Can Robotic Interaction Improve Joint Attention Skills?

People with Autism Spectrum Disorder Could Interact More Easily with a Robot than with a Human: Reasons and Limits

Individuals with Autism Spectrum Disorder show deficits in communication and social interaction, as well as repetitive behaviors and restricted interests. Interacting with robots could bring benefits to this population, notably by fostering communication and social interaction. Studies even suggest that people with Autism Spectrum Disorder could interact more easily with a robot partner rather than a human partner. We will be looking at the benefits of robots and the reasons put forward to explain these results. The interest regarding robots would mainly be due to three of their characteristics: they can act as motivational tools, and they are simplified agents whose behavior is more predictable than that of a human. Nevertheless, there are still many challenges to be met in specifying the optimum conditions for using robots with individuals with Autism Spectrum Disorder.

Self-administered questionnaires enhance emotion estimation of individuals with autism spectrum disorders in a robotic interview setting

Background

Robots offer many unique opportunities for helping individuals with autism spectrum disorders (ASD). Determining the optimal motion of robots when interacting with individuals with ASD is important for achieving more natural human-robot interactions and for exploiting the full potential of robotic interventions. Most prior studies have used supervised machine learning (ML) of user behavioral data to enable robot perception of affective states (i.e., arousal and valence) and engagement. It has previously been suggested that including personal demographic information in the identification of individuals with ASD is important for developing an automated system to perceive individual affective states and engagement. In this study, we hypothesized that assessing self-administered questionnaire data would contribute to the development of an automated estimation of the affective state and engagement when individuals with ASD are interviewed by an Android robot, which will be linked to implementing long-term interventions and maintaining the motivation of participants.

Methods

Participants sat across a table from an android robot that played the role of the interviewer. Each participant underwent a mock job interview. Twenty-five participants with ASD (males 22, females 3, average chronological age = 22.8, average IQ = 94.04) completed the experiment. We collected multimodal data (i.e., audio, motion, gaze, and self-administered questionnaire data) to train a model to correctly classify the state of individuals with ASD when interviewed by an android robot. We demonstrated the technical feasibility of using ML to enable robot perception of affect and engagement of individuals with ASD based on multimodal data.

Results

For arousal and engagement, the area under the curve (AUC) values of the model estimates and expert coding were relatively high. Overall, the AUC values of arousal, valence, and engagement were improved by including self-administered questionnaire data in the classification.

Discussion

These findings support the hypothesis that assessing self-administered questionnaire data contributes to the development of an automated estimation of an individual's affective state and engagement. Given the efficacy of including self-administered questionnaire data, future studies should confirm the effectiveness of such long-term intervention with a robot to maintain participants' motivation based on the proposed method of emotion estimation.

Effectiveness of Robotic Intervention on Improving Social Development and Participation of Children with Autism Spectrum Disorder - A Randomised Controlled Trial

Evidence-based robotic intervention programmes for children with autism spectrum disorder (ASD) have been limited. As yet, there is insufficient evidence to inform therapists, teachers, and service providers on effectiveness of robotic intervention to enhance social development and participation of children with ASD in a real context. This study used a randomised controlled trial to test the efficacy of robotic intervention programmes in enhancing the social development and participation of children with ASD. 60 children with ASD were included. The participants were randomly assigned to the following groups: (1) robotic intervention programme (n = 20), (2) human-instructed programme (n = 20), and (3) control group (n = 20). Both the performance-based behavioural change in social communication and parent-reported change in social responsiveness were evaluated. The participants in the robotic intervention group demonstrated statistically significant changes in both the performance-based assessment and parent-reported change in social participation. Significant differences were found in the communication and reciprocal social interactions scores between the experimental group and the control and comparison groups in the performance-based assessment (p < 0.01). The effectiveness of robotic intervention programme to enhance the social communication and participation was confirmed. Future studies may also consider adding a maintenance phase to document how the effects of the intervention carry over to the participants over a longer period. (Clinical trial number: NCT04879303; Date of registration: 10 May 2021).

A social robot connected with chatGPT to improve cognitive functioning in ASD subjects

Neurodevelopmental Disorders (NDDs) represent a significant healthcare and economic burden for families and society. Technology, including AI and digital technologies, offers potential solutions for the assessment, monitoring, and treatment of NDDs. However, further research is needed to determine the effectiveness, feasibility, and acceptability of these technologies in NDDs, and to address the challenges associated with their implementation. In this work, we present the application of social robotics using a Pepper robot connected to the OpenAI system (Chat-GPT) for real-time dialogue initiation with the robot. After describing the general architecture of the system, we present two possible simulated interaction scenarios of a subject with Autism Spectrum Disorder in two different situations. Limitations and future implementations are also provided to provide an overview of the potential developments of interconnected systems that could greatly contribute to technological advancements for Neurodevelopmental Disorders (NDD).

Social skills training using multiple humanoid robots for individuals with autism spectrum conditions

Introduction

Social skills training (SST) is used to help individuals with autism spectrum conditions (ASC) better understand the perspectives of others and social interactions, develop empathy skills, and learn how to engage with others socially. However, many individuals with ASC cannot easily sustain high motivation and concentration during such an intervention when it is administered by humans. We developed a social skills training program using multiple humanoid robots (STUH), including an android robot, that aimed to enable individuals with ASC to become familiar with the perspectives of others and improve their sociability and empathy skills. The objective of the present study was to investigate the effectiveness of STUH for these individuals.

Methods

In STUH, we prepared 50 social exercises that consisted of conversations and behavioral interactions between an android robot and a simple humanoid robot. We prepared another humanoid robot that featured a cartoon-like and mechanical design, which played the role of host. In the first half-session of STUH, participants worked on the exercise from the perspective of an outsider. In the second half-session of STUH, they simulated experience by using robots as their avatars. The intervention associated with STUH was conducted for five days in total. We conducted an analysis of variance (ANOVA) featuring the intervention time point as the independent variable to examine changes in each score on the sociability index items.

Results

In total, 14 individuals with ASC participated in the study. The results of multiple comparison tests using the Bonferroni method indicated that all sociability index items improved between preintervention and follow-up. Our program enabled the participants to become familiar with the perspectives of others and improve their sociability.

Discussion

Given the promising results of this study, future studies featuring long-term follow-up should be conducted to draw definitive conclusions about the efficacy of our training system.

A new group-based online job interview training program using computer graphics robots for individuals with autism spectrum disorders

Introduction

Job interviews are a major barrier to employment for individuals with autism spectrum disorders (ASD). During the coronavirus pandemic, establishing online job interview training at home was indispensable. However, many hurdles prevent individuals with ASD from concentrating on online job interview training. To facilitate the acquisition of interview skills from home for individuals with ASD, we developed a group interview training program with a virtual conferencing system (GIT-VICS Program) that uses computer graphics (CG) robots.

