Intelligent Haptic Perception for Physical Robot Interaction

Doctorado en Ingeniería mecatrónica. Fecha de entrega de la Tesis doctoral: 8 de enero de 2020. Fecha de lectura de Tesis doctoral: 30 de marzo 2020.The dream of having robots living among us is coming true thanks to the recent advances in Artificial Intelligence (AI). The gap that still exists between that dream and reality will be filled by scientific research, but manifold challenges are yet to be addressed. Handling the complexity and uncertainty of real-world scenarios is still the major challenge in robotics nowadays. In this respect, novel AI methods are giving the robots the capability to learn from experience and therefore to cope with real-life situations. Moreover, we live in a physical world in which physical interactions are both vital and natural. Thus, those robots that are being developed to live among humans must perform tasks that require physical interactions. Haptic perception, conceived as the idea of feeling and processing tactile and kinesthetic sensations, is essential for making this physical interaction possible. This research is inspired by the dream of having robots among us, and therefore, addresses the challenge of developing robots with haptic perception capabilities that can operate in real-world scenarios. This PhD thesis tackles the problems related to physical robot interaction by employing machine learning techniques. Three AI solutions are proposed for different physical robot interaction challenges: i) Grasping and manipulation of humans’ limbs; ii) Tactile object recognition; iii) Control of Variable-Stiffness-Link (VSL) manipulators. The ideas behind this research work have potential robotic applications such as search and rescue, healthcare or rehabilitation. This dissertation consists of a compendium of publications comprising as the main body a compilation of previously published scientific articles. The baseline of this research is composed of a total of five papers published in prestigious peer-reviewed scientific journals and international robotics conferences

Collaborative Production Model of Educational Resources for Human-Computer Interaction Community in Latino America

Today, human-computer interaction (HCI) shows great activity, dynamism, and academic presence throughout the world, having special relevance in the Latin American region. The region is not only vast for its geographical space but also diverse and multicultural, where researchers and academics from this area or community have proposed and made known the benefits of the HCI that they can bring to today’s society. However, some problems arise and need to be addressed in the HCI area in the Latin American region, such as the lack of training strategies and the availability of content and educational resources in Spanish. In order to mitigate this problem, the current work proposes a collaborative production model of educative resources for human-computer interaction developed in Latin America. The model preconizes a series of strategies and technological services to support the collaborative production and access of HCI educative resources such as videos, slides, handouts, textbooks, user experience analysis, and usability tests. The proposed model is tested throughout two real case studies conducted by teachers and researchers from different Latin American universities in order to produce and use the HCI educative resources for under- and postgraduate courses

On data-driven systems analyzing, supporting and enhancing users’ interaction and experience

[EN]The research areas of Human-Computer Interaction and Software Architectures have been traditionally treated separately, but in the literature, many authors made efforts to merge them to build better software systems. One of the common gaps between software engineering and usability is the lack of strategies to apply usability principles in the initial design of software architectures. Including these principles since the early phases of software design would help to avoid later architectural changes to include user experience requirements. The combination of both fields (software architectures and Human-Computer Interaction) would contribute to building better interactive software that should include the best from both the systems and user-centered designs. In that combination, the software architectures should enclose the fundamental structure and ideas of the system to offer the desired quality based on sound design decisions. Moreover, the information kept within a system is an opportunity to extract knowledge about the system itself, its components, the software included, the users or the interaction occurring inside. The knowledge gained from the information generated in a software environment can be used to improve the system itself, its software, the users’ experience, and the results. So, the combination of the areas of Knowledge Discovery and Human-Computer Interaction offers ideal conditions to address Human-Computer-Interaction-related challenges. The Human-Computer Interaction focuses on human intelligence, the Knowledge Discovery in computational intelligence, and the combination of both can raise the support of human intelligence with machine intelligence to discover new insights in a world crowded of data. This Ph.D. Thesis deals with these kinds of challenges: how approaches like data-driven software architectures (using Knowledge Discovery techniques) can help to improve the users' interaction and experience within an interactive system. Specifically, it deals with how to improve the human-computer interaction processes of different kind of stakeholders to improve different aspects such as the user experience or the easiness to accomplish a specific task. Several research actions and experiments support this investigation. These research actions included performing a systematic literature review and mapping of the literature that was aimed at finding how the software architectures in the literature have been used to support, analyze or enhance the human-computer interaction. Also, the actions included work on four different research scenarios that presented common challenges in the Human- Computer Interaction knowledge area. The case studies that fit into the scenarios selected were chosen based on the Human-Computer Interaction challenges they present, and on the authors’ accessibility to them. The four case studies were: an educational laboratory virtual world, a Massive Open Online Course and the social networks where the students discuss and learn, a system that includes very large web forms, and an environment where programmers develop code in the context of quantum computing. The development of the experiences involved the review of more than 2700 papers (only in the literature review phase), the analysis of the interaction of 6000 users in four different contexts or the analysis of 500,000 quantum computing programs. As outcomes from the experiences, some solutions are presented regarding the minimal software artifacts to include in software architectures, the behavior they should exhibit, the features desired in the extended software architecture, some analytic workflows and approaches to use, or the different kinds of feedback needed to reinforce the users’ interaction and experience. The results achieved led to the conclusion that, despite this is not a standard practice in the literature, the software environments should embrace Knowledge Discovery and datadriven principles to analyze and respond appropriately to the users’ needs and improve or support the interaction. To adopt Knowledge Discovery and data-driven principles, the software environments need to extend their software architectures to cover also the challenges related to Human-Computer Interaction. Finally, to tackle the current challenges related to the users’ interaction and experience and aiming to automate the software response to users’ actions, desires, and behaviors, the interactive systems should also include intelligent behaviors through embracing the Artificial Intelligence procedures and techniques

