skip to main content
10.1145/3459926.3464756acmconferencesArticle/Chapter ViewAbstractPublication PageseicsConference Proceedingsconference-collections
technical-note

Engineering the Interaction of a Humanoid Robot Pepper with Post-Stroke Patients During Training Tasks

Published: 08 June 2021 Publication History

Abstract

Engineering the dialog of a humanoid robot like Pepper with human beings is challenging. The software from Softbanks allows the programming of spoken sentences and the understanding of specific words for apps on the robot. However, we recognized that the fexibility of the software is limited in this way. Therefore, we developed tools based on state machines that run on a server and communicate with the robot. In this way Pepper becomes a kind of thin robot. The paper discusses the architecture of the software, its advantages and the tools used within our project E-BRAiN (Evidence-Based Robot Assistance in Neurorehabilitation). Additionally, one of our identified interaction patterns is discussed.

References

[1]
Janelle Blankenburg, Mariya Zagainova, S. Michael Simmons, Gabrielle Talavera, Monica Nicolescu, and David Feil-Seifer. 2020. Human-Robot Collaboration and Dialogue for Fault Recovery on Hierarchical Tasks. In Social Robotics, Alan R. Wagner, David Feil-Seifer, Kerstin S. Haring, Silvia Rossi, Thomas Williams, Hongsheng He, and Shuzhi Sam Ge(Eds.). Springer International Publishing, Cham, 144–156.
[2]
Ronit Feingold Polak and Shelly Levy Tzedek. 2020. Social Robot for Rehabilitation: Expert Clinicians and Post-Stroke Patients’ Evaluation Following a Long-Term Intervention. In Proceedings of the 2020 ACM/IEEE International Conference on Human-Robot Interaction (Cambridge, United Kingdom) (HRI ’20). Association for Computing Machinery, New York, NY, USA, 151–160. https://doi.org/10.1145/3319502.3374797
[3]
Yongli Feng, Qingxuan Jia, and Wei Wei. 2018. A Control Architecture of Robot-Assisted Intervention for Children with Autism Spectrum Disorders. 2018 (2018), 1–12. Issue Article ID 3246708. https://doi.org/10.1155/2018/3246708
[4]
Enrique Fernández-Rodicio, Álvaro Castro-González, Fernando Alonso-Martín, Marcos Maroto-Gómez, and Miguel Á. Salichs. 2020. Modelling Multimodal Dialogues for Social Robots Using Communicative Acts. Sensors 20, 12 (2020). https://doi.org/10.3390/s20123440
[5]
Peter Forbrig and Alexandru-Nicolae Bundea. 2020. Modelling the Collaboration of a Patient and an Assisting Humanoid Robot During Training Tasks. In Human-Computer Interaction. Multimodal and Natural Interaction - Thematic Area, HCI 2020, Held as Part of the 22nd International Conference, HCII 2020, Copenhagen, Denmark, July 19-24, 2020, Proceedings, Part II(Lecture Notes in Computer Science, Vol. 12182), Masaaki Kurosu (Ed.). Springer, 592–602. https://doi.org/10.1007/978-3-030-49062-1_40
[6]
Peter Forbrig, Alexandru Bundea, Ann Pedersen, and Thomas Platz. 2020. Digitalization of Training Tasks and Specification of the Behaviour of a Social Humanoid Robot as Coach. In Human-Centered Software Engineering - 8th IFIP WG 13.2 International Working Conference, HCSE 2020, Eindhoven, The Netherlands, November 30 - December 2, 2020, Proceedings(Lecture Notes in Computer Science, Vol. 12481), Regina Bernhaupt, Carmelo Ardito, and Stefan Sauer (Eds.). Springer, 45–57. https://doi.org/10.1007/978-3-030-64266-2_3
[7]
Peter Forbrig, Célia Martinie, Philippe Palanque, Marco Winckler, and Racim Fahssi. 2014. Rapid Task-Models Development Using Sub-models, Sub-routines and Generic Components. In Human-Centered Software Engineering. Springer Berlin Heidelberg, Berlin, Heidelberg, 144–163.
[8]
Marco Manca, Fabio Paternò, Carmen Santoro, Eleonora Zedda, Chiara Braschi, Roberta Franco, and Alessandro Sale. 2021. The impact of serious games with humanoid robots on mild cognitive impairment older adults. Int. J. Hum. Comput. Stud. 145 (2021), 102509. https://doi.org/10.1016/j.ijhcs.2020.102509
[9]
NIHSS. 2021. National Institutes of Health Stroke Scale. https://en.wikipedia.org/wiki/National_Institutes_of_Health_Stroke_Scale Accessed: 2021-04-29.
[10]
Julia Peltason. 2014. Modeling Human-Robot-Interaction based on generic Interaction Patterns. Ph.D. Dissertation. Bielefeld University. http://pub.uni-bielefeld.de/publication/2679245
[11]
Thomas Platz, Stefanie Kaick, Jan Mehrholz, Ottmar Leidner, Christel Eickhof, and Marcus Pohl. 2009. Best Conventional Therapy Versus Modular Impairment-Oriented Training for Arm Paresis After Stroke: A Single-Blind, Multicenter Randomized Controlled Trial. 23, 7 (2009), 706–716. https://doi.org/10.1177/1545968309335974
[12]
Thomas Platz and Martin Lotze. 2018. Arm Ability Training (AAT) Promotes Dexterity Recovery After a Stroke—a Review of Its Design, Clinical Effectiveness, and the Neurobiology of the Actions. Frontiers in Neurology 9(2018), 1082. https://doi.org/10.3389/fneur.2018.01082
[13]
Thomas Platz, Sybille Roschka, Karla Doppl, Charlotte Roth, Martin Lotze, Alexander T. Sack, and John C. Rothwell. 2012. Prolonged motor skill learning – a combined behavioural training and theta burst TMS study. 30, 3 (2012), 213–224.
[14]
Jose Carlos Pulido, Cristina Suarez-Mejias, Jose Carlos Gonzalez;, Alvaro Duenas Ruiz, Patricia Ferrand Ferri, Maria Encarnacion Martinez Sahuquillo, Carmen Echevarria Ruiz De Vargas, Pedro Infante-Cossio, Carlos Luis Parra Calderon, and Fernando Fernandez. 2019. A Socially Assistive Robotic Platform for Upper-Limb Rehabilitation: A Longitudinal Study With Pediatric Patients. IEEE Robotics Automation Magazine 26, 2 (2019), 24–39. https://doi.org/10.1109/MRA.2019.2905231
[15]
Tim Pulver. 2019. Hands-On Internet of Things with MQTT: Build connected IoT devices with Arduino and MQ Telemetry Transport (MQTT). Packt Publishing Ltd.
[16]
Antoine Raux and Maxine Eskenazi. 2009. A Finite-State Turn-Taking Model for Spoken Dialog Systems. In Proceedings of Human Language Technologies: The 2009 Annual Conference of the North American Chapter of the Association for Computational Linguistics (Boulder, Colorado) (NAACL ’09). Association for Computational Linguistics, USA, 629–637.
[17]
Mariah Schrum, Chung Hyuk Park, and Ayanna Howard. 2019. Humanoid Therapy Robot for Encouraging Exercise in Dementia Patients. In Proceedings of the 14th ACM/IEEE International Conference on Human-Robot Interaction (Daegu, Republic of Korea) (HRI ’19). IEEE Press, 564–565.
[18]
Tetsuya. Tanioka. 2019. Nursing and Rehabilitative Care of the Elderly Using Humanoid Robots.66, 1.2. (2019), 19–23. https://doi.org/10.2152/jmi.66.19
[19]
Xtend. 2021. Documentation. http://www.eclipse.org/xtend/documentation/index.html Accessed: 2021-04-29.
[20]
Xtext. 2021. Language Engineering For Everyone!https://www.eclipse.org/Xtext/. Accessed: 2021-04-29.

