Social robots, also known as service or assistant robots, have been developed to improve the quality of human life in recent years. Socially assistive robots (SAR) are a special type of social robots that focus on providing support through social interaction. The design of socially capable and intelligent robots can vary, depending on the target user groups. In this work, I assess the effect of socially assistive robots' roles, functions, and communication approaches in the context of a social agent providing service or companionship to users with developmental disabilities. In this thesis, I describe an exploratory study of interaction design for a socially assistive robot that supports people suffering from developmental disabilities. While exploring the impacts of visual elements to robot's visual interface and different aspects of robot's social dimension, I developed a series of prototypes and tested them through three user studies that included three residents with various function levels at a local group home for people with developmental disabilities. All user studies had been recorded for the following qualitative data analysis. Results show that each design factor played a different role in delivering information and in increasing engagement, and there are more aspects of HRI to consider besides robot's graphical user interface and speech, such as proxemics and robot's physical appearance and dimensions. I also note that some fundamental design principles that would work for ordinary users did not apply to our target user group. I conclude that socially assistive robots could benefit our target users and acknowledge that these robots were not suitable for certain scenarios based on the feedback from our users.
Social robots, also known as service or assistant robots, have been developed to improve the quality of human life in recent years. The design of socially capable and intelligent robots can vary, depending on the target user groups. In this work, we assess the effect of social robots' roles, functions, and communication approaches in the context of a social agent providing service or entertainment to users with developmental disabilities. In this paper, we describe an exploratory study of interface design for a social robot that assists people suffering from developmental disabilities. We deve…
Human assistive robotics have the potential to help the elderly and individuals living with disabilities with their Activities of Daily Living (ADL). Robotics researchers focus on assistive tasks from the perspective of various control schemes and motion types. Health research on the other hand focuses on clinical assessment and rehabilitation, arguably leaving important differences between the two domains. In particular, little is known quantitatively on which ADLs are typically carried out in a persons everyday environment - at home, work, etc. Understanding what activities are frequently ca…
University of Cassino and Southern Lazio（卡西诺和南拉齐奥大学）
In this paper we present an architecture for the operation of an assistive robot finally aimed at allowing users with severe motion disabilities to perform manipulation tasks that may help in daily-life operations. The robotic system, based on a lightweight robot manipulator, receives high level commands from the user through a Brain-Computer Interface based on P300 paradigm. The motion of the manipulator is controlled relying on a closed loop inverse kinematic algorithm that simultaneously manages multiple set-based and equality-based tasks. The software architecture is developed relying on w…
Stanford University（斯坦福大学）；University of Toronto（多伦多大学）；Vector Institute（向量研究所）；Nvidia（英伟达）
Assistive robotic arms enable users with physical disabilities to perform everyday tasks without relying on a caregiver. Unfortunately, the very dexterity that makes these arms useful also makes them challenging to teleoperate: the robot has more degrees-of-freedom than the human can directly coordinate with a handheld joystick. Our insight is that we can make assistive robots easier for humans to control by leveraging latent actions. Latent actions provide a low-dimensional embedding of high-dimensional robot behavior: for example, one latent dimension might guide the assistive arm along a po…
Versatile robotic caregivers could benefit millions of people worldwide, including older adults and people with disabilities. Recent work has explored how robotic caregivers can learn to interact with people through physics simulations, yet transferring what has been learned to real robots remains challenging. Virtual reality (VR) has the potential to help bridge the gap between simulations and the real world. We present Assistive VR Gym (AVR Gym), which enables real people to interact with virtual assistive robots. We also provide evidence that AVR Gym can help researchers improve the perform…
Université Laval（拉瓦尔大学）；Centre for interdisciplinary research in rehabilitation and social integration, CIUSSS de la Capitale-National（首都国家综合卫生与社会服务中心 康复与社会融合跨学科研究中心）；Centre for interdisciplinary research in rehabilitation of Greater Montreal, Centre intégré de santé et de services sociaux de Laval（拉瓦尔综合卫生与社会服务中心 大蒙特利尔康复跨学科研究中心）；McGill University（麦吉尔大学）