Methods

This study investigated the feasibility of the GIT-VICS Program in facilitating skill acquisition for face-to-face job interviews in pre-post measures. In the GIT-VICS Program, five participants were grouped and played the roles of interviewees (1), interviewers (2), and human resources (2). They alternately practiced each role in GIT-VICS Program sessions conducted over 8 or 9 days over three consecutive weeks. Before and after the GIT-VICS Program, the participants underwent a mock face-to-face job interview with two experienced human interviewers (MFH) to evaluate its effect.

Results

Fourteen participants completed the trial procedures without experiencing any technological challenges or distress that would have led to the termination of the session. The GIT-VICS Program improved their job interview skills (verbal competence, nonverbal competence, and interview performance).

Discussion

Given the promising results of this study and to draw clear conclusions about the efficacy of CG robots for mock online job interview training, future studies adding appropriate guidance for manner of job interview by experts are needed.

Motor differences in autism during a human-robot imitative gesturing task

BACKGROUND

Difficulty with imitative gesturing is frequently observed as a clinical feature of autism. Current practices for assessment of imitative gesturing ability-behavioral observation and parent report-do not allow precise measurement of specific components of imitative gesturing performance, instead relying on subjective judgments. Advances in technology allow researchers to objectively quantify the nature of these movement differences, and to use less socially stressful interaction partners (e.g., robots). In this study, we aimed to quantify differences in imitative gesturing between autistic and neurotypical development during human-robot interaction.

METHODS

Thirty-five autistic (n = 19) and neurotypical (n = 16) participants imitated social gestures of an interactive robot (e.g., wave). The movements of the participants and the robot were recorded using an infrared motion-capture system with reflective markers on corresponding head and body locations. We used dynamic time warping to quantify the degree to which the participant's and robot's movement were aligned across the movement cycle and work contribution to determine how each joint angle was producing the movements.

FINDINGS

Results revealed differences between autistic and neurotypical participants in imitative accuracy and work contribution, primarily in the movements requiring unilateral extension of the arm. Autistic individuals imitated the robot less accurately and used less work at the shoulder compared to neurotypical individuals.

INTERPRETATION

These findings indicate differences in autistic participants' ability to imitate an interactive robot. These findings build on our understanding of the underlying motor control and sensorimotor integration mechanisms that support imitative gesturing in autism which may aid in identifying appropriate intervention targets.

Is Politeness Better than Impoliteness? Comparisons of Robot's Encouragement Effects Toward Performance, Moods, and Propagation

This study experimentally compared the effects of encouragement with polite/ impolite attitudes from a robot in a monotonous task from three viewpoints: performance, mood, and propagation. Experiment I investigated encouragement effects on performance and mood. The participants did a monotonous task during which a robot continuously provided polite, neutral, or impolite encouragement. Our experiment results showed that polite and impolite encouragement significantly improved performance more than neutral comments, although there was no significant difference between polite and impolite encouragement. In addition, impolite encouragement caused significantly more negative moods than polite encouragement. Experiment II determined whether the robot's encouragement influenced the participants' encouragement styles. The participants behaved similarly to the robot in Experiment I, i.e., they selected polite, neutral, and impolite encouragements by observing the progress of a monotonous task by a dummy participant. The experiment results, which showed that the robot's encouragement significantly influenced the participants' encouragement styles, suggest that polite encouragement is more advantageous than impolite encouragement.

Sex and Sexuality in Autism Spectrum Disorders: A Scoping Review on a Neglected but Fundamental Issue

ASD consists of a set of permanent neurodevelopmental conditions, which are studded with social and communication differences, limited interests, and repetitive behaviors. Individuals with ASD have difficulty reading eye gestures and expressions, and may also have stereotyped or repetitive language, excessive adherence to routines, fixed interests, and rigid thinking. However, sexuality in adolescents and young adults with ASD is still a poorly studied and neglected issue. This review aims to evaluate sexual function and behavior in individuals with ASD to foster a greater understanding of this important, although often overlooked, issue. This review was conducted by searching peer-reviewed articles published between 01 June 2000 and 31 May 2022 using the following databases: PubMed, Embase, Cochrane Database, and Web of Science. A comprehensive search was conducted using the terms: "Autism" OR "ASD" AND "Sexuality" OR "Romantic relation" OR "sexual behavior" AND/OR "sexual awareness". After an accurate revision of 214 full manuscripts, 11 articles satisfied the inclusion/exclusion criteria. This review found that, although individuals with ASD may have sexual functioning, their sexuality is characterized by higher prevalence rates of gender dysphoria and inappropriate sexual behavior. Furthermore, sexual awareness is reduced in this patient population, and the prevalence of other variants of sexual orientation (i.e., homosexuality, asexuality, bisexuality, etc.) is higher in adolescents with ASD than in non-autistic peers. Sexual health and education should be included in the care path of patients with ASD in order to improve their quality of life and avoid/reduce inappropriate and risky behaviors.

Effects of Rhythmic Gymnastics on Joint Attention and Emotional Problems of Autistic Children: A Preliminary Investigation

The adaptive rhythmic gymnastics (ARG) course has been specially designed for children with autism spectrum disorders (ASD). The purpose of this study is to discover the influence of the course on the joint attention and emotional problems of ASD children. This study adopted A-B-A cross-subject multibaseline design in a single case research design. The joint attention behaviour of two 6-year-old ASD children was examined. The experiment process was recorded and coded, and the results were analysed. The results illustrated the following: (1) ARG is effective in promoting the development of joint attention in ASD children, but it has a better effect on increasing responding joint attention, and (2) to a certain extent, ARG can boost the classroom participation of ASD children and improve their emotional problems.

The use of social robots with children and young people on the autism spectrum: A systematic review and meta-analysis

BACKGROUND

Robot-mediated interventions show promise in supporting the development of children on the autism spectrum.

OBJECTIVES

In this systematic review and meta-analysis, we summarize key features of available evidence on robot-interventions for children and young people on the autism spectrum aged up to 18 years old, as well as consider their efficacy for specific domains of learning.

DATA SOURCES

PubMed, Scopus, EBSCOhost, Google Scholar, Cochrane Library, ACM Digital Library, and IEEE Xplore. Grey literature was also searched using PsycExtra, OpenGrey, British Library EThOS, and the British Library Catalogue. Databases were searched from inception until April (6th) 2021.