Cited By

View all
  • (2024)Two Concepts of Domain-Specific Languages for Therapists to Control a Humanoid RobotEngineering Interactive Computer Systems. EICS 2023 International Workshops and Doctoral Consortium10.1007/978-3-031-59235-5_6(50-59)Online publication date: 8-Aug-2024
  • (2023)Analysis of the therapeutic interaction provided by a humanoid robot serving stroke survivors as a therapeutic assistant for arm rehabilitationFrontiers in Robotics and AI10.3389/frobt.2023.110301710Online publication date: 6-Mar-2023
  • (2023)Engineering Rehabilitation: Blending Two Tool-supported Approaches to Close the Loop from Tasks-based Rehabilitation to Exercises and Back AgainProceedings of the ACM on Human-Computer Interaction10.1145/35932297:EICS(1-23)Online publication date: 19-Jun-2023
  • Show More Cited By

Recommendations

Comments

Information & Contributors

Information

Published In

cover image ACM Conferences
EICS '21: Companion of the 2021 ACM SIGCHI Symposium on Engineering Interactive Computing Systems
June 2021
83 pages
ISBN:9781450384490
DOI:10.1145/3459926
Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

Sponsors

Publisher

Association for Computing Machinery

New York, NY, United States

Publication History

Published: 08 June 2021

Permissions

Request permissions for this article.

Check for updates

Author Tags

  1. engineering interaction
  2. patterns of interaction
  3. software architecture
  4. state machien
  5. thin humanoid robot

Qualifiers

  • Technical-note
  • Research
  • Refereed limited

Funding Sources

  • European Social Fund (ESF)

Conference

EICS '21
Sponsor:

Acceptance Rates

Overall Acceptance Rate 73 of 299 submissions, 24%

Upcoming Conference

Contributors

Other Metrics

Bibliometrics & Citations

Bibliometrics

Article Metrics

  • Downloads (Last 12 months)16
  • Downloads (Last 6 weeks)1
Reflects downloads up to 16 Feb 2025

Other Metrics

Citations

Cited By

View all
  • (2024)Two Concepts of Domain-Specific Languages for Therapists to Control a Humanoid RobotEngineering Interactive Computer Systems. EICS 2023 International Workshops and Doctoral Consortium10.1007/978-3-031-59235-5_6(50-59)Online publication date: 8-Aug-2024
  • (2023)Analysis of the therapeutic interaction provided by a humanoid robot serving stroke survivors as a therapeutic assistant for arm rehabilitationFrontiers in Robotics and AI10.3389/frobt.2023.110301710Online publication date: 6-Mar-2023
  • (2023)Engineering Rehabilitation: Blending Two Tool-supported Approaches to Close the Loop from Tasks-based Rehabilitation to Exercises and Back AgainProceedings of the ACM on Human-Computer Interaction10.1145/35932297:EICS(1-23)Online publication date: 19-Jun-2023
  • (2023)Evaluation of a Social Robot System for Performance-Oriented Stroke TherapyEngineering Interactive Computer Systems. EICS 2023 International Workshops and Doctoral Consortium10.1007/978-3-031-59235-5_3(20-27)Online publication date: 27-Jun-2023

View Options

Login options

View options

PDF

View or Download as a PDF file.

PDF

eReader

View online with eReader.

eReader

HTML Format

View this article in HTML Format.

HTML Format

Figures

Tables

Media

Share

Share

Share this Publication link

Share on social media