Augmented Human Assistance (AHA)

Aging and sedentarism are two main challenges for social and health systems in modern societies. To face these challenges a new generation of ICT based solutions is being developed to promote active aging, prevent sedentarism and find new tools to support the large populations of patients that suffer chronic conditions as result of aging. Such solutions have the potential to transform healthcare by optimizing resource allocation, reducing costs, improving diagno ses and enabling novel therapies, thus increasing quality of life. The primary goal of the “AHA: Augmented Human Assistance” project is to de velop novel assistive technologies to promote exercise among the elderly and patients of motor disabilities. For exercise programs to be effective, it is essential that users and patients comply with the prescribed schedule and perform the ex ercises following established protocols. Until now this has been achieved by hu man monitoring in rehabilitation and therapy session, where the clinicians or therapists permanently accompany users or patient. In many cases, exercises are prescribed for home performance, in which case it is not possible to validate their execution. In this context, the AHA project is an integrative and cross-discipli nary approach of 4 Portuguese universities, the CMU, and 2 Portuguese industry partners, that combines innovation and fundamental research in the areas of hu man-computer interaction, robotics, serious games and physiological computing (see partner list in Appendix A). In the project, we capitalize on recent innova tions and aim at enriching the capabilities and range of application of assistive devices via the combination of (1) assistive robotics; (2) technologies that use well-understood motivational techniques to induce people to do their exercises in the first place, and to do them correctly and completely; (3) tailored and relevant guidance in regard to health care and social support and activities; and (4) tech nologies to self-monitoring and sharing of progress with health-care provider enabling clinicians to fine-tune the exercise regimen to suit the participant’s ac tual progress. We highlight the development of a set of exergames (serious games controlled by the movement of the user’s body limbs) specifically designed for the needs of the target population according to best practices in sports and human kinetics sciences. The games can be adapted to the limitations of the users (e.g. to play in a sitting position) so a large fraction of the population can benefit from them. The games can be executed with biofeedback provided from wearable sensors, to pro duce more controlled exercise benefits. The games can be played in multi-user settings, either in cooperative or competitive mode, to promote the social rela tions among players. The games contain regional motives to trigger memories from the past and other gamification techniques that keep the users involved in the exercise program. The games are projected in the environment through aug mented reality techniques that create a more immersive and engaging experience than conventional displays. Virtual coach techniques are able to monitor the cor rectness of the exercise and provide immediate guidance to the user, as well as providing reports for therapists. A socially assistive robot can play the role of the coach and provide an additional socio-cognitive dimension to the experience to complement the role of the therapist. A web service that records the users’ per formances and allows the authorized therapists to access and configure the exer cise program provides a valuable management tool for caregivers and clinical staff. It can also provide a social network for players, increasing adherence to the therapies. We have performed several end-user studies that validate the proposed ap proaches. Together, or in isolation, these solutions provide users, caregivers, health professionals and institutions, valuable tools for health promotion, disease monitoring and prevention.info:eu-repo/semantics/publishedVersio

Multimodal adaptive interfaces for 3D robot-mediated upper limb neuro-rehabilitation: An overview of bio-cooperative systems

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An evaluation of temporal and club angle parameters during golf swings using low cost video analyses packages

The purpose of this study was to compare swing time and golf club angle parameters during golf swings using three, two dimensional (2D) low cost, Augmented-Video-based-Portable-Systems (AVPS) (Kinovea, SiliconCoach Pro, SiliconCoach Live). Twelve right-handed golfers performed three golf swings whilst being recorded by a high-speed 2D video camera. Footage was then analysed using AVPS-software and the results compared using both descriptive and inferential statistics. There were no significant differences for swing time and the golf phase measurements between the 2D and 3D software comparisons. In general, the results showed a high Intra class Correlation Coefficient (ICC > 0.929) and Cronbach’s Coefficient Alpha (CCA > 0.924) reliability for both the kinematic and temporal parameters. The inter-rater reliability test for the swing time and kinematic golf phase measurements on average were strong. Irrespective of the AVPS software investigated, the cost effective AVPS can produce reliable output measures that benefit golf analyses

Socially Assistive Robots for Exercising Scenarios. Studies on group effects, feedback, embodiment and adaption