SYNTHESIS METHODS

Searches undertaken across seven databases yielded 2145 articles. Forty studies met our review inclusion criteria of which 17 were randomized control trials. The methodological quality of studies was conducted with the Quality Assessment Tool for Quantitative Studies. A narrative synthesis summarised the findings. A meta-analysis was conducted with 12 RCTs.

RESULTS

Most interventions used humanoid (67%) robotic platforms, were predominantly based in clinics (37%) followed home, schools and laboratory (17% respectively) environments and targeted at improving social and communication skills (77%). Focusing on the most common outcomes, a random effects meta-analysis of RCTs showed that robot-mediated interventions significantly improved social functioning (g = 0.35 [95%CI 0.09 to 0.61; k = 7). By contrast, robots did not improve emotional (g = 0.63 [95%CI -1.43 to 2.69]; k = 2) or motor outcomes (g = -0.10 [95%CI -1.08 to 0.89]; k = 3), but the numbers of trials were very small. Meta-regression revealed that age accounted for almost one-third of the variance in effect sizes, with greater benefits being found in younger children.

CONCLUSIONS

Overall, our findings support the use of robot-mediated interventions for autistic children and youth, and we propose several recommendations for future research to aid learning and enhance implementation in everyday settings.

PROSPERO REGISTRATION

Our methods were preregistered in the PROSPERO database (CRD42019148981).

“Sequencing Matters”: Investigating Suitable Action Sequences in Robot-Assisted Autism Therapy

Social robots have been shown to be promising tools for delivering therapeutic tasks for children with Autism Spectrum Disorder (ASD). However, their efficacy is currently limited by a lack of flexibility of the robot’s social behavior to successfully meet therapeutic and interaction goals. Robot-assisted interventions are often based on structured tasks where the robot sequentially guides the child towards the task goal. Motivated by a need for personalization to accommodate a diverse set of children profiles, this paper investigates the effect of different robot action sequences in structured socially interactive tasks targeting attention skills in children with different ASD profiles. Based on an autism diagnostic tool, we devised a robotic prompting scheme on a NAO humanoid robot, aimed at eliciting goal behaviors from the child, and integrated it in a novel interactive storytelling scenario involving screens. We programmed the robot to operate in three different modes: diagnostic-inspired (Assess), personalized therapy-inspired (Therapy), and random (Explore). Our exploratory study with 11 young children with ASD highlights the usefulness and limitations of each mode according to different possible interaction goals, and paves the way towards more complex methods for balancing short-term and long-term goals in personalized robot-assisted therapy.

Enhancing Joint Attention Skills in Children on the Autism Spectrum through an Augmented Reality Technology-Mediated Intervention

In the present study, the effects of an intervention based on an augmented reality technology called Pictogram Room were examined. The objective of the intervention was to improve the responding to joint attention (RJA) skills of gaze following and pointing in six children on the autism spectrum between 3 and 8 years old. A multiple baseline single-subject experimental design was conducted for 12 weeks in a school setting. Results indicated that all of the participant children improved performance in RJA following the intervention. Improvements were maintained over time and generalised to real-world situations. These findings demonstrate that autistic children can improve their RJA skills with a targeted and engaging intervention based on an accessible augmented reality technology tool.

Robotics in Clinical and Developmental Psychology

Technological advances in robotics over the last 20 years have allowed us to explore the use of robots in different healthcare contexts, in which robots can be deployed as tools for intervention and rehabilitation programs. This chapter intends to analyze, in a lifespan perspective (childhood, adulthood, and elderly age), the potentialities that the use of robots can offer in clinical practices without neglecting the robot's technical constraints and the methodological limitations of the studies. We will provide suggestions for future research and indications for the clinical application of robots according to the different pathologies and ages.

Android Robot Promotes Disclosure of Negative Narratives by Individuals With Autism Spectrum Disorders

Many individuals with autism spectrum disorders (ASD) demonstrate some challenges with personal narrative writing. Sentence completion tests (SCT) is a class of semi-structured projective techniques and encourage respondents to disclose their private narratives. Even in SCT, only providing beginning of sentences is inadequate to compensate atypicalities in their creativity and imagination, and self-disclosure is difficult for many individuals with ASD. It is reported that many individuals with ASD often achieve a higher degree of task engagement through interactions with robots and that robotic systems may be useful in eliciting and promoting social communication such as self-disclosure for some individuals with ASD. There is a possibility that exemplification by android robots in place of human interviewers can result in a higher degree of task engagement for individuals with ASD. The objective of this study was to investigate whether additional exemplifications by android robots in the SCT can prompt self-disclosure for individuals with ASD. We compared the difference in disclosure statements and subjective emotion in the testing paper of the SCT in additional exemplification by an android robot and a human interviewer. In addition, we assessed the disclosure statements and subjective emotions in the SCT, for which exemplifications were written on testing paper to make the comparison. Our quantitative data suggested that exemplification by android robot promoted more self-disclosure, especially about the negative topic compared to exemplification by a human interviewer and that written on test paper. In addition, the level of participant embarrassment in response to exemplification by the android robot seemed to be lower compared to that in the human interviewer condition. In the assessment and support for individuals with ASD, eliciting self-disclosure is a pressing issue. It is hoped that the appropriate use of robots will lead to a better understanding and support for their application.

Puppets facilitate attention to social cues in children with ASD

Diminished visual attention to faces of social partners represents one of the early characteristics of autism spectrum disorder (ASD). Here we examine if the introduction of puppets as social partners alters attention to speakers' faces in young children with ASD and typically developing (TD) controls. Children with ASD (N = 37; Mage  = 49.44 months) and TD (N = 27; Mage  = 40.66 months) viewed a video depicting a puppet and a human engaged in a conversation. Dwell time on these faces was analyzed as a function of group and speaker's identity. Unlike TD controls, the ASD group exhibited limited visual attention to and chance-level visual preference for the human speaker. However, attention to and preference for the puppet speaker's face was greater than chance and comparable across the two groups. While there was a strong association between low human speaker preference and high autism severity, no association with autism severity was found for puppet speaker preference. Unlike humans, expressive and verbal puppets attracted the attention of children with ASD at levels comparable to that of TD controls. Considering that puppets can engage in reciprocal interactions and deliver simplified, salient social-communicative cues, they may facilitate therapeutic efforts in children with ASD. LAY SUMMARY: While studies have shown support for therapeutic uses of robots with children with autism, other similar agents such as puppets remain to be explored. When shown a video of a conversation between a puppet and a person, young children with ASD paid as much attention to the puppet's face as typically-developing (TD) children. Since puppets can engage in back-and-forth interactions and model social interactions and communication, they may play a promising role in therapeutic efforts for young children with ASD.