On Data-driven systems analyzing, supporting and enhancing users’ interaction and experience

Tesis doctoral en inglés y resumen extendido en español[EN] The research areas of Human-Computer Interaction and Software Architectures have been traditionally treated separately, but in the literature, many authors made efforts to merge them to build better software systems. One of the common gaps between software engineering and usability is the lack of strategies to apply usability principles in the initial design of software architectures. Including these principles since the early phases of software design would help to avoid later architectural changes to include user experience requirements. The combination of both fields (software architectures and Human-Computer Interaction) would contribute to building better interactive software that should include the best from both the systems and user-centered designs. In that combination, the software architectures should enclose the fundamental structure and ideas of the system to offer the desired quality based on sound design decisions. Moreover, the information kept within a system is an opportunity to extract knowledge about the system itself, its components, the software included, the users or the interaction occurring inside. The knowledge gained from the information generated in a software environment can be used to improve the system itself, its software, the users’ experience, and the results. So, the combination of the areas of Knowledge Discovery and Human-Computer Interaction offers ideal conditions to address Human-Computer-Interaction-related challenges. The Human-Computer Interaction focuses on human intelligence, the Knowledge Discovery in computational intelligence, and the combination of both can raise the support of human intelligence with machine intelligence to discover new insights in a world crowded of data. This Ph.D. Thesis deals with these kinds of challenges: how approaches like data-driven software architectures (using Knowledge Discovery techniques) can help to improve the users' interaction and experience within an interactive system. Specifically, it deals with how to improve the human-computer interaction processes of different kind of stakeholders to improve different aspects such as the user experience or the easiness to accomplish a specific task. Several research actions and experiments support this investigation. These research actions included performing a systematic literature review and mapping of the literature that was aimed at finding how the software architectures in the literature have been used to support, analyze or enhance the human-computer interaction. Also, the actions included work on four different research scenarios that presented common challenges in the Human-Computer Interaction knowledge area. The case studies that fit into the scenarios selected were chosen based on the Human-Computer Interaction challenges they present, and on the authors’ accessibility to them. The four case studies were: an educational laboratory virtual world, a Massive Open Online Course and the social networks where the students discuss and learn, a system that includes very large web forms, and an environment where programmers develop code in the context of quantum computing. The development of the experiences involved the review of more than 2700 papers (only in the literature review phase), the analysis of the interaction of 6000 users in four different contexts or the analysis of 500,000 quantum computing programs. As outcomes from the experiences, some solutions are presented regarding the minimal software artifacts to include in software architectures, the behavior they should exhibit, the features desired in the extended software architecture, some analytic workflows and approaches to use, or the different kinds of feedback needed to reinforce the users’ interaction and experience. The results achieved led to the conclusion that, despite this is not a standard practice in the literature, the software environments should embrace Knowledge Discovery and data-driven principles to analyze and respond appropriately to the users’ needs and improve or support the interaction. To adopt Knowledge Discovery and data-driven principles, the software environments need to extend their software architectures to cover also the challenges related to Human-Computer Interaction. Finally, to tackle the current challenges related to the users’ interaction and experience and aiming to automate the software response to users’ actions, desires, and behaviors, the interactive systems should also include intelligent behaviors through embracing the Artificial Intelligence procedures and techniques

Contributions of the interactive decoupage to reading and analyzing interactive audiovisual works in cybermedia.

