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The FACE of AutismDaniele Mazzei University of Pisa
IEEE Ro-Man 2010 Viareggio 12th-15th sept 2010
Mindblindness• People with autism are known to
have great difficulties in inferring and analysing mental states, both their own and of others.
• S. Baron-Cohen has defined mindblindness as the inability to develop an awareness of what is in the mind of another human
ASD and Robotics• In recent years, robots have been
proposed for the treatment and rehabilitation of people with cognitive disorders.
• Human-like robots which embody emotional states expression, empathy and non-verbal communication have also been proposed for autism therapy
Our HypothesisTherapy in which a robot is able to adapt its behaviour in response to a patient’s postulated mental states can help ASD subjects to improve their social skills.We call this adaptive therapy.
FACET platform
Face Control Unit(Bodymap and brain)
Face tracking and facial
expression recognition
Gaze tracking
hat
Sensorized
T-Shirt
Inertial platform
Room motorized cameras Environmental
microphone
Face configurator and control
interface
FACE android
Phase 1 Phase 2 Phase 3
Limited expressivityAesthetically not appreciated
1 ASD and 1 control subject tested
Well accepted by ASD but not comfortable for the control subject
Improved aesthetically and in expressivity
4 ASD and 3 control subjects tested
Better accepted by ASD and control subject
Improved empathic link
Current phase
FACE (Facial Automaton for Conveying Emotions)
• Pioggia G, et al. 2005, IEEE Transactions
• Pioggia G. et al. 2008, Cybertherapy and Rehabilitation
FACE3
Sensorized Shirt• Based on e-textiles• Gathers, computes and
transmits HR, HRV, RR, skin conductance, skin temperature and respiratory rate
• All this signals can be correlated with subject emotional states
Made by Smartex Srl, Prato, Italy
HATCAM Eye Tracker• Wearable and specifically
designed to investigate early attention disorders in infants
• Hat or Band mounted system • fast and easy calibration
procedure • Mirror allows to use images of
both eyes (3D gaze point identification)
• A.Armato, et al. GNB 2010• Patent: TO2008A000862 2008
Robotics4.NetThe framework proposes a software architecture inspired to the human nervous system architectureo The Brain: The core of control system
o The Bodymap: A sort of black board used to send and receive messages
o The Roblets: The appendix of the system, as the parts of our nervous system, read data from the environment and convert the Brain signal into an action
EACH ACQUISITION OR ACTUATION SYSTEM IS AN INDEPENDENT ROBLET
The Joker Effect
• The Joker effect consists in the generation of unsuitable expressions for the therapeutic context and could induce fear or discomfort in the subject.
• It is a emphatic misalignment typical of sociopaths
We need to modulate in intensity the expressions
Adaptive Control Paradigm
FACET Signal
processing algorithm
+1
0
-1
Base line signals
FACE operator GUI
FACE terapist GUI
Happiness +3Surprise +2Sadness +1Neutral 0Anger -1Disgust -2Fear -3
FACE Android
FACE mood state
Expressions selection and intensity calculation algorithm
0 +1
Happy +3Surprised +2Sad +1Neutral 0Angry -1Disgusted -2Fearful -3
Subject physiological signals
Adaptive Control Paradigm
FACET Signal
processing algorithm
+1
0
-1
Base line signals
FACE operator GUI
FACE terapist GUI
Happiness +3Surprise +2Sadness +1Neutral 0Anger -1Disgust -2Fear -3
FACE Android
FACE mood state
Expressions selection and intensity calculation algorithm
0 +1
Happy +3Surprised +2Sad +1Neutral 0Angry -1Disgusted -2Fearful -3
Subject physiological signals
Adaptive Control Paradigm
FACET Signal
processing algorithm
+1
0
-1
Base line signals
FACE operator GUI
FACE terapist GUI
Happiness +3Surprise +2Sadness +1Neutral 0Anger -1Disgust -2Fear -3
FACE Android
FACE mood state
Expressions selection and intensity calculation algorithm
0 +1
Happy +3Surprised +2Sad +1Neutral 0Angry -1Disgusted -2Fearful -3
Subject physiological signals
Adaptive Control Paradigm
FACET Signal
processing algorithm
+1
0
-1
Base line signals
FACE operator GUI
FACE terapist GUI
Happiness +3Surprise +2Sadness +1Neutral 0Anger -1Disgust -2Fear -3
FACE Android
FACE mood state
Expressions selection and intensity calculation algorithm
0 +1
Happy +3Surprised +2Sad +1Neutral 0Angry -1Disgusted -2Fearful -3
Subject physiological signals
Expressions Creation
• 3D simulator of FACE allows to study and design facial expressions
• The final expression intensity is modulated merging the motor position of the selected expression with that of the neutral expression
Preliminary results• At the moment the therapy/paradigm
was tested with 10 ASD subjects and 5 controls
• No subjects showed discomfort or fear during the therapy
• Preliminary signal analysis showed a correlation between heart rate variability and intensity of interaction
Conclusions and Future Works• FACET system could have a wide
range of applications in the study of non-verbal communication and expression.
• On going experiments on control and ASD subjects
• More tests of the adaptive control algorithm and of the FACET hardware/software infrastructure
• Using of the FACET platform to perform generic studies on the human-robot empathic link
Thanks For Your Attention
IEEE Ro-Man 2010
Questions?