Human-robot interaction for social skill development in children with ASD: A literature review

Human-robot interaction has been demonstrated to be a promising methodology for developing socio-communicational skills of children and adolescents with autism spectrum disorder (ASD). This paper systematically reviews studies that report experimental results on this topic published in scientific journals between the years 2010 and2018. A total of 1805 articles from various literature were filtered based on relevance and transparency. In the first set of criteria, article titles are screened and in the second both titles and abstracts. The final number of articles which were subsequently thoroughly reviewed was 32 (N = 32). The findings suggest that there are benefits in using human-robot interaction to assist with the development of social skills for children with ASD. Specifically, it was found that the majority of studies used humanoid robots, 64% relied on a small number of participants and sessions, while few of the studies included a control group or follow-up sessions. Based on these findings, this paper tried to identify areas that have not been extensively addressed to propose several directions for future improvements for studies in this field, such as control groups with typical developmental children, minimum number of sessions and participants, as well as standardization of criteria for assessing the level of functionality for ASD children.

A win-win situation: Does familiarity with a social robot modulate feedback monitoring and learning?

Social species rely on the ability to modulate feedback-monitoring in social contexts to adjust one's actions and obtain desired outcomes. When being awarded positive outcomes during a gambling task, feedback-monitoring is attenuated when strangers are rewarded, as less value is assigned to the awarded outcome. This difference in feedback-monitoring can be indexed by an event-related potential (ERP) component known as the Reward Positivity (RewP), whose amplitude is enhanced when receiving positive feedback. While the degree of familiarity influences the RewP, little is known about how the RewP and reinforcement learning are affected when gambling on behalf of familiar versus nonfamiliar agents, such as robots. This question becomes increasingly important given that robots may be used as teachers and/or social companions in the near future, with whom children and adults will interact with for short or long periods of time. In the present study, we examined whether feedback-monitoring when gambling on behalf of oneself compared with a robot is impacted by whether participants have familiarized themselves with the robot before the task. We expected enhanced RewP amplitude for self versus other for those who did not familiarize with the robot and that self-other differences in the RewP would be attenuated for those who familiarized with the robot. Instead, we observed that the RewP was larger when familiarization with the robot occurred, which corresponded to overall worse learning outcomes. We additionally observed an enhanced P3 effect for the high-familiarity condition, which suggests an increased motivation to reward. These findings suggest that familiarization with robots may cause a positive motivational effect, which positively affects RewP amplitudes, but interferes with learning.

Social Robots in Special Education: A Systematic Review

In recent years, social robots have become part of a variety of human activities, especially in applications involving children, e.g., entertainment, education, companionship. The interest of this work lies in the interaction of social robots with children in the field of special education. This paper seeks to present a systematic review of the use of robots in special education, with the ultimate goal of highlighting the degree of integration of robots in this field worldwide. This work aims to explore the technologies of robots that are applied according to the impairment type of children. The study showed a large number of attempts to apply social robots to the special education of children with various impairments, especially in recent years, as well as a wide variety of social robots from the market involved in such activities. The main conclusion of this work is the finding that the specific field of application of social robots is at the first development step; however, it is expected to be of great concern to the research community in the coming years.

Examining Social Cognition with Embodied Robots: Does Prior Experience with a Robot Impact Feedback-associated Learning in a Gambling Task?

Social agents rely on the ability to use feedback to learn and modify their behavior. The extent to which this happens in social contexts depends on motivational, cognitive and/or affective parameters. For instance, feedback-associated learning occurs at different rates when the outcome of an action (e.g., winning or losing in a gambling task) affects oneself (“Self”) versus another human (“Other”). Here, we examine whether similar context effects on feedback-associated learning can also be observed when the “other” is a social robot (here: Cozmo). We additionally examine whether a “hybrid” version of the gambling paradigm, where participants are free to engage in a dynamic interaction with a robot, then move to a controlled screen-based experiment can be used to examine social cognition in human-robot interaction. This hybrid method is an alternative to current designs where researchers examine the effect of the interaction on social cognition during the interaction with the robot. For that purpose, three groups of participants (n total = 60) interacted with Cozmo over different time periods (no interaction vs. a single 20 minute interaction in the lab vs. daily 20 minute interactions over five consecutive days at home) before performing the gambling task in the lab. The results indicate that prior interactions impact the degree to which participants benefit from feedback during the gambling task, with overall worse learning immediately after short-term interactions with the robot and better learning in the “Self” versus “Other” condition after repeated interactions with the robot. These results indicate that “hybrid” paradigms are a suitable option to investigate social cognition in human-robot interaction when a fully dynamic implementation (i.e., interaction and measurement dynamic) is not feasible.

Future perspectives of robot psychiatry: can communication robots assist psychiatric evaluation in the COVID-19 pandemic era?

PURPOSE OF REVIEW

Direct face-to-face interview between a psychiatrist and a patient is crucial in psychiatric evaluation, however, such traditional interviews are becoming difficult to conduct because of the infection risk in the COVID-19 era. As telepsychiatry, video interviews using internet are suggested to be useful to evaluate and assist individuals with mental disorders. However, some patients especially with social phobia, depression, and autism spectrum disorder (ASD) hesitate to use even such face-to-face-like tools. Communication robots have been proposed as future assistant tools for such patients. Herein, we summarize recent advancements in robot psychiatry, and propose the benefits of communication robots in psychiatric evaluation.

RECENT FINDINGS

Recent studies have suggested that communication robots are effective in assisting people with ASD. As a pilot trial, we herein conducted semi-structured interviews to evaluate depression and hikikomori, a form of pathological social withdrawal, using a communication robot and a psychiatrist, respectively. There was almost identical evaluation between the two. Interestingly, a person with hikikomori answered that the robot was easier to disclose.

SUMMARY

Robots can reduce the burden of human resources and the infection risk in the COVID-19 era. Robot interview is expected to be implemented for future evaluation system in psychiatry.

Robotic Uses in Pediatric Care: A Comprehensive Review

PROBLEM

Advances in technology have made robotics acceptable in healthcare and medical environments. The aim of this literature review was to examine how the pediatric population can benefit from robotic therapy and assistance that are currently available or being developed in diverse settings.

ELIGIBILITY CRITERIA

English language full-text publications focusing on pediatric robotic therapy studies for infants and children under the age of 17 indexed in PubMed and CINAHL and published from 2008 to 2018.

SAMPLE

A total of 272 articles were identified, 69 full-text articles were retrieved and assessed for eligibility, and 21 studies were finally used in the literature review.