Schneider S. Socially Assistive Robots for Exercising Scenarios. Studies on group effects, feedback, embodiment and adaption. Bielefeld: Universität Bielefeld; 2019.Even though positive effects of being physically active are commonly known, only a few parts of the world population are sufficiently ac- tive. The World Health Organization (WHO) states that this problem affects 31% of the adult’s world population and 80% of the adolescent population. Appropriate levels of physical activity (PA) are essential to prevent obesity in childhood and to keep a Quality of Life (QOL) in old age but are also essential to prevent other Noncommunicable Diseases (NCDs). Thus, physical inactivity is growing into a severe problem globally, and there is a growing need to motivate people to become more physically active during their lifetime. One primary cause that raises PA levels is having a peer or help from professionals. However, having assistance is not possible in every situation. It might be challenging to find and schedule with a partner or to commute to other places. Roboticist introduced Socially Assistive Robot (SAR) as an assistive tool for exercising, cognitive or rehabilitation tasks. This thesis explores SAR in the context of exercising along four features that have been partly targeted but not yet thoroughly investigated. These features are a) the social role of the robot, b) encouragement c) embodiment and d) adaptation. First, this thesis looks at the mo- tivational effects of exercising with SAR concerning features a) - c). Second, this thesis questions how a system can adapt to the user, and whether adaptivity or adaptability is enough to close the gap between user needs and system behavior. I conducted studies that test the dif- ferent features by assessing subjective ratings of the robot as well as measurable motivational variables (e.g., time spent exercising with the robot) in a bodyweight workout scenario. The results show that features a) - c) have a positive influence on user’s exercising time. Additionally, users perceive a robot compan- ion as more likable than a robot instructor or a human partner. Fur- thermore, an adaptive robot increases the associated competence and quality of relationship compared to an adaptable robot. However, the results also show that the robot does not always have to exercise along with the user. In situations where it is not possible, the robot could also only give encouraging feedback. This thesis backs up earlier find- ings of using SAR by replicating motivational group exercising ef- fects found in Human-Human Interaction (HHI). Thus, the evidence that SARs are a suitable tool for rehabilitative interventions increases which may convince health experts to consider SAR as a useful thera- peutic tool. Nevertheless, this thesis evaluated the effects only during short-term interactions. Thus, proving that the found effects are long- lasting is essential for future studies

Comparing Robot and Human guided Personalization: Adaptive Exercise Robots are Perceived as more Competent and Trustworthy

Schneider S, Kummert F. Comparing Robot and Human guided Personalization: Adaptive Exercise Robots are Perceived as more Competent and Trustworthy. INTERNATIONAL JOURNAL OF SOCIAL ROBOTICS. 2020.Learning and matching a user's preference is an essential aspect of achieving a productive collaboration in long-term Human-Robot Interaction (HRI). However, there are different techniques on how to match the behavior of a robot to a user's preference. The robot can be adaptable so that a user can change the robot's behavior to one's need, or the robot can be adaptive and autonomously tries to match its behavior to the user's preference. Both types might decrease the gap between a user's preference and the actual system behavior. However, the Level of Automation (LoA) of the robot is different between both methods. Either the user controls the interaction, or the robot is in control. We present a study on the effects of different LoAs of a Socially Assistive Robot (SAR) on a user's evaluation of the system in an exercising scenario. We implemented an online preference learning system and a user-adaptable system. We conducted a between-subject design study (adaptable robot vs. adaptive robot) with 40 subjects and report our quantitative and qualitative results. The results show that users evaluate the adaptive robots as more competent, warm, and report a higher alliance. Moreover, this increased alliance is significantly mediated by the perceived competence of the system. This result provides empirical evidence for the relation between the LoA of a system, the user's perceived competence of the system, and the perceived alliance with it. Additionally, we provide evidence for a proof-of-concept that the chosen preference learning method (i.e., Double Thompson Sampling (DTS)) is suitable for online HRI

Psychomotor Predictive Processing

Psychomotor experience can be based on what people predict they will experience, rather than on sensory inputs. It has been argued that disconnects between human experience and sensory inputs can be addressed better through further development of predictive processing theory. In this paper, the scope of predictive processing theory is extended through three developments. First, by going beyond previous studies that have encompassed embodied cognition but have not addressed some fundamental aspects of psychomotor functioning. Second, by proposing a scientific basis for explaining predictive processing that spans objective neuroscience and subjective experience. Third, by providing an explanation of predictive processing that can be incorporated into the planning and operation of systems involving robots and other new technologies. This is necessary because such systems are becoming increasingly common and move us farther away from the hunter-gatherer lifestyles within which our psychomotor functioning evolved. For example, beliefs that workplace robots are threatening can generate anxiety, while wearing hardware, such as augmented reality headsets and exoskeletons, can impede the natural functioning of psychomotor systems. The primary contribution of the paper is the introduction of a new formulation of hierarchical predictive processing that is focused on psychomotor functioning

