51 research outputs found

    Assistive Robot with an AI-Based Application for the Reinforcement of Activities of Daily Living: Technical Validation with Users Affected by Neurodevelopmental Disorders

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    In this work, we propose the first study of a technical validation of an assistive robotic platform, which has been designed to assist people with neurodevelopmental disorders. The platform is called LOLA2 and it is equipped with an artificial intelligence-based application to reinforce the learning of daily life activities in people with neurodevelopmental problems. LOLA2 has been integrated with an ROS-based navigation system and a user interface for healthcare professionals and their patients to interact with it. Technically, we have been able to embed all these modules into an NVIDIA Jetson Xavier board, as well as an artificial intelligence agent for online action detection (OAD). This OAD approach provides a detailed report on the degree of performance of a set of daily life activities that are being learned or reinforced by users. All the human–robot interaction process to work with users with neurodevelopmental disorders has been designed by a multidisciplinary team. Among its main features are the ability to control the robot with a joystick, a graphical user interface application that shows video tutorials with the activities to reinforce or learn, and the ability to monitor the progress of the users as they complete tasks. The main objective of the assistive robotic platform LOLA2 is to provide a system that allows therapists to track how well the users understand and perform daily tasks. This paper focuses on the technical validation of the proposed platform and its application. To do so, we have carried out a set of tests with four users with neurodevelopmental problems and special physical conditions under the supervision of the corresponding therapeutic personnel. We present detailed results of all interventions with end users, analyzing the usability, effectiveness, and limitations of the proposed technology. During its initial technical validation with real users, LOLA2 was able to detect the actions of users with disabilities with high precision. It was able to distinguish four assigned daily actions with high accuracy, but some actions were more challenging due to the physical limitations of the users. Generally, the presence of the robot in the therapy sessions received excellent feedback from medical professionals as well as patients. Overall, this study demonstrates that our developed robot is capable of assisting and monitoring people with neurodevelopmental disorders in performing their daily living tasks.This research was funded by project AIRPLANE, with reference PID2019-104323RB-C31, of Spain’s Ministry of Science and Innovation

    Caring in the in-between : a proposal to introduce responsible AI and robotics to healthcare

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    Altres ajuts: Acord transformatiu CRUE-CSICIn the scenario of growing polarization of promises and dangers that surround artifcial intelligence (AI), how to introduce responsible AI and robotics in healthcare? In this paper, we develop an ethical-political approach to introduce democratic mechanisms to technological development, what we call "Caring in the In-Between". Focusing on the multiple possibilities for action that emerge in the realm of uncertainty, we propose an ethical and responsible framework focused on care actions in between fears and hopes. Using the theoretical perspective of Science and Technology Studies and empirical research, "Caring in the In-Between" is based on three movements: the frst is a change of focus from the world of promises and dangers to the world of uncertainties; the second is a conceptual shift from assuming a relationship with robotics based on a Human-Robot Interaction to another focused on the network in which the robot is embedded (the "Robot Embedded in a Network"); and the last is an ethical shift from a general normative framework to a discussion on the context of use. Based on these suggestions, "Caring in the In-Between" implies institutional challenges, as well as new practices in healthcare systems. It is articulated around three simultaneous processes, each of them related to practical actions in the "in-between" dimensions considered: monitoring relations and caring processes, through public engagement and institutional changes; including concerns and priorities of stakeholders, with the organization of participatory processes and alternative forms of representation; and making fears and hopes commensurable, through the choice of progressive and reversible actions

    Heart Rate as a Predictor of Challenging Behaviours among Children with Autism from Wearable Sensors in Social Robot Interactions

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    Children with autism face challenges in various skills (e.g., communication and social) and they exhibit challenging behaviours. These challenging behaviours represent a challenge to their families, therapists, and caregivers, especially during therapy sessions. In this study, we have investigated several machine learning techniques and data modalities acquired using wearable sensors from children with autism during their interactions with social robots and toys in their potential to detect challenging behaviours. Each child wore a wearable device that collected data. Video annotations of the sessions were used to identify the occurrence of challenging behaviours. Extracted time features (i.e., mean, standard deviation, min, and max) in conjunction with four machine learning techniques were considered to detect challenging behaviors. The heart rate variability (HRV) changes have also been investigated in this study. The XGBoost algorithm has achieved the best performance (i.e., an accuracy of 99%). Additionally, physiological features outperformed the kinetic ones, with the heart rate being the main contributing feature in the prediction performance. One HRV parameter (i.e., RMSSD) was found to correlate with the occurrence of challenging behaviours. This work highlights the importance of developing the tools and methods to detect challenging behaviors among children with autism during aided sessions with social robots