El epígrafe interactive storytelling, narración interactiva, se aplica a una serie de trabajos periodísticos en formato de reportajes audiovisuales e interactivos que estan ganando cada vez más protagonismo en los cibermedios. En este artículo se propone la definición y descripción de un sistema de análisis, el découpage interactivo, en el que se establecen los parámetros a observar en la lectura de una aplicación audiovisual interactiva. El découpage interactivo es un sistema de análisis formal de audiovisuales interactivos que permite establecer una observación detallada de los aspectos que conforman cualquier audiovisual interactivo: la estructura que lo sustenta, los contenidos, las interfaces a través de las cuales se accede al mismo y los diálogos de interacción que propone. Se describen los distintos apartados que conforman el découpage así como las fases y procedimiento para su ejecución. La herramienta presentada aporta al investigador un documento que describe de forma detallada los elementos que los autores de un determinado audiovisual interactivo utilizaron para desarrollar el guión y producir el mismo. La posibilidad de confrontar el audiovisual interactivo con su descripción en forma de découpage permiten al analista profundizar en la comprensión de los procesos creativos propios de los audiovisuales interactivos.The epigraph “interactive storytelling” is applied to a series of journalistic pieces developed as interactive audiovisual stories that are becoming increasingly prominent in cybermedia. This article suggests the definition and description of an analysis system, the “interactive decoupage”, where the parameters to observe are established when reading an interactive audiovisual application. The interactive decoupage is a formal analysis system of interactive audiovisual works which allows for a thorough observation of the aspects present in any interactive audiovisual work: structure, content, access’ interfaces and the interaction dialogues the work suggests. The different parts of the decoupage are described, as well as the phases and procedure to execute it. The tool presented is a document for the researcher that provides a detailed description of the elements used by the authors of an interactive audiovisual project to develop and produce its script. The possibility of confronting the interactive audiovisual work with its “decoupage” description provides the analyst with more insight into the creative processes of interactive audiovisual projects

La metodología observacional en el ámbito del deporte

En este trabajo se realiza una revisión del concepto, de los principales trabajos y del protocolo metodológico (herramientas de observación –sistemas de categorías y formatos de campo- y programas de codificación, etc.) que debe seguir una investigación desarrollada desde la perspectiva de la Metodología Observacional. Recoge uno de los aspectos novedosos dentro de esta metodología, los diseños observacional donde el grupo de investigación de los autores ha trabajado en los últimos veinte años. Se recoge el procedimiento de análisis de calidad del dato y de análisis de datos. Quedan apuntadas las últimas tendencias metodológicas en esta área como los Mixed Methods.This paper reviews the conceptual framework, the key literature and the methods (observation tools, such as category systems and field formats, and coding software, etc.) that should be followed when conducting research from the perspective of observational methodology. The observational designs used by the authors’ research group over the last twenty years are discussed, and the procedures for analysing data and assessing their quality are described. Mention is also made of the latest methodological trends in this field, such as the use of mixed methods.peerReviewe

Teaching Programme for 1º Bachillerato: Inglés

Trabajo de Fin de Máster del Máster en Profesor de Educación Secundaria Obligatoria y Bachillerato, Formación Profesional y Enseñanza de Idiomas, curso 2020-2021[ES] El presente Trabajo de Fin de Máster corresponde a una propuesta de programación didáctica para la enseñanza del inglés como Lengua Extranjera para un grupo de 1o de Bachillerato en el contexto del sistema educativo Español. Dicha programación didáctica ha sido diseñada en base a los principios metodológicos del enfoque comunicativo en la enseñanza de lenguas, y específicamente, las actividades propuestas se adscriben al enfoque discursivo y al aprendizaje basado en tareas. Bajo este marco teórico, se ha diseñado un conjunto de 9 Unidades Didácticas, cada una de las cuales está orientada a la exploración de un elemento transversal concreto relevante para la correcta inserción de los alumnos en la vida adulta. La última sección del TFM corresponde al desarrollo de la UD 5 “Pretty as a Picture” y las propuestas concretas diseñadas para sus seis sesiones.[EN] This Final Master’s Thesis corresponds to a Teaching Programme for EFL addressed to a group of 1st Year Bachillerato students in the Spanish Educational System. This Teaching Programme has been developed under the guidelines of the Communicative Language Teaching methodological principles, and its activities are framed within the Discourse-Based Approach and Task-Based Language Teaching. Given this theoretical framework, a set of 9 Teaching Units has been designed, each of which revolves around the exploration of a specific transversal element relevant for the students’ correct insertion into adulthood. The last section of the Thesis concerns the development of Teaching Unit 5 “Pretty as a Picture” and the concrete proposals for its different six sessions

