Italy

The usage of social robots in psychotherapy has gained interest in various applications. In the context of therapy for children with socio-emotional impairments, for example autism spectrum conditions, the first approaches have already been successfully evaluated in research. In this context, the robot can be seen as a tool for therapists to foster interaction with the children. To ensure a successful integration of social robots into therapy sessions, an intuitive and comprehensive interface for the therapist is needed to guarantee save and appropriate human-robot interaction. This publication addresses the development of a graphical user interface for robot-assisted therapy to train socio-emotional skills in children on the autism spectrum. The software follows a generic and modular approach. Furthermore, a robotic middleware is used to control the robot and the user interface is based on a local web application. During therapy sessions, the therapist interface is used to control the robot’s reactions and provides additional information from emotion and arousal recognition software. The approach is implemented with the humanoid robot Pepper (Softbank Robotics). A feasibility study is carried out with experts from a child and youth psychiatry to evaluate the user experience of the therapist interface. In sum, the user experience and usefulness can be rated positively.

IEEE RO-MAN 2022

Benchmarking deep neural networks for gesture recognition on embedded devices

**31st IEEE International Conference on Robot & Human Interactive Communication**
 This conference is a leading forum where state-of-the-art innovative results, the latest developments as well as future perspectives relating to robot and human interactive communication are presented and discussed.
 
 The conference covers a wide range of topics related to Robot and Human Interactive Communication, involving theories, methodologies, technologies, empirical and experimental studies. Papers related to the study of robotic technology, psychology, cognitive science, artificial intelligence, human factors, ethics and policies, interaction-based robot design and other topics related to human-robot interaction are welcome.
 
 **CONFERENCE THEME:**
 Social, asocial, and antisocial robots
 
 Robots are starting to populate our lives: at work, in our homes, hotels, shops. However, not everybody is comfortable with robots finding a place in society. For example, people may be afraid that robots will replace humans in their jobs. This belief is exacerbated by the media that, on one side, raise expectations of robots’ capabilities, while amplifying fears and worries on the other side.
 
 In the next years, due to the increasing request for interaction with people in social environments, academic research and market analyses predict that robots will become more and more “social”. But, at the same time, robots may incur the risk of being perceived as “asocial” as their pervasiveness in everyday environments may become an obstacle to social interaction between humans. Or they may even be rejected as “antisocial” if researchers do not take care to develop robots that behave according to the customs and habits of the communities where they are expected to operate.
 
 To prevent this from happening, robotic researchers can no longer take the luxury of being mere technicians. They must be capable of addressing all the challenges raised by future robot-populated communities in a multidisciplinary way. They need to share their knowledge with the public to make people aware of what robots really are, what expectations we can have from them, the risks we may incur, and the possible mitigation plans.
 
 While being open to any kind of contribution related to Human-Robot Interactive Communication, the RO-MAN 2022 conference will emphasize these aspects of robotic research. How can we create robots capable of being welcomed as our assistants and companions in society while, at the same time, not being perceived as “asocial” or “antisocial?” How can we create robots perceived as facilitators of the natural development of human beings and communities, rather than obstacles?
 
 Contributions from different disciplines, not exclusively related to technological development, will be welcomed as crucial to pave the way to global acceptance of future robots with an informed attitude.
 
 [![](https://assets.underline.io/uploads/markdown_image/1/image/af259abe105b3791c498ae1552d75710.png)](https://drive.google.com/file/d/18w73BZPB_JVOgcrcdZDqYpEupwVt4CnU/view?usp=sharing)

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31st IEEE International Conference on Robot & Human Interactive Communication
This conference is a leading forum where state-of-the-art innovative results, the latest developments as well as future perspectives relating to robot and human interactive communication are presented and discussed.

technical paper

Mixed human-robot teams (HRTs) have the potential to perform complex tasks by leveraging diverse and complementary capabilities within the team. However, assigning humans to operator roles in HRTs is challenging due to the significant variation in user capabilities. While much of prior work in role assignment treats humans as interchangeable (either generally or within a category), we investigate the utility of personalized models of operator capabilities based in relevant human factors in an effort to improve overall team performance. We call this approach individualized role assignment (IRA) and provide a formal definition. A key challenge for IRA is associated with the fact that factors that affect human performance are not static (e.g., one's ability to track multiple objects can change during or between tasks). Instead of relying on time-consuming and highly-intrusive measurements taken during the execution of tasks, we propose the use of short cognitive tests, taken before engaging in human-robot tasks, and predictive models of individual performance to perform IRA. Results from a comprehensive user study conclusively demonstrate that IRA leads to significantly better team performance than a baseline method that assumes human operators are interchangeable, even when we control for the influence of the robots' performance. Further, our results point to the possibility that such relative benefits of IRA will increase as the number of operators (i.e., choices) increase for a fixed number of tasks.

