uterine mechanisms driving cerebral development during the third trimester of gestation and often results in severe neuro-developmental impairments. Characterizing normal/abnormal patterns of early brain maturation could be fundamental in devising and guiding early therapeutic strategies aimed at improving clinical outcome by exploiting the enhanced early neuroplasticity. Over the last decade the morphology and structure of the developing human brain has been vastly characterized; however the concurrent maturation of brain function is still poorly understood. Task-dependent fMRI studies of the preterm brain can directly probe the emergence of fundamental neuroscientific notions and also provide clinicians with much needed early diagnostic and prognostic information. To date, task-fMRI studies of the preterm population have however been hampered by methodological challenges leading to inconsistent and contradictory results. In this thesis I present a modular and flexible system to provide clinicians and researchers with a simple and reliable solution to deliver computer-controlled stimulation patterns to preterm infants during task-fMRI experiments. The system is primarily aimed at studying the developing sensori-motor system as preterm infants are often affected by neuro-motor dysfunctions such as cerebral palsy. Wrist and ankle robotic stimulators were developed and firstly used to study the emerging somatosensory “homunculus”. The wrist robotic stimulator was then used to characterize the development of the sensori-motor system throughout the mid-to-late preterm period. An instrumented pacifier system was also developed to explore the potential sensorimotor modulation of early sucking activity; however, despite its clear potential to be employed in future fMRI studies, results have not yet been obtained on preterm infants. Functional difficulties associated with prematurity are likely to extend to multi-sensory integration, and the olfactory system currently remains under-investigated despite its clear developmental importance. A custom olfactometer was developed and used to assess its early functionality.Open Acces