RESULTS

From 21 studies, all studies reviewed showed that children benefited from robotic therapies were 1) responsive to the therapies and 2) favored robot's presence since the robotic systems increased their attention and ability to participate in tasks. Due to small sample size, results were statistically inconclusive.

CONCLUSIONS

We identified positive findings, where utilizing pediatric robots played vital roles in assisting and enhancing current pediatric and NICU treatments. Overall, our findings suggested that more clinical trials would be essential, but the uses of robots may contribute to the future advancement in pediatric and neonatal healthcare.

IMPLICATIONS

These review and analysis can be used to inform healthcare environments where there is a room for applying robotic assistance, although most studies required further testing with larger sample size to validate their results. This suggests the need for further research for robotics in pediatric and neonatal healthcare.

Humanoid Robots and Autistic Children: A Review on Technological Tools to Assess Social Attention and Engagement

Recent studies suggest that robot-based interventions are potentially effective in diagnosis and therapy of autism spectrum disorder (ASD), demonstrating that robots can improve the engagement abilities and attention in autistic children. While methodological approaches vary significantly in these studies and are not unified yet, researchers often develop similar solutions based on similar conceptual and practical premises. We systematically review the latest robot-intervention techniques in ASD research (18 research papers), comparing multiple dimensions of technological and experimental implementation. In particular, we focus on sensor-based assessment systems for automated and unbiased quantitative assessments of children’s engagement and attention fluctuations during interaction with robots. We examine related technologies, experimental and methodological setups, and the empirical investigations they support. We aim to assess the strengths and limitations of such approaches in a diagnostic context and to evaluate their potential in increasing our knowledge of autism and in supporting the development of social skills and attentional dispositions in ASD children. Using our acquired results from the overview, we propose a set of social cues and interaction techniques that can be thought to be most beneficial in robot-related autism intervention.

Group-Based Online Job Interview Training Program Using Virtual Robot for Individuals With Autism Spectrum Disorders

The rapid expansion of online job interviews during the COVID-19 pandemic is expected to continue after the pandemic has subsided. These interviews are a significant barrier for individuals with autism spectrum disorders (ASD). There is little evidence-based training for online job interviews for individuals with ASD, and the development of new trainings is expected. In an effort to facilitate online job interview skill acquisition for individuals with ASD, we developed a group-based online job interview training program using a virtual robot (GOT). In GOT, the interviewer and interviewee are projected as virtual robots on the screen. Five participants were grouped and performed the role of interviewee, interviewer, and evaluator. The participants performed all roles in a random order. Each session consisted of a first job interview session, feedback session, and second job interview session. The participants experienced 25 sessions. Before and after GOT, the participants underwent a mock online job interview with a human professional interviewer (MOH) to evaluate the effect of GOT. In total, 15 individuals with ASD took part in the study. The GOT improved self-confidence, motivation, the understanding of others' perspectives, verbal competence, non-verbal competence, and interview performance scores. There was also a significant increase in the recognition of the importance of the point of view of interviewers and evaluators after the second MOH compared to after the first MOH. Using a VR robot and learning the importance of interview skills by experiencing other perspectives (i.e., viewpoint of interviewer and evaluator) may have sustained their motivation and enabled greater self-confidence. Given the promising results of this study and to draw definitive conclusions regarding the efficacy of virtual reality (VR) robots for mock online job interview training, further studies with larger, more diverse samples of individuals with ASD using a longitudinal design are warranted.

Repetitive Robot Behavior Impacts Perception of Intentionality and Gaze-Related Attentional Orienting

Gaze behavior is an important social signal between humans as it communicates locations of interest. People typically orient their attention to where others look as this informs about others' intentions and future actions. Studies have shown that humans can engage in similar gaze behavior with robots but presumably more so when they adopt the intentional stance toward them (i.e., believing robot behaviors are intentional). In laboratory settings, the phenomenon of attending toward the direction of others' gaze has been examined with the use of the gaze-cueing paradigm. While the gaze-cueing paradigm has been successful in investigating the relationship between adopting the intentional stance toward robots and attention orienting to gaze cues, it is unclear if the repetitiveness of the gaze-cueing paradigm influences adopting the intentional stance. Here, we examined if the duration of exposure to repetitive robot gaze behavior in a gaze-cueing task has a negative impact on subjective attribution of intentionality. Participants performed a short, medium, or long face-to-face gaze-cueing paradigm with an embodied robot while subjective ratings were collected pre and post the interaction. Results show that participants in the long exposure condition had the smallest change in their intention attribution scores, if any, while those in the short exposure condition had a positive change in their intention attribution, indicating that participants attributed more intention to the robot after short interactions. The results also show that attention orienting to robot gaze-cues was positively related to how much intention was attributed to the robot, but this relationship became more negative as the length of exposure increased. In contrast to subjective ratings, the gaze-cueing effects (GCEs) increased as a function of the duration of exposure to repetitive behavior. The data suggest a tradeoff between the desired number of trials needed for observing various mechanisms of social cognition, such as GCEs, and the likelihood of adopting the intentional stance toward a robot.

Two is better than one: Social rewards from two agents enhance offline improvements in motor skills more than single agent

Social rewards as praise from others enhance offline improvements in human motor skills. Does praise from artificial beings, e.g., computer-graphics-based agents (displayed agents) and robots (collocated agents), also enhance offline improvements in motor skills as effectively as praise from humans? This paper answers this question via two subsequent days’ experiment. We investigated the effect of the number of agents and their sense of presence toward offline improvement in motor skills because they are essential factors to change social effects and people’s behaviors in human-agent and human-robot interaction. Our 96 participants performed a finger-tapping task. Our results showed that those who received praise from two agents showed significantly better offline motor skill improvement than people who were praised by just one agent and those who received no praise. However, we identified no significant effects related to the sense of presence.

Optimal robot for intervention for individuals with autism spectrum disorders

With recent rapid advances in technology, human-like robots have begun functioning in a variety of ways. As increasing anecdotal evidence suggests, robots may offer many unique opportunities for helping individuals with autism spectrum disorders (ASD). Individuals with ASD often achieve a higher degree of task engagement through the interaction with robots than through interactions with human trainees. The type and form of robots to be used for individuals with ASD have been meticulously considered. Simple robots and animal robots are acceptable because of their simplicity and the ease of interesting and engaging interactions. Android robots have the benefit of the potential of generalization into daily life to some extent. Considering the affinity between robots and users is important to draw out the potential capabilities of robotic intervention to the fullest extent. In the robotic condition, factors such as the appearance, biological motion, clothes, hairstyle, and disposition are important. Many factors of a user, such as age, sex, and IQ, may also affect the affinity of individuals with ASD toward a robot. The potential end-users of this technology may be unaware or unconvinced of the potential roles of robots in ASD interventions. If trainers have extensive experience in using robots, they can identify many potential roles of robots based on their experience. To date, only a few studies have been conducted in the field of robotics for providing assistance to individuals with ASD, and future studies are needed to realize an optimal robot for this purpose.