Assistive robotic devices can be used to help people with upper body disabilities gaining more autonomy in their daily life. Although basic motions such as positioning and orienting an assistive robot gripper in space allow performance of many tasks, it might be time consuming and tedious to perform more complex tasks. To overcome these difficulties, improvements can be implemented at different levels, such as mechanical design, control interfaces and intelligent control algorithms. In order to guide the design of solutions, it is important to assess the impact and potential of different innov…
Assistive Robotics is a class of robotics concerned with aiding humans in daily care tasks that they may be inhibited from doing due to disabilities or age. While research has demonstrated that classical control methods can be used to design policies to complete these tasks, these methods can be difficult to generalize to a variety of instantiations of a task. Reinforcement learning can provide a solution to this issue, wherein robots are trained in simulation and their policies are transferred to real-world machines. In this work, we replicate a published baseline for training robots on three…
Human assistive robotics have the potential to help the elderly and individuals living with disabilities with their Activities of Daily Living (ADL). Robotics researchers present bottom up solutions using various control methods for different types of movements. Health research on the other hand focuses on clinical assessment and rehabilitation leaving arguably important differences between the two domains. In particular, little is known quantitatively on what ADLs humans perform in their everyday environment - at home, work etc. This information can help guide development and prioritization o…
Stanford University（斯坦福大学）；California Institute of Technology（加州理工学院）；Virginia Polytechnic Institute and State University（弗吉尼亚理工学院暨州立大学）
It is challenging for humans -- particularly those living with physical disabilities -- to control high-dimensional, dexterous robots. Prior work explores learning embedding functions that map a human's low-dimensional inputs (e.g., via a joystick) to complex, high-dimensional robot actions for assistive teleoperation; however, a central problem is that there are many more high-dimensional actions than available low-dimensional inputs. To extract the correct action and maximally assist their human controller, robots must reason over their context: for example, pressing a joystick down when int…
Existing work in physical robot caregiving is limited in its ability to provide long-term assistance. This is majorly due to (i) lack of well-defined problems, (ii) diversity of tasks, and (iii) limited access to stakeholders from the caregiving community. We propose Structuring Physically Assistive Robotics for Caregiving with Stakeholders-in-the-loop (SPARCS) to address these challenges. SPARCS is a framework for physical robot caregiving comprising (i) Building Blocks, models that define physical robot caregiving scenarios, (ii) Structured Workflows, hierarchical workflows that enable us to…
Virginia Tech（弗吉尼亚理工大学）；Stanford University（斯坦福大学）；University of Toronto（多伦多大学）
Assistive robot arms enable people with disabilities to conduct everyday tasks on their own. These arms are dexterous and high-dimensional; however, the interfaces people must use to control their robots are low-dimensional. Consider teleoperating a 7-DoF robot arm with a 2-DoF joystick. The robot is helping you eat dinner, and currently you want to cut a piece of tofu. Today's robots assume a pre-defined mapping between joystick inputs and robot actions: in one mode the joystick controls the robot's motion in the x-y plane, in another mode the joystick controls the robot's z-yaw motion, and s…
The preliminary report by Siriraj Hospital suggested that 6% of population who are students in Thailand could be estimated to have learning disabilities. It is therefore necessary for our institute to develop suitable ICT technologies to assist the education of these learning disabilities children. We therefore developed a program called Thai Word Prediction Program. Thai Word Prediction program aims to assist students with learning disabilities in their writing. After the usability engineering, we conducted the experiment with students with learning disabilities at the School in Bangkok. Henc…
Data is everywhere but may not be accessible to everyone. Conventional data visualization tools and guidelines often do not actively consider the specific needs and abilities of people with Intellectual and Developmental Disabilities (IDD), leaving them excluded from data-driven activities and vulnerable to ethical issues. To understand the needs and challenges people with IDD have with data, we conducted 15 semi-structured interviews with individuals with IDD and their caregivers. Our algorithmic interview approach situated data in the lived experiences of people with IDD to uncover otherwise…
