Design of Robotic Heads Design of Robotic Heads for Use in Assistive for Use in Assistive

RoboticsRobotics

Dan RicksDan Ricks

OutlineOutline

►What Do Robots Look Like?What Do Robots Look Like?

►Current Robots Used in Autism Current Robots Used in Autism ResearchResearch

►What Should Robots Look Like?What Should Robots Look Like?

► InputInput

HRI Robot ClassificationsHRI Robot Classifications

Realistic Mascot

Machine

The Uncanny ValleyThe Uncanny Valley

Current Humanoid Autism Current Humanoid Autism RobotsRobots

Kaspar

KeeponFACE

Infanoid

Robota

How They Chose Their How They Chose Their Robots…Robots…

► Infanoid (Koyoto and Nagoya Universities) – The robot was built to Infanoid (Koyoto and Nagoya Universities) – The robot was built to show emotion, but little effort was put into covering the mechanical show emotion, but little effort was put into covering the mechanical parts.parts.

► Keepon (National Institute of Information and Communications Keepon (National Institute of Information and Communications Technology, Japan) – Tried to make it as simple as physically Technology, Japan) – Tried to make it as simple as physically possible to avoid distractions.possible to avoid distractions.

► FACE (University of Pisa, Italy) – Used to teach the intricacies of FACE (University of Pisa, Italy) – Used to teach the intricacies of

human emotion, and so a very lifelike head was built.human emotion, and so a very lifelike head was built.

► Robota (University of Hertfordshire) - Used limbs, head, and clothes Robota (University of Hertfordshire) - Used limbs, head, and clothes

from a doll.from a doll.

► Kaspar (University of Hertfordshire) - After doing the study with Kaspar (University of Hertfordshire) - After doing the study with

Robota, they tried to make a robot that balanced looking human as Robota, they tried to make a robot that balanced looking human as well as being simple and plain. They used a CPR dummy mask for well as being simple and plain. They used a CPR dummy mask for face.face.

Does Appearance Matter?Does Appearance Matter?Case 1: Theatrical RobotCase 1: Theatrical Robot

Actor in Normal Clothes

Actor in Robot Costume

Touch Gaze Near

Does Appearance Matter?Does Appearance Matter?Case 2: RobotaCase 2: Robota

Robota in Doll Clothes

Robota in Plain Clothes

Billy Don Andy

Current Therapies They DoCurrent Therapies They Do► Act as the object of joint attention.Act as the object of joint attention.

► Perform imitation activities.Perform imitation activities.

► Play turn-taking games.Play turn-taking games.

► Practice eye contact.Practice eye contact.

► Used as a toy in unstructured playtime.Used as a toy in unstructured playtime.

► Enact and teach appropriate behavior in social situations.Enact and teach appropriate behavior in social situations.

► Make a facial emotion and have the child label it or match it to a Make a facial emotion and have the child label it or match it to a picture of a human making that same face.picture of a human making that same face.

► Tell the child a social situation and have the child pick an emotion for Tell the child a social situation and have the child pick an emotion for the robot.the robot.

How Can We Tell if They’re How Can We Tell if They’re Interested?Interested?

►Ask ThemAsk Them

►Observationally BasedObservationally Based

►Physiological FeedbackPhysiological Feedback

Observation BasedObservation Based

►Put the child in a room with the robot Put the child in a room with the robot performing some routine.performing some routine.

►Videotape and measure:Videotape and measure: Eye GazeEye Gaze TouchTouch ImitationImitation ProximityProximity

Physiological FeedbackPhysiological Feedback► Have the child wear a BioPac system.Have the child wear a BioPac system.

► The child plays rigged games.The child plays rigged games.

► A parent and a therapist identify whether a child likes A parent and a therapist identify whether a child likes the game, is bored, or anxious.the game, is bored, or anxious.

► Researchers associate these emotions with their Researchers associate these emotions with their physiological levels.physiological levels.

► Now the computer can automatically label their Now the computer can automatically label their emotional states. The computer and therapist agree emotional states. The computer and therapist agree 81% of the time.81% of the time.

This study was performed by the Marino Autism Research Institute in This study was performed by the Marino Autism Research Institute in conjunction with Vanderbilt Universityconjunction with Vanderbilt University

InputInput

►What abilities should the face have?What abilities should the face have? Ekman FacesEkman Faces Happy vs. UnhappyHappy vs. Unhappy

►Which faces would be appropriate?Which faces would be appropriate?►Should we/how can we, test to see if Should we/how can we, test to see if

they they areare appropriate? appropriate?