Social Robots to Test Flexibility of Human Social Cognition

As the field of social robotics has been dynamically growing and expanding over various areas of research and application, in which robots can be of assistance and companionship for humans, this paper offers a different perspective on a role that social robots can also play, namely the role of informing us about flexibility of human mechanisms of social cognition. The paper focuses on studies in which robots have been used as a new type of "stimuli" in psychological experiments to examine whether similar mechanisms of social cognition would be activated in interaction with a robot, as would be elicited in interaction with another human. Analysing studies in which a direct comparison has been made between a robot and a human agent, the paper examines whether for robot agents, the brain re-uses the same mechanisms that have been developed for interaction with other humans in terms of perception, action representation, attention and higher-order social cognition. Based on this analysis, the paper concludes that the human socio-cognitive mechanisms, in adult brains, are sufficiently flexible to be re-used for robotic agents, at least for those that have some level of resemblance to humans.

Examining joint attention with the use of humanoid robots-A new approach to study fundamental mechanisms of social cognition

This article reviews methods to investigate joint attention and highlights the benefits of new methodological approaches that make use of the most recent technological developments, such as humanoid robots for studying social cognition. After reviewing classical approaches that address joint attention mechanisms with the use of controlled screen-based stimuli, we describe recent accounts that have proposed the need for more natural and interactive experimental protocols. Although the recent approaches allow for more ecological validity, they often face the challenges of experimental control in more natural social interaction protocols. In this context, we propose that the use of humanoid robots in interactive protocols is a particularly promising avenue for targeting the mechanisms of joint attention. Using humanoid robots to interact with humans in naturalistic experimental setups has the advantage of both excellent experimental control and ecological validity. In clinical applications, it offers new techniques for both diagnosis and therapy, especially for children with autism spectrum disorder. The review concludes with indications for future research, in the domains of healthcare applications and human-robot interaction in general.

Feasibility of autism-focused public speech training using a simple virtual audience for autism spectrum disorder

AIM

Public speaking seems to be one of the most anxiety-provoking situations for individuals with autism spectrum disorder (ASD). However, there are few evidence-based interventions. We developed Autism-Focused Public Speech Training using Simple Virtual Audiences (APSV), which differs from a general virtual audience in terms of its simple facial expressions and emphasis on the importance of the eyes. The present study aimed to evaluate the feasibility of APSV as an educational method for individuals with ASD.

METHODS

Fifteen male individuals with ASD were randomly assigned to two groups: one group received APSV (n = 8), and the other group (n = 7) received independent study (IS). From Days 2 to 6, participants in the APSV and IS groups were encouraged to read and answer questions often asked in actual public speaking events. Participants in the APSV study group performed this activity in front of the APSV system, while those in the IS group performed in an empty room. Before and after the intervention (Days 1 and 7), the participants in the two groups had a mock public speaking experience in front of 10 people for approximately 10 min.

RESULTS

After the training sessions, the participants' self-confidence had improved and salivary cortisol levels were significantly decreased in the APSV group as compared to those in the IS group. APSV improved self-confidence and decreased public speaking stress in individuals with ASD.

CONCLUSION

APSV appears to be useful in improving self-confidence and decreasing public speaking stress in individuals with ASD.

Review of assistive technology in the training of children with autism spectrum disorders

The use of socially assistive robotics (SARs) is a promising method for improving the social skills of children with autism spectrum disorder (ASD). Studies conducted in this field in recent years show that the use of robots as collaborators may have positive effects on the development of social skills in children with ASD, especially in those areas where they reveal great deficits. In this literature review, we present, organize and evaluate the most important features and results of 13 relevant scientific articles. In analysis of the research findings we explored the documented effectiveness of robotics in enhancing the social skills of children with ASD in the areas of mutual attention, verbal communication and imitation skills, and also in the reduction of stereotypical behavior. Analysis of the results of the 13 studies confirmed that robots can have positive immediate effects on the communication skills of children with ASD, which holds promise for future intervention programs and relevant research.

Enhancing Communication Skills of Individuals With Autism Spectrum Disorders While Maintaining Social Distancing Using Two Tele-Operated Robots

COVID-19 has affected many areas of daily life, including communication and learning. Social distancing is essential to prevent the spread of COVID-19. In these situations, teaching communication skills is essential for helping individuals with autism spectrum disorders (ASD) reach their full potential. To provide communication education while maintaining social distancing, we developed a communication training system using a tele-operated robot. In this system, we prepared a PC and a robot for each participant. The participants were grouped in pairs and communicated with each other through the tele-operated robot. The objective of this study was to test whether this system can maintain motivation for training in individuals with ASD and whether our system was useful for improving communication skills. Participants were randomly assigned to one of two groups: the taking a class by teachers alone (TCT) group or robot-mediated communication exercise (RMC) group. Participants in the TCT group took a class about communication skills from their teacher. Participants in the RMC group, in addition to taking a class by teacher, were grouped in pairs and communicated with each other through the tele-operated robot once a week over 4 weeks (for a total of five sessions). In total, twenty individuals with ASD participated in the study. One-way ANOVA revealed that there were significantly greater improvements in being good at describing their thoughts to others, which was self-rated (F = 6.583; p = 0.019), and good at listening to the thoughts or feelings of others, which was rated by themselves (F = 5.635; p = 0.029) and their teacher (F = 5.333; p = 0.033). As expected, the motivation for training using this system was maintained during a session. Overall, this study revealed that our system was useful for improving communication skills (e.g., listening to the thoughts or feelings of others). Teaching communication skills under pandemic conditions is important, and this study demonstrated the feasibility of communication training using tele-operated robots.