Despite the potential benefits of assistive technologies (ATs) for people with various disabilities, only around 7% of Chinese with disabilities have had an opportunity to use ATs. Even for those who have used ATs, the abandonment rate was high. Although China has the world's largest population with disabilities, prior research exploring how ATs are used and perceived, and why ATs are abandoned have been conducted primarily in North America and Europe. In this paper, we present an interview study conducted in China with 26 people with various disabilities to understand their practices, challen…
Korea University（高丽大学）；Upstage；VAIV corp（VAIV公司）；University of Copenhagen（哥本哈根大学）
Augmentative and alternative communication (AAC) is a practical means of communication for people with language disabilities. In this study, we propose PicTalky, which is an AI-based AAC system that helps children with language developmental disabilities to improve their communication skills and language comprehension abilities. PicTalky can process both text and pictograms more accurately by connecting a series of neural-based NLP modules. Moreover, we perform quantitative and qualitative analyses on the essential features of PicTalky. It is expected that those suffering from language problem…
Assistive robotic systems endeavour to support those with movement disabilities, enabling them to move again and regain functionality. Main issue with these systems is the complexity of their low-level control, and how to translate this to simpler, higher level commands that are easy and intuitive for a human user to interact with. We have created a multi-modal system, consisting of different sensing, decision making and actuating modalities, leading to intuitive, human-in-the-loop assistive robotics. The system takes its cue from the user's gaze, to decode their intentions and implement low-l…
University of Southern California, Viterbi School of Engineering（南加州大学维特比工程学院）
Socially assistive robots (SAR) have shown great potential to augment the social and educational development of children with autism spectrum disorders (ASD). As SAR continues to substantiate itself as an effective enhancement to human intervention, researchers have sought to study its longitudinal impacts in real-world environments, including the home. Computational personalization stands out as a central computational challenge as it is necessary to enable SAR systems to adapt to each child's unique and changing needs. Toward that end, we formalized personalization as a hierarchical human ro…
In this paper, the problem of making a safe compliant contact between a human and an assistive robot is considered. Users with disabilities have a need to utilize their assistive robots for physical human-robot interaction (PHRI) during certain activities of daily living (ADLs). Specifically, we propose a hybrid force/velocity/attitude control for a PHRI system based on measurements from a 6-axis force/torque sensor mounted on the robot wrist. While automatically aligning the end-effector surface with the unknown environmental (human) surface, a desired commanded force is applied in the normal…
Assistive robots have the potential to help people perform everyday tasks. However, these robots first need to learn what it is their user wants them to do. Teaching assistive robots is hard for inexperienced users, elderly users, and users living with physical disabilities, since often these individuals are unable to show the robot their desired behavior. We know that inclusive learners should give human teachers credit for what they cannot demonstrate. But today's robots do the opposite: they assume every user is capable of providing any demonstration. As a result, these robots learn to mimi…
"I see it as a wellspring for my positive and upward journey in life.": Understanding Current Practices of Assistive Technology's Customized Modification in China
The term Assistive Technology has evolved over the years and identifies equipment or product systems, whether acquired, modified, or customized, that are used to increase, maintain, or improve functional capabilities of individuals with disabilities. Considering the advances that have been made, what trends can be identified to provide evidence of the evolution of AT as devices that foster accessibility and empower users with different abilities? Through a systematic literature review we identify research items that offer evidence of the evolution of the meaning, purpose, and applications of A…
Smart Help: Strategic Opponent Modeling for Proactive and Adaptive Robot Assistance in Households
Beijing Institute for General Artificial Intelligence (BIGAI)（北京通用人工智能研究院）；State Key Laboratory of General Artificial Intelligence（通用人工智能国家重点实验室）；Tsinghua University（清华大学）；Peking University（北京大学）；University of California, Los Angeles（加州大学洛杉矶分校）