Social Robots to enhance therapy and interaction for children: From the design to the implementation "in the wild"

En les últimes dues dècades els robots socials s'han convertit en un camp emergent en el qual encara hi ha molt per fer. Aquest camp requereix coneixements en mecànica, control, intel·ligència artificial, sistemes, etc., però també en psicologia, disseny, ètica, etc. El nostre grup de recerca de perfil interdisciplinari ha estat treballant en el disseny de robots socials en diferents aplicacions per a nens amb necessitats especials. L'objectiu d'aquesta tesi és investigar diferents escenaris en teràpia o educació on els robots socials podrien ser una eina útil per als nens. Es van realitzar 4 estudis amb diferents propòsits: (1) dissenyar activitats amb robòtica de LEGO per avaluar el comportament social dels nens amb trastorn de l'espectre autista (TEA) (entre companys i amb adults) i analitzar la seva efectivitat, (2) dissenyar un robot social per recuperar les funcionalitats més afectades a causa de traumatismes cranioencefàlics (TCE) en nens i veure l'eficàcia del tractament, (3) proporcionar un robot mascota per alleujar els sentiments d'ansietat, solitud i estrès en nens hospitalitzats, i (4) comprovar com un robot amb comportament social i amb una personalització versus robots sense aquestes característiques mostra diferències en termes d'interacció amb nens i, per tant, pot ajudar en l'efectivitat de diferents tractaments com hem esmentat anteriorment. Els resultats van revelar diferents resultats depenent de l'aplicació: (1) efectivitat amb la plataforma robòtica social que vam dissenyar en el tractament neuropsicològic per a aquells nens afectats per TCE, (2) eficàcia amb les activitats de robòtica de LEGO dissenyades per un grup de terapeutes en termes de millora d'habilitats socials (3) un efecte positiu entre els mediadors i facilitadors de la interacció i les relacions entre els diferents agents involucrats en el procés de la cura: pacients hospitalitzats, familiars, voluntaris i personal clínic, i (4) una interacció diferent, en termes de temps, entre els dos grups durant període de dues setmanes.En las últimas dos décadas los robots sociales se han convertido en un campo emergente en el que todavía hay mucho por hacer. Este campo requiere conocimientos en mecánica, control, inteligencia artificial, sistemas, etc., pero también en psicología, diseño, ética, etc. Nuestro grupo de investigación de perfil interdisciplinar ha estado trabajando en el diseño de robots sociales en diferentes aplicaciones para niños con necesidades especiales. El objetivo de esta tesis es investigar diferentes escenarios en terapia o educación donde los robots sociales podrían ser una herramienta útil para los niños. Se realizaron 4 estudios con diferentes propósitos: (1) diseñar actividades con robótica de LEGO para evaluar el comportamiento social de los niños con trastorno del espectro autista (TEA) (entre compañeros y con adultos) y analizar su efectividad, (2) diseñar un robot social para recuperar las funcionalidades más afectadas a causa de traumatismos craneoencefálicos (TCE) en niños y ver la eficacia del tratamiento, (3) proporcionar un robot mascota para aliviar los sentimientos de ansiedad, soledad y estrés en niños hospitalizados, y (4) comprobar como un robot con comportamiento social y con una personalización versus robots sin esas características muestra diferencias en términos de interacción con niños y, por tanto, puede ayudar en la efectividad de diferentes tratamientos como mencionamos anteriormente. Los resultados revelaron diferentes resultados dependiendo de la aplicación: (1) efectividad con la plataforma robótica social que diseñamos en el tratamiento neuropsicológico para aquellos niños afectadas por TCE, (2) eficacia con las actividades de robótica de LEGO diseñadas por un grupo de terapeutas en términos de mejora de habilidades sociales (3) un efecto positivo entre los mediadores y facilitadores de la interacción y las relaciones entre los diferentes agentes involucrados en el proceso del cuidado: pacientes hospitalizados, familiares, voluntarios y personal clínico, y (4) una interacción diferente, en términos de tiempo, entre ambos grupos en el promedio de un período de dos semanas.Over the past two decades social robots have become an emerging field where there are many things still to work on. This field not only requires knowledge in mechanics, control, artificial intelligence, systems, etc., but also in psychology, design, ethics, etc. Our multidisciplinary research group has been working on designing social robotic platforms in different applications for children with special needs. The aim of this thesis is to investigate different scenarios in therapy or education where social robots could be a useful tool for children. We ran 4 studies with different purposes: (1) to design activities with LEGO robotics to assess children with autism spectrum disorder (ASD) social behaviour (between peers and with adults) and to analyze the effectiveness, (2) to design a social robotic platform to recover the functionalities most affected by traumatic brain injuries (TBI) in children and see the effectiveness of the treatment, (3) to provide a pet robot to alleviate feelings of anxiety, loneliness and stress of long-term children inpatient and their bystanders, and (4) to verify how a robot with social behaviour and personalization verses those robots without, shows differences in terms of interaction with children and thus, helps the effectiveness of different treatments as we mention above. The results revealed different outcomes depending on the application: (1) effectiveness with the social robotic platform that we designed in neuropsychological treatment in those areas affected by TBI, (2) effectiveness with the LEGO robotics activities designed by a group of therapists in terms of improvement of the social skills and engagement, (3) a positive effect within mediators and facilitators of interaction and relationships between the different agents involved in the caring process: in-patients, relatives, volunteers and clinical staff (4) slight evidence towards a different interaction, in terms of time, between both groups in the average of a two-week period