Educators' Views on Using Humanoid Robots With Autistic Learners in Special Education Settings in England

Researchers, industry, and practitioners are increasingly interested in the potential of social robots in education for learners on the autism spectrum. In this study, we conducted semi-structured interviews and focus groups with educators in England to gain their perspectives on the potential use of humanoid robots with autistic pupils, eliciting ideas, and specific examples of potential use. Understanding educator views is essential, because they are key decision-makers for the adoption of robots and would directly facilitate future use with pupils. Educators were provided with several example images (e.g., NAO, KASPAR, Milo), but did not directly interact with robots or receive information on current technical capabilities. The goal was for educators to respond to the general concept of humanoid robots as an educational tool, rather than to focus on the existing uses or behaviour of a particular robot. Thirty-one autism education staff participated, representing a range of special education settings and age groups as well as multiple professional roles (e.g., teachers, teaching assistants, speech, and language therapists). Thematic analysis of the interview transcripts identified four themes: Engagingness of robots, Predictability and consistency, Roles of robots in autism education, and Need for children to interact with people, not robots. Although almost all interviewees were receptive toward using humanoid robots in the classroom, they were not uncritically approving. Rather, they perceived future robot use as likely posing a series of complex cost-benefit trade-offs over time. For example, they felt that a highly motivating, predictable social robot might increase children's readiness to learn in the classroom, but it could also prevent children from engaging fully with other people or activities. Educator views also assumed that skills learned with a robot would generalise, and that robots' predictability is beneficial for autistic children—claims that need further supporting evidence. These interview results offer many points of guidance to the HRI research community about how humanoid robots could meet the specific needs of autistic learners, as well as identifying issues that will need to be resolved for robots to be both acceptable and successfully deployed in special education contexts.

Profiles and trajectories of impaired social cognition in people with Prader-Willi syndrome

Introduction

People with Prader-Willi syndrome (PWS) have a distinctive behavioral phenotype that includes intellectual disability, compulsivity, inattention, inflexibility and insistence on sameness. Inflexibility and inattention are at odds with the cognitive flexibility and attention to social cues needed to accurately perceive the social world, and implicate problems in social cognition. This study assessed two social cognition domains in people with PWS; emotion recognition and social perception. We identified changes in social cognition over an approximate two-year time period (M = 2.23 years), relative strengths and weakness in social cognition, and correlates and predictors of social cognition.

Methods

Emotion recognition and social perception were examined at two time points in 94 individuals with PWS aged 5 to 62 years (M = 13.81, SD = 10.69). Tasks administered included: standardized IQ testing; parent-completed measures of inattention and inflexibility; standard emotion recognition photos (fear, sadness, anger, happy); and videotaped social perception vignettes depicting negative events with either sincere/benign or insincere/hostile interactions between peers.

Results

An atypical trajectory of negative emotion recognition emerged, marked by similar levels of poor performances across age, and confusion between sad and anger that is typically resolved in early childhood. Recognition of sad and fear were positively correlated with IQ. Participants made gains over time detecting social cues, but not in forming correct conclusions about the intentions of others. Accurately judging sincere intentions remained a significant weakness over time. Relative to sincere intentions, participant’s performed significantly better in detecting negative social cues, and correctly judging trickery, deceit and lying. Age, IQ, inattention, and recognition of happy and sad accounted for 29% of variance in social perception.

Conclusion

Many people with PWS have deficits in recognizing sad, anger and fear, and accurately perceiving the sincere intentions of other people. The impact of these deficits on social behavior and relationships need to be better understood.

Theory of Robot Mind: False Belief Attribution to Social Robots in Children With and Without Autism

This study aims to probe how children with and without autism spectrum disorders (ASD) attribute false belief to a social robot and predict its action accordingly. Twenty 5- to 7-year-old children with ASD and 20 age- and IQ-matched typically developing (TD) children participated in two false belief tasks adapted for robot settings (change-of-location task and the unexpected-contents task). The results showed that most TD children are capable of attributing false belief to the social robot, that is, they could infer higher level mental states in robots, which extends our understanding in TD children’s perception and cognition on social robots. Conversely, children with ASD still show difficulty in interpreting robots’ mental states compared to their TD peers, which would greatly interfere with their interactions and communications with social robots and might impact on efficiency of robot-based intervention and education approaches. This group difference in attributing false belief to social robots could not be explained by the different perception and categorization of the robot. Our study implies that although children with ASD appear to be highly attracted by social robots, they still have difficulty in understanding mental states when socially interacting with robots, which should be taken into consideration when designing the robot-based intervention approach targeting to improve social behaviors of ASD.

Interaction With Social Robots: Improving Gaze Toward Face but Not Necessarily Joint Attention in Children With Autism Spectrum Disorder

It is widely recognized that robot-based interventions for autism spectrum disorders (ASD) hold promise, but the question remains as to whether social humanoid robots could facilitate joint attention performance in children with ASD. In this study, responsive joint attention was measured under two conditions in which different agents, a human and a robot, initiated joint attention via video. The participants were 15 children with ASD (mean age: 4.96 ± 1.10 years) and 15 typically developing (TD) children (mean age: 4.53 ± 0.90 years). In addition to analyses of fixation time and gaze transitions, a longest common subsequence approach (LCS) was employed to compare participants' eye movements to a predefined logical reference sequence. The fixation of TD toward agent's face was earlier and longer than children with ASD. Moreover, TD showed a greater number of gaze transitions between agent's face and target, and higher LCS scores than children with ASD. Both groups showed more interests in the robot's face, but the robot induced a lower proportion of fixation time on the target. Meanwhile participants showed similar gaze transitions and LCS results in both conditions, suggesting that they could follow the logic of the joint attention task induced by the robot as well as human. We have discussed the implications for the effects and applications of social humanoid robots in joint attention interventions.

Robots in special education: reasons for low uptake

Purpose

The purpose of this paper is to identify the main reasons for low uptake of robots in special education (SE), obtained from an analysis of previous studies that used robots in the area, and from interviewing SE teachers about the topic.

Design/methodology/approach

An analysis of 18 studies that used robots in SE was performed, and the conclusions were complemented and compared with the feedback from interviewing 13 SE teachers from Spain and the UK about the reasons they believed caused the low uptake of robots in SE classrooms.

Findings

Five main reasons why SE schools do not normally use robots in their classrooms were identified: the inability to acquire the system due to its price or availability; its difficulty of use; the low range of activities offered; the limited ways of interaction offered; and the inability to use different robots with the same software.

Originality/value

Previous studies focussed on exploring the advantages of using robots to help children with autism spectrum conditions and learning disabilities. This study takes a step further and looks into the reasons why, despite the benefits shown, robots are rarely used in real-life settings after the relevant study ends. The authors also present a potential solution to the issues found: involving end users in the design and development of new systems using a user-centred design approach for all the components, including methods of interaction, learning activities and the most suitable type of robots.

