Artificial Vision Algorithms for Socially Assistive Robot Applications: A Review of the Literature

Today, computer vision algorithms are very important for different fields and applications, such as closed-circuit television security, health status monitoring, and recognizing a specific person or object and robotics. Regarding this topic, the present paper deals with a recent review of the literature on computer vision algorithms (recognition and tracking of faces, bodies, and objects) oriented towards socially assistive robot applications. The performance, frames per second (FPS) processing speed, and hardware implemented to run the algorithms are highlighted by comparing the available solutions. Moreover, this paper provides general information for researchers interested in knowing which vision algorithms are available, enabling them to select the one that is most suitable to include in their robotic system applications.

Impact of Physiological Signals Acquisition in the Emotional Support Provided in Learning Scenarios

Physiological sensors can be used to detect changes in the emotional state of users with affective computing. This has lately been applied in the educational domain, aimed to better support learners during the learning process. For this purpose, we have developed the AICARP (Ambient Intelligence Context-aware Affective Recommender Platform) infrastructure, which detects changes in the emotional state of the user and provides personalized multisensorial support to help manage the emotional state by taking advantage of ambient intelligence features. We have developed a third version of this infrastructure, AICARP.V3, which addresses several problems detected in the data acquisition stage of the second version, (i.e., intrusion of the pulse sensor, poor resolution and low signal to noise ratio in the galvanic skin response sensor and slow response time of the temperature sensor) and extends the capabilities to integrate new actuators. This improved incorporates a new acquisition platform (shield) called PhyAS (Physiological Acquisition Shield), which reduces the number of control units to only one, and supports both gathering physiological signals with better precision and delivering multisensory feedback with more flexibility, by means of new actuators that can be added/discarded on top of just that single shield. The improvements in the quality of the acquired signals allow better recognition of the emotional states. Thereof, AICARP.V3 gives a more accurate personalized emotional support to the user, based on a rule-based approach that triggers multisensorial feedback, if necessary. This represents progress in solving an open problem: develop systems that perform as effectively as a human expert in a complex task such as the recognition of emotional states.

A Taxonomy in Robot-Assisted Training: Current Trends, Needs and Challenges

In this article, we present a taxonomy in Robot-Assisted Training; a growing body of research in Human–Robot Interaction which focuses on how robotic agents and devices can be used to enhance user’s performance during a cognitive or physical training task. Robot-Assisted Training systems have been successfully deployed to enhance the effects of a training session in various contexts, i.e., rehabilitation systems, educational environments, vocational settings, etc. The proposed taxonomy suggests a set of categories and parameters that can be used to characterize such systems, considering the current research trends and needs for the design, development and evaluation of Robot-Assisted Training systems. To this end, we review recent works and applications in Robot-Assisted Training systems, as well as related taxonomies in Human–Robot Interaction. The goal is to identify and discuss open challenges, highlighting the different aspects of a Robot-Assisted Training system, considering both robot perception and behavior control.

SEAI: Social Emotional Artificial Intelligence Based on Damasio's Theory of Mind

A socially intelligent robot must be capable to extract meaningful information in real time from the social environment and react accordingly with coherent human-like behavior. Moreover, it should be able to internalize this information, to reason on it at a higher level, build its own opinions independently, and then automatically bias the decision-making according to its unique experience. In the last decades, neuroscience research highlighted the link between the evolution of such complex behavior and the evolution of a certain level of consciousness, which cannot leave out of a body that feels emotions as discriminants and prompters. In order to develop cognitive systems for social robotics with greater human-likeliness, we used an "understanding by building" approach to model and implement a well-known theory of mind in the form of an artificial intelligence, and we tested it on a sophisticated robotic platform. The name of the presented system is SEAI (Social Emotional Artificial Intelligence), a cognitive system specifically conceived for social and emotional robots. It is designed as a bio-inspired, highly modular, hybrid system with emotion modeling and high-level reasoning capabilities. It follows the deliberative/reactive paradigm where a knowledge-based expert system is aimed at dealing with the high-level symbolic reasoning, while a more conventional reactive paradigm is deputed to the low-level processing and control. The SEAI system is also enriched by a model that simulates the Damasio's theory of consciousness and the theory of Somatic Markers. After a review of similar bio-inspired cognitive systems, we present the scientific foundations and their computational formalization at the basis of the SEAI framework. Then, a deeper technical description of the architecture is disclosed underlining the numerous parallelisms with the human cognitive system. Finally, the influence of artificial emotions and feelings, and their link with the robot's beliefs and decisions have been tested in a physical humanoid involved in Human-Robot Interaction (HRI).