    개발 초기 단계에서의 소셜 AI 개인비서 평가 모델 개발

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    학위논문(박사) -- 서울대학교대학원 : 공과대학 산업공학과, 2022.2. 윤명환.This dissertation aims to propose a user evaluation model to evaluate social AI personal assistants in the early stage of product development. Due to the rapid development of personal devices, data generated from personal devices are increasing explosively, and various personal AI services and products using these data are being launched. However, compared to the interest in AI personal assistant products, its market is still immature. In this case, it is important to understand consumer expectations and perceptions deeply and develop a product that can satisfy them to spread the product and allow general consumers to easily accept the product promptly. Accordingly, this dissertation proposes and validates a user evaluation model that can be used in the early stage of product development. Prior to proposing this methodology, main characteristics of social AI personal assistants, the importance of user evaluation in the early stage of product development and the limitations of the existing user evaluation model were investigated in Chapter 2. Various technology acceptance models and evaluation models for social AI personal assistant products have been proposed, evaluation models that can be applied in the initial stage of product development were insufficient, however. Moreover, it was found that commonly used evaluation measures for assessment of hedonic value were much fewer compared to measures for utilitarian value. These were used as starting points of this dissertation. In Chapter 3, the evaluation measures used in previous studies related to social AI personal assistant were collected and carefully reviewed. Through systematic review of 40 studies, the evaluation measures used in the past and limitation of related research were investigated. As a result, it was found that it was not easy to develop a prototype for evaluation, so it was possible to make the most of the products that have already been commercialized. In addition, all evaluation items used in previous studies were collected and used as the basis for the evaluation model to be proposed later. As a result of the analysis, considering the purpose of the social AI personal assistant, the role as supporting the user emotionally through social interaction with the user is important, but it was found that the evaluation measures related to hedonic value that are commonly used were still insufficient. In Chapter 4, evaluation measures that can be used in the initial stage of product development for social AI personal assistant were selected. Selected evaluation measures were used to evaluate three types of social robots and relationship among evaluation factors were induced through this evaluation. A process was proposed to understand to various opinions related to social robots and to derive evaluation items, and a case study was conducted in which a total of 230 people evaluated three social robots concept images using the evaluation items finally selected through this process. As a result, it is shown that consumers’ attitude toward products was built through the utilitarian dimension and the hedonic dimension. In addition, there is positive relationship between ease of use and utility in the utilitarian dimension, and among aesthetic pleasure, attractiveness of personality, affective value in the hedonic dimension. Moreover, it is confirmed that the evaluation model derived from this study showed superior explanatory power compared to the previously proposed technology acceptance model. In Chapter 5, the model was validated again by applying the evaluation measure and the relationship among evaluation factors derived in Chapter 4 to other products. 100 UX experts with expertise in the field of social AI personal assistants and 100 users who use the voice assistant service often, watched two concept videos of the voice assistant service to help users in the onboarding situation of mobile phones and evaluated these concepts. As a result of the evaluation, there is no significant difference in the evaluation results between the UX expert and the real user group, so the structural equation model analysis was conducted using all the data obtained from the UX expert and the real user group. As a result, results similar to those in Chapter 4 are obtained, and it is expected that the model could be generalized to social AI personal assistant products and applied for future research. This dissertation proposes evaluation measure and relationship among evaluation factors that can be applied when conducting user evaluation in the initial stage of social AI personal assistant development. In addition, case studies using social AI personal assistant products and services were conducted to validate it. With the findings of this study, it is expected that researchers who need to conduct user evaluation to clarify product concepts in the early stages of product development will be able to apply evaluation measures effectively. It is expected that the significance of this dissertation will become clearer if further research is conducted comparing the finished product of social AI personal assistants with the video type stimulus in the early stage of development.