A Mixed Methods Framework for Psychoanalytic Group Therapy: From Qualitative Records to a Quantitative Approach Using T-Pattern, Lag Sequential, and Polar Coordinate Analyses

Conducted within a mixed methods framework, this study focuses on the conversation facilitation role of a lead therapist during group psychotherapy with adolescents. Conversation is an essential component of psychoanalytic psychotherapies and there is growing interest in describing and studying the impact of conversational techniques. One way to do this is to report on specific approaches, such as questioning, paraphrasing, and mentalization in intervention turns and to analyze their impact on the therapist-patient relationship. The main aim of this study was to investigate differences in communication strategies used by a lead therapist in the early and late stages of therapy with six adolescents aged 13-15 years. We employed a mixed methods design based on systematic direct observation supplemented by indirect observation. The observational methodology design was nomothetic, follow-up, and multidimensional. The choice of methodology is justified by our use of an ad hoc observation instrument for communication strategies combining a field format and a category system. We analyzed interobserver agreement quantitatively by Cohen's kappa using GSEQ5 software. Following confirmation of the reliability of the data, we analyzed the lead therapist's conversation-facilitation techniques in sessions 5 and 29 of a 30-session program by quantitatively analyzing what were initially qualitative data using T-pattern detection (THEME v.6 Edu software), lag sequential analysis (GSEQ5 software), and polar coordinate analysis (HOISAN v. 1.6.3.3.6. software and R software). The results show changes in the techniques used from the start to the end of therapy. Of the 28 communication strategies analyzed, three were particularly common: questioning and paraphrasing in session 5 and questioning and mentalization in session 29. This mixed methods study shows that combined use of T-pattern detection, lag sequential analysis, and polar coordinate analysis can offer meaningful and objective insights into group psychotherapy through the lens of the therapist

Multimodal and multidimensional geodata interaction and visualization

This PhD proposes the development of a Science Data Visualization System, SdVS, that analyzes and presents different kinds of visualizing and interacting techniques with Geo-data, in order to deal with knowledge about Geo-data using GoogleEarth. After that, we apply the archaeological data as a case study, and, as a result, we develop the Archaeological Visualization System, ArVS, using new visualization paradigms and Human-Computer-Interaction techniques based on SdVS. Furthermore, SdVS provides guidelines for developing any other visualization and interacting applications in the future, and how the users can use SdVS system to enhance the understanding and dissemination of knowledge