The Robot Olympics: Estimating and Influencing Beliefs about a Robot's Perceptual Capabilities

This study explores the effects of the positioning strategy of domestic social robots on the purchase intention of consumers. Specifically, the authors investigate the effects of robot positioning as companions with as assistants and as appliances. The study results showed that the participants preferred the domestic social robots positioned as assistants rather than as companions. Moreover, for male participants, the positioning of domestic social robots as appliances was also preferred over robots positioned as companions. The study results also showed that the effects of positioning on the purchase intention were mediated by the participants’ perception of usefulness regarding the robot.

Moving Away from 'robotic' Interactions: Evaluation of Empathy, Emotion and Sentiment Expressed and Detected by Computer Systems

This paper presents a complete design and
validation of a specific case of a Human-Robot collaborative
workspace consisting of a robot arm and a human operator
working in a pick & place task in close proximity. The human
motion monitoring is made with IMU-based wearables and optical
markers, and the robot motion planning method considers safety
distance criteria as prescribed in ISO/TS 15066. This case study is
meant to illustrate the design of collaborative environments by
using the Model-based Design approach. The goal is to
systematically address the problems of safety assurance and
performance optimization, allowing the use of optimization and
machine learning approaches.

Model-Based Design of a Collaborative Human-Robot Workspace

With becoming an aging society rapidly, the digital divide among the elderly is expected to emerge as a social problem. In order to bridge the digital gap between the elderly and the general public, it is necessary to find out what difficulties the elderly have in using information and communication technology (ICT) and what technologies and services they need. In order to figure out those issues, we conducted three phases of study: ICT literacy survey, interview, and design workshop (N=10). This study has three major findings. First, from the physical view, the elderly found ICT that reduces their movement distance attractive. Second, from the cognitive perspective, services which reduce the gap between the real physical ability of the elderly and the perceived ability of them by themselves are needed. Lastly, from the psychological view, an intuitive and natural interface is needed for the elderly who are afraid of learning new technology.

Exploring ICT for the Elderly: By Analyzing the Elders’ Needs for Information Acquisition and Delivery

Social robots have been shown effective in pedagogical settings due to their embodiment and social behavior that can improve a learner’s motivation and engagement. In this study, the impact of a social robot’s motivational gestures in robot-assisted language learning (RALL) was investigated. Twenty-five university students participated in a language learning task tutored by a NAO robot under two conditions (within-subjects design); in one condition the robot provided positive and negative feedback on participant’s performance using both verbal and non-verbal behavior (Gesture condition), in another condition the robot only employed verbal feedback (No-Gesture condition). To assess cognitive engagement and learning in each condition, we collected EEG brain activity from the participants during the interaction and evaluated their word knowledge during an immediate and delayed post-test. No significant difference was found with respect to cognitive engagement as quantified by the EEG Engagement Index during the practice phase. Similarly, the word test results indicated an overall high performance in both conditions, suggesting similar learning gain regardless of the robot’s gestures. These findings do not provide evidence in favor of robot’s motivational gestures during language learning tasks but at the same time indicate challenges with respect to the design of effective social behavior for pedagogical robots.

Motivational Gestures in Robot-Assisted Language Learning: A Study of Cognitive Engagement using EEG Brain Activity

Possible applications for Social Robots in healthcare settings, that could have a tremendous social impact in helping alleviating staff workload, are those of a patient-facing role such as robot receptionist, providing assistance to patients and visitors. 
Examples of functions that such robots would need to be able to execute are greeting visitors, reception check-in/out of patients, answering common questions they may have, showing them where to sit, helping them locate missing objects, providing directions to facilities, guiding them to different locations, etc. 
In this paper we describe current progress towards developing a multimodal conversational AI system integrated in a Social Conversational Robot (an ARI robot) that will act as a receptionist in a hospital waiting room.
We present the developed architecture of the system and report on an initial experimental validation study carried out in laboratory conditions with the ARI robot. 