Relaxing Gaze Aversion of Adolescents With Autism Spectrum Disorder in Consecutive Conversations With Human and Android Robot-A Preliminary Study

Establishing a treatment method for individuals with autism spectrum disorder (ASD) not only to increase their frequency or duration of eye contact but also to maintain it after ceasing the intervention, and furthermore generalize it across communication partners, is a formidable challenge. Android robots, which are a type of humanoid robot with appearances quite similar to that of humans, are expected to adapt to the role of training partners of face-to-face communication for individuals with ASD and to create easier experiences transferrable to humans. To evaluate this possibility, four male adolescents with ASD and six without ASD were asked to participate a pilot experiment in which there were consecutive sessions of semistructured conversation where they alternately faced either a human female or a female-type android robot interlocutor five times in total. Although it is limited by the small sample size, the preliminary results of analysis of their fixation pattern during the conversations indicated positive signs; the subjects tended to look more at the face of the android robot than that of the human interlocutor regardless of whether they had ASD. However, the individuals with ASD looked more at the area around the eyes of the android robot than at the human, and also looked less at that of the human than the individuals without ASD did. An increasing tendency of looking at the area around the human eyes, which could be a positive sign of the transferability of the experiences with an android robot to a human interlocutor, was only weakly observed as the sessions progressed.

Design of a Physiology-based Adaptive Virtual Reality Driving Platform for Individuals with ASD

Driving is essential for many people in developed countries to achieve independence. Individuals with Autism Spectrum Disorder (ASD), in addition to having social skill deficits, may experience difficulty in learning to drive due to deficits in attention-shifting, performing sequential tasks, integrating visual-motor responses, and coordinating motor response. Lacking confidence and feeling anxiety further exacerbates these concerns. While there is a growing body of research regarding assessment of driving behavior or comparisons of driving behaviors between individuals with and without ASD, there is a lack of driving simulator that is catered toward the needs of individuals with ASD. We present the development of a novel closed-loop adaptive Virtual Reality (VR) driving simulator for individuals with ASD that can infer one's engagement based on his/her physiological responses and adapts driving task difficulty based on engagement level in real-time. We believe that this simulator will provide opportunities for learning driving skills in a safe and individualized environment to individuals with ASD and help them with independent living. We also conducted a small user study with teenagers with ASD to demonstrate the feasibility and tolerability of such a driving simulator. Preliminary results showed that the participants found the engagement-sensitive system more engaging and more enjoyable than a purely performance-sensitive system. These findings could support future work into driving simulator technologies, which could provide opportunities to practice driving skills in cost-effective, supportive, and safe environments.

How the Realism of Robot Is Needed for Individuals With Autism Spectrum Disorders in an Interview Setting

The preliminary efficacy of interview training using an android robot whose appearance and movements resemble those of an actual human for treating social and communication difficulties in individuals with autism spectrum disorders (ASD) has been demonstrated. Patient preferences regarding the appearance of robots are crucial for incentivizing them to undergo robot-assisted therapy. However, very little is known about how the realistic nature of an android robot is related to incentivizing individuals with ASD in an interview setting. In this study, individuals with ASD underwent an interview with a human interviewer and an android robot. Twenty-three individuals with ASD (age, 17-25 years) participated in this study. After the interview, the participants were evaluated in terms of their motivation to practice an interview with an android robot and their impression of the nature of the android robot in terms of humanness. As expected, subjects exhibited higher motivation to undergo interview training with an android robot than with a human interviewer. Higher motivation to undergo an interview with the android robot was negatively correlated with the participants' impressions of the extent to which the android robot exhibited humanness. This study brings us one step closer to understanding how such an android robot should be designed and implemented to provide sufficiently realistic interview training that can be of therapeutic value.

Project INSIDE: towards autonomous semi-unstructured human-robot social interaction in autism therapy

This paper describes the INSIDE system, a networked robot system designed to allow the use of mobile robots as active players in the therapy of children with autism spectrum disorders (ASD). While a significant volume of work has explored the impact of robots in ASD therapy, most such work comprises remotely operated robots and/or well-structured interaction dynamics. In contrast, the INSIDE system allows for complex, semi-unstructured interaction in ASD therapy while featuring a fully autonomous robot. In this paper we describe the hardware and software infrastructure that supports such rich form of interaction, as well as the design methodology that guided the development of the INSIDE system. We also present some results on the use of our system both in pilot and in a long-term study comprising multiple therapy sessions with children at Hospital Garcia de Orta, in Portugal, highlighting the robustness and autonomy of the system as a whole.

The impact of robotic intervention on joint attention in children with autism spectrum disorders

Background

A growing body of anecdotal evidence indicates that the use of robots may provide unique opportunities for assisting children with autism spectrum disorders (ASD). However, previous studies investigating the effects of interventions using robots on joint attention (JA) in children with ASD have shown insufficient results. The robots used in these studies could not turn their eyes, which was a limitation preventing the robot from resembling a human agent.

Methods

We compared the behavior of children with ASD with that of children with typical development (TD) during a JA elicitation task while the children interacted with either a human or a robotic agent. We used the robot "CommU," which has clear eyes and can turn its eyes, for the robotic intervention. The age range of the participants was limited to 5-6 years.

Results

Sixty-eight participants participated in this study, including 30 (10 females and 20 males) children with ASD and 38 (13 females and 25 males) children with TD. The participants were randomly assigned to one of the following two groups: the robotic intervention group or the control group. JA in the children with ASD was better during the robotic intervention than during the human agent intervention. These children exhibited improved performance in the JA task with human after interacting with the robot CommU. JA was differentially facilitated by the human and robotic agents between the ASD and TD children.

Conclusions

The findings of this study significantly contribute to the literature on the impact of robots on JA and provide information regarding the suitability of specific robot types for therapeutic use.

Design, Development, and Evaluation of a Noninvasive Autonomous Robot-mediated Joint Attention Intervention System for Young Children with ASD

Research indicates that human-robot interaction can help children with Autism Spectrum Disorder (ASD). While most early robot-mediated interaction studies were based on free interactions, recent studies have shown that robot-mediated interventions that focus on the core impairments of ASD such as joint attention deficit tend to produce better outcomes. Joint attention impairment is one of the core deficits in ASD that has an important impact in the neuropsychological development of these children. In this work, we propose a novel joint attention intervention system for children with ASD that overcomes several existing limitations in this domain such as the need to use body-worn sensors, non-autonomous robot operation requiring human involvement and lack of a formal model for robot-mediated joint attention interaction. We present a fully autonomous robotic system, called NORRIS, that can infer attention through a distributed non-contact gaze inference mechanism with an embedded Least-to-Most (LTM) robot-mediated interaction model to address the current limitations. The system was tested in a multi-session user study with 14 young children with ASD. The results showed that participants' joint attention skills improved significantly, their interest in the robot remained consistent throughout the sessions, and the LTM interaction model was effective in promoting the children's performance.