Personas can help raise awareness among stakeholders about users' needs. While personas are made-up people, they are based on facts gathered from user research. Personas can also be used to raise awareness of universal design and accessibility needs of people with disabilities. We review the current state of the art of the personas and review some research and industry projects that use them. We outline techniques that can be used to create personas with disabilities. This includes advice on how to get more information about assistive technology and how to better include people with disabiliti…
The advancement of technology has progressed faster than any other field in the world and with the development of these new technologies, it is important to make sure that these tools can be used by everyone, including people with disabilities. Accessibility options in computing devices help ensure that everyone has the same access to advanced technologies. Unfortunately, for those who require more unique and sometimes challenging accommodations, such as people with Amyotrophic lateral sclerosis ( ALS), the most commonly used accessibility features are simply not enough. While assistive techno…
Assistive robots enable people with disabilities to conduct everyday tasks on their own. However, these tasks can be complex, containing both coarse reaching motions and fine-grained manipulation. For example, when eating, not only does one need to move to the correct food item, but they must also precisely manipulate the food in different ways (e.g., cutting, stabbing, scooping). Shared autonomy methods make robot teleoperation safer and more precise by arbitrating user inputs with robot controls. However, these works have focused mainly on the high-level task of reaching a goal from a discre…
This article examines the concept of 'AI fairness' for people with disabilities from the perspective of data protection and equality law. This examination demonstrates that there is a need for a distinctive approach to AI fairness that is fundamentally different to that used for other protected characteristics, due to the different ways in which discrimination and data protection law applies in respect of Disability. We articulate this new agenda for AI fairness for people with disabilities, explaining how combining data protection and equality law creates new opportunities for disabled people…
Robotic assistance presents an opportunity to benefit the lives of many people with physical disabilities, yet accurately sensing the human body and tracking human motion remain difficult for robots. We present a multidimensional capacitive sensing technique that estimates the local pose of a human limb in real time. A key benefit of this sensing method is that it can sense the limb through opaque materials, including fabrics and wet cloth. Our method uses a multielectrode capacitive sensor mounted to a robot's end effector. A neural network model estimates the position of the closest point on…
Using open-source and creative coding frameworks, a teamof artist-engineers from Portland Community College work-ing with artists who experience Intellectual/Developmentaldisabilities prototyped an ensemble of adapted instrumentsand synthesizers that facilitate real-time in-key collabora-tion. The instruments employ a variety of sensors, send-ing the resulting musical controls to software sound gener-ators via MIDI. Careful consideration was given to the bal-ance between freedom of expression, and curating the pos-sible sonic outcomes as adaptation. Evaluation of adaptedinstrument design may d…
The paper presents the design of an assistive reading tool that integrates read-aloud technology with eye-tracking to regulate the speed of reading and support struggling readers in following the text while listening to it. The paper describes the design rationale of this approach, following the theory of auditory-visual integration, in terms of an automatic self-adaptable technique based on the reader's gaze that provides an individualized interaction experience. This tool has been assessed in a controlled experiment with 20 children (aged 8-10 years) with a diagnosis of dyslexia and a contro…
Wheelchair-mounted robotic arms (and other assistive robots) should help their users perform everyday tasks. One way robots can provide this assistance is shared autonomy. Within shared autonomy, both the human and robot maintain control over the robot's motion: as the robot becomes confident it understands what the human wants, it increasingly intervenes to automate the task. But how does the robot know what tasks the human may want to perform in the first place? Today's shared autonomy approaches often rely on prior knowledge: for example, the robot must know the set of possible human goals …
Recent studies have focused on facilitating perception and outdoor navigation for people with blindness or some form of vision loss. However, a significant portion of these studies is centered around treatment and vision rehabilitation, leaving some immediate needs, such as interaction with the surrounding objects or recognizing colors and fine patterns without tactile feedback. This study targets such needs and delivers a straightforward communication method using a wearable, unobtrusive device with the environment. We initially discuss the advantages and limitations of related works to draw …