Developing a Social Conversational Robot for the Hospital waiting room

We present SLOT-V, a novel supervised learning framework that learns observer models (human preferences) from robot motion trajectories in a legibility context. Legibility measures how easily a (human) observer can infer the robot's goal from a robot motion trajectory. When generating such trajectories, existing planners often rely on an observer model that estimates the quality of trajectory candidates. These observer models are frequently hand-crafted or, occasionally, learned from demonstrations. Here, we propose to learn them in a supervised manner using the same data format that is frequently used during the evaluation of aforementioned approaches. We then demonstrate the generality of SLOT-V using a Franka Emika in a simulated manipulation environment. For this, we show that it can learn to closely predict various hand-crafted observer models, i.e., that SLOT-V's hypothesis space encompasses existing handcrafted models. Next, we showcase SLOT-V's ability to generalize by showing that a trained model continues to perform well in environments with unseen goal configurations and/or goal counts. Finally, we benchmark SLOT-V's sample efficiency (and performance) against an existing IRL approach and show that SLOT-V learns better observer models with less data. Combined, these results suggest that SLOT-V can learn viable observer models. Better observer models imply more legible trajectories, which may - in turn - lead to better and more transparent human-robot interaction.

SLOT-V: Supervised Learning of Observer Models for Legible Robot Motion Planning in Manipulation

Haptics is an essential element of interaction between humans and socially assistive robots. However, it is often limited to movements or vibrations and misses key aspects such as temperature. This mixed-methods study explores the potential of enhancing human-robot interaction [HRI] through thermal stimulation to regulate affect during a stress-inducing task. Participants were exposed to thermal stimulation while completing the Mannheim-multicomponent-stress-task (MMST). Findings yielded that human-robot emotional touch may induce comfort and relaxation during the exposure to acute stressors. User affect may be further enhanced through thermal stimulation, which was experienced as comforting, de-stressing, and altered participants’ perception of the robot to be more life-like. Allowing participants to calibrate a temperature they perceived as calming provided novel insights into the temperature ranges suitable for interaction. While neutral temperatures were the most popular amongst participants, findings suggest that cool (4 – 29 ºC), neutral (30 – 32 ºC), and warm (33ºC -36 ºC) temperatures can all induce comforting effects during exposure to stress. The results highlight the potential of thermal HRI in general and, more specifically, the advantages of personalized temperature calibration.


Hot or not? Exploring User Perceptions of thermal Human-Robot Interaction

Constructs intended to capture social attitudes and behaviour towards social robots are incredibly varied, with little overlap or consistency in how they may be related. In this study we conduct exploratory analyses between participants' self-reported attitudes and behaviour towards a social robot. We designed an autonomous interaction where 102 participants interacted with a social robot (Pepper) in a hypothetical travel planning scenario, during which the robot displayed various multi-modal social behaviours. Several behavioural measures were embedded throughout the interaction, followed by a self-report questionnaire targeting participant's social attitudes towards the robot (social trust, liking, rapport, competency trust, technology acceptance, mind perception, social presence, and social information processing). Several relationships were identified between participant's behaviour and self-reported attitudes towards the robot. Implications for how to conceptualise and measure interactions with social robots are discussed.

Does what users say match what they do? Comparing self-reported attitudes and behaviours towards a social robot

Emotions have always played a crucial role in human evolution, improving not only social contact but also their ability to adapt and react to a changing environment. In the field of social robotics, providing robots with the ability to recognize human emotions through the interpretation of non-verbal signals may represent the key to more effective and engaging interaction. However, the problem of emotion recognition has usually been addressed in limited and static scenarios, by classifying emotions using sensory data such as facial expressions, body postures, and voice. This work proposes a novel emotion recognition framework, based on the appraisal theory of emotion. According to the theory, the
expected person’s appraisal of a given situation depending on their needs and goals (henceforth referred to as “appraisal information”) is combined with sensory data. A pilot experiment was designed and conducted: participants were involved in spontaneous verbal interaction with the humanoid robot Pepper, programmed to elicit different emotions in various
moments. Then, a Random Forest classifier was trained to classify positive and negative emotions using: (i) sensor data only; (ii) sensor data supplemented by appraisal information. Preliminary results confirm a performance improvement in emotion classification when appraisal information is considered.

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Benchmarking deep neural networks for gesture recognition on embedded devices

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The Robot Olympics: Estimating and Influencing Beliefs about a Robot's Perceptual Capabilities

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