본 논문은 최근 빠르게 발전하고 있는 social AI personal assistant의 개발 초기 단계에 활용 가능한 사용자 평가 항목을 개발하고 평가 항목 간의 관계를 검증하는 것을 목표로 한다. 개인 디바이스의 발달로 인해, 각 디바이스에서 생성되는 데이터가 폭발적으로 증가하고 있고, 이를 활용한 개인용 AI 서비스 및 제품이 다양하게 제안되고 있다. 하지만 그 관심에 비해, social AI personal assistant 제품의 실제 시장은 아직 성숙하지 않은 단계이다. 이러한 상황에서 제품을 빠르게 확산시키고 일반 소비자들이 쉽게 제품을 수용할 수 있게 하기 위해서는, 소비자의 기대와 인식을 충분히 이해하고 그를 충족시킬 수 있는 제품을 개발하는 것이 중요하다. 이에 따라 본 연구에서는 제품 개발 초기 단계에 활용할 수 있는 사용자 평가 항목을 제안하고 평가 항목 간 관계를 도출하는 것을 목표로 한다. 먼저 2장에서는 social AI personal assistant의 특징, 제품 개발 초기 단계에서 이루어지는 사용자 평가의 중요성 및 기존 사용자 평가 모델의 한계점을 조사하였다. 기존에 기술 수용 모델 및 AI personal assistant 제품의 평가 모델들이 다양하게 제안되어 왔으나, 제품 개발 초기 단계에 활용할 수 있는 평가 모델은 부족하였고, 제품 전반을 평가할 수 있는 평가 모델의 부재로 대부분의 기존 연구에서는 두 가지 이상의 평가 모델을 결합, 수정하여 사용한 것을 알 수 있었다. 3장에서는 AI personal assistant 관련 기존 연구에서 활용된 평가 항목을 검토하였다. 총 40개의 연구를 리뷰하여, 기존에 활용되고 있는 평가 항목의 종류 및 한계점을 알아보았다. 그 결과, 평가를 위한 프로토타입 개발이 쉽지 않기에 이미 상용화된 제품들을 최대한 활용하는 것을 알 수 있었으며, 제품 전반을 평가한 사례는 부족함을 알 수 있었다. 또한 기존 연구들이 사용한 평가 항목을 모두 수집 및 정리하여 이후 제안할 평가 모델의 기반 자료로 활용하였다. 분석 결과, social AI personal assistant의 목적을 고려해보았을 때, 사용자와의 사회적 인터랙션을 통해 사용자의 감정적인 면을 채워주는 역할이 중요하지만, 공통적으로 활용하고 있는 감정적 가치 관련 평가 항목이 부족한 것으로 나타났다. 4장에서는 social AI personal assistant 제품 개발 초기 단계에서 활용 가능한 평가 항목을 수집 및 제안하고, 평가 항목을 활용하여 social robots을 평가한 뒤 이를 통해 평가 항목 간의 관계를 도출하였다. Social robots 관련 의견을 다양하게 청취하고 평가 항목을 도출하는 프로세스를 제안하였으며, 본 프로세스를 통해 최종 선정된 평가 항목을 이용하여, 총 230명이 세 가지 social robots 컨셉 영상을 평가하는 사례 연구를 진행하였다. 평가 결과, 제품에 대한 소비자 태도는 Utilitarian dimension과 Hedonic dimension을 통해 형성되었고, Utilitarian dimension 내 사용성 및 제품 효용성, Hedonic dimension에 포함되는 심미적 만족도, 성격의 매력도, 감성적 가치 각각은 서로 긍정적인 상관관계를 지님을 알 수 있었다. 또한 기존에 제안된 기술 수용 모델 대비 본 연구에서 도출한 평가 모델이 우수한 설명력을 보임을 확인하였다. 5장에서는 4장에서 도출된 평가 모델을 타 제품에 적용하여 모델을 다시 한번 검증하였다. 해당 분야에 전문성을 지닌 UX 전문가 100명 및 음성 비서 서비스를 실제 사용하는 실사용자 100명이, 휴대폰 온보딩 상황에서 사용자를 도와주는 음성 비서 서비스의 컨셉 영상 두 가지를 보고 컨셉에 대한 평가를 진행하였다. 평가 결과 UX 전문가와 실사용자 그룹 간에는 평가 결과에 유의미한 차이를 보이지 않았기 때문에, UX 전문가와 실사용자 그룹에서 얻은 데이터 전체를 활용하여 구조 방정식 모델 분석을 진행하였다. 그 결과 5장과 유사한 수준의 결과를 얻었고, 추후 해당 모델을 social AI personal assistant 제품에 일반화하여 활용할 수 있을 것으로 판단하였다. 본 논문은 social AI personal assistant 관련 제품 및 서비스의 개발 초기 단계에서 사용자 평가를 진행할 때 활용 가능한 평가 항목 및 평가 항목 간의 관계를 도출하였다. 또한 이를 검증하기 위하여 social AI personal assistant 제품 및 서비스를 활용한 사례연구를 진행하였다. 본 연구 결과는 추후 제품 개발 초기 단계에서 제품의 컨셉을 명확히 하기 위한 사용자 평가를 실시해야 하는 연구진이 효율적으로 활용할 수 있을 것으로 기대된다. 추후 이 부분의 검증을 위해, social AI personal assistants의 완제품과 개발 초기 단계의 video type stimulus를 비교하는 추가 연구가 이루어진다면 본 연구의 의미를 보다 명확하게 제시할 수 있을 것으로 생각된다.Chapter 1 Introduction 1 1.1 Background and motivation 1 1.1 Research objectives 5 1.2 Dissertation outline 7 Chapter 2 Literature review 9 2.1 Social AI personal assistant 9 2.2 User centered design process 13 2.3 Technology acceptance models 16 2.4 Evaluation measures for social AI personal assistant 22 2.5 Existing evaluation methodologies for social AI personal assistant 27 Chapter 3 Collection of existing evaluation measures for social AI personal assistants 40 3.1 Background 40 3.2 Methodology 43 3.3 Result 51 3.4 Discussion 60 Chapter 4 Development of an evaluation model for social AI personal assistants 63 4.1 Background 63 4.2 Methodology 66 4.2.1 Developing evaluation measures for social AI personal assistants 68 4.2.2 Conducting user evaluation for social robots 74 4.3 Result 77 4.3.1 Descriptive statistics 77 4.3.2 Hypothesis development and testing 80 4.3.3 Comparison with existing technology acceptance models 88 4.4 Discussion 93 Chapter 5 Verification of an evaluation model with voice assistant services 95 5.1 Background 95 5.2 Methodology 98 5.2.1 Design of evaluation questionnaires for voice assistant services 99 5.2.2 Validation of relationship among evaluation factors 103 5.3 Result 108 5.3.1 Descriptive statistics 108 5.3.2 Hypothesis development and testing 111 5.3.3 Comparison with existing technology acceptance models 118 5.4 Discussion 121 Chapter 6 Conclusion 124 6.1 Summary of this study 124 6.2 Contribution of this study 126 6.3 Limitation and future work 128 Bibliography 129 Appendix A. Evaluation measures for social AI personal assistant collected in Chapter 4 146 Appendix B. Questionnaires for evaluation of social robots 154 Appendix C. Questionnaires for evaluation of voice assistant service 166박