Constraints-led approach and synergetic behaviour in volleyball performance

O objetivo desta tese foi investigar a Abordagem Baseada nos Constrangimentos (ABC) e comportamento sinergético no voleibol. Enquadrados pela dinâmica ecológica investigámos conceitos teóricos relacionados com o comportamento sinergético individual e coletivo e aplicamos a ABC em equipas de voleibol. Inicialmente, apresentámos uma revisão narrativa dos princípios da ABC e pedagogia não-linear sugerindo dois exemplos para aplicação em treino. De seguida, produzimos dois artigos de opinião sobre o papel das estruturas de biotensegridade no comportamento sinergético individual e coletivo. Nos estudos experimentais implementámos a ABC para guiar os atletas através das fases de “Search”, “Discover” e “Exploit”. Primeiro, numa equipa de cadetes feminina manipulámos os constrangimentos da tarefa de forma a respeitar as diferenças individuais e comparar a precisão no remate após o treino, assim como, analisar a estratégia temporal na estrutura coordenativa da corrida e chamada de remate. Os resultados mostram que respeitar as diferenças individuais promovem melhor performance (i.e., na precisão do remate) e que congelar os graus de liberdade numa componente da estrutura coordenativa da chamada foi a estratégia associada com mais precisão no remate. De seguida, implementámos um estudo com jogadoras peritas para comparar frequências de contacto na defesa entre o jogo formal, a estratégia tradicional de defesa e a estratégia de coletivamente atender a variáveis especificadoras no decorrer da jogada. Adicionalmente, medimos a sincronização da defesa em situações de sucesso e insucesso defensivo. Resultados mostram que coletivamente atender a variáveis especificadoras no decorrer da jogada promove maior frequência de contactos e que as jogadas de sucesso defensivo estão associadas a alterações na sincronização no decorrer da jogada. Por último, com jogadores jovens de elite comparámos os efeitos na performance de ataque entre treinar de acordo com os princípios da ABC e com uma abordagem tradicional. Também tivemos como objetivo predizer quais as variáveis espácio-temporais que foram exploradas pelos jogadores nos ataques com sucesso. Resultados mostram um aumento da performance com a ABC e que variabilidade na chamada e consistência no ponto de contacto da bola aumenta a probabilidade de atacar com sucesso.The aim of this thesis was to research the Constraints-led Approach (CLA) and synergetic behaviour in volleyball performance. Grounded on ecological dynamics framework we researched theoretically concepts related to individual and collective synergetic behaviour and experimentally implemented the CLA with volleyball teams. First, we presented a narrative review on the principles of CLA and nonlinear pedagogy providing two practical examples to apply to the sub-phase of volleyball attack. Next, we advanced a position statement and a novel hypothesis on the crucial role of biotensegrity structures in individual and collective coordinative structurers (i.e., synergies). In the experimental studies we implemented CLA to guide the performers trough the phases of “Search”, “Discover” and “Exploit”. First, with a team of young female volleyball players we manipulate task constraints to accommodate individual differences and compare spike accuracy after training as well as understand time strategies in the coordinative structure of the horizontal approach. Results show that accommodating individual differences enhances performance (i.e., spike accuracy) and freezing degrees of freedom maintaining high variability in a component of the coordinative structure of the horizontal approach was the strategy of movement re-organization associated with higher spike accuracy. Next, we implemented a study with expert female volleyball players to compare frequencies of defensive ball contacts between real game, traditional defense strategy and “online” attunement to specifying variables. Additionally, we measure group synchronization in successful and unsuccessful defense situations. Results show that collectively attuning to relevant information promotes significant higher frequencies of defense ball contact than pre-determined strategies of action and successful defensive plays are associated with “online” significant changes in group synchronization. Finally, with young male elite volleyball players we aimed to compare the effects of training based on CLA principles to a traditional approach on attack performance. Also, aimed to predict what spatial temporal variables were exploited by the players to achieve successful attacks. Results showed a significant improvement in attack performance for CLA, and we found that variability at the end of the planting step and consistency at ball contact increased the chances of a successful attack