    A contribution to the incorporation of sociability and creativity skills to computers and robots

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    This dissertation contains the research and work completed by the PhD candidate on the incorporation of sociability and creativity skills to computers and robots. Both skills can be directly related with empathy, which is the ability to understand and share the feelings of another. In this form, this research can be contextualized in the framework of recent developments towards the achievement of empathy machines. The first challenge at hands refers to designing pioneering techniques based on the use of social robots to improve user experience interacting with them. In particular, research focus is on eliminating or minimizing pain and anxiety as well as loneliness and stress of long-term hospitalized child patients. This challenge is approached by developing a cloud-based robotics architecture to effectively develop complex tasks related to hospitalized children assistance. More specifically, a multiagent learning system is introduced based on a combination of machine learning and cloud computing using low-cost robots (Innvo labs's Pleo rb). Moreover, a wireless communication system is also developed for the Pleo robot in order to help the health professional who conducts therapy with the child, monitoring, understanding, and controlling Pleo behavior at any moment. As a second challenge, a new formulation of the concept of creativity is proposed in order to empower computers with. Based on previous well established theories from Boden and Wiggins, this thesis redefines the formal mechanism of exploratory and transformational creativity in a way which facilitates the computational implementation of these mechanisms in Creativity Support Systems. The proposed formalization is applied and validated on two real cases: the first, about chocolate designing, in which a novel and flavorful combination of chocolate and fruit is generated. The second case is about the composition of a single voice tune of reel using ABC notation.Postprint (published version

    A contribution to the incorporation of sociability and creativity skills to computers and robots

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    This dissertation contains the research and work completed by the PhD candidate on the incorporation of sociability and creativity skills to computers and robots. Both skills can be directly related with empathy, which is the ability to understand and share the feelings of another. In this form, this research can be contextualized in the framework of recent developments towards the achievement of empathy machines. The first challenge at hands refers to designing pioneering techniques based on the use of social robots to improve user experience interacting with them. In particular, research focus is on eliminating or minimizing pain and anxiety as well as loneliness and stress of long-term hospitalized child patients. This challenge is approached by developing a cloud-based robotics architecture to effectively develop complex tasks related to hospitalized children assistance. More specifically, a multiagent learning system is introduced based on a combination of machine learning and cloud computing using low-cost robots (Innvo labs's Pleo rb). Moreover, a wireless communication system is also developed for the Pleo robot in order to help the health professional who conducts therapy with the child, monitoring, understanding, and controlling Pleo behavior at any moment. As a second challenge, a new formulation of the concept of creativity is proposed in order to empower computers with. Based on previous well established theories from Boden and Wiggins, this thesis redefines the formal mechanism of exploratory and transformational creativity in a way which facilitates the computational implementation of these mechanisms in Creativity Support Systems. The proposed formalization is applied and validated on two real cases: the first, about chocolate designing, in which a novel and flavorful combination of chocolate and fruit is generated. The second case is about the composition of a single voice tune of reel using ABC notation

    The strategic impacts of Intelligent Automation for knowledge and service work : An interdisciplinary review

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    We would like to thank Professor Jarvenpaa and the review team for all the constructive comments and suggestions that were most helpful in revising the paper and in offering a stronger contribution. We would also like to thank Professor Guy Fitzgerald for his constructive comments on earlier versions of the paper. This study was funded by the Chartered Institute of Professional Development (CIPD). The views expressed are those of the authors and not necessarily those of the CIPD.Peer reviewedPublisher PD

    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

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    [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
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