Ben Robins

KASPAR --a minimally expressive humanoid robot for human--robot interaction research

This paper provides a comprehensive introduction to the design of the minimally expressive robot KASPAR, which is particularly suitable for human--robot interaction studies. A low-cost design with off-the-shelf components has been used in a novel design inspired from a multi-disciplinary viewpoint, including comics design and Japanese Noh theatre. The design rationale of the robot and its technical features are described in detail. Three research studies will be presented that have been using KASPAR extensively. Firstly, we present its application in robot-assisted play and therapy for children with autism. Secondly, we illustrate its use in human--robot interaction studies investigating the role of interaction kinesics and gestures. Lastly, we describe a study in the field of developmental robotics into computational architectures based on interaction histories for robot ontogeny. The three areas differ in the way as to how the robot is being operated and its role in social interaction scenarios. Each will be introduced briefly and examples of the results will be presented. Reflections on the specific design features of KASPAR that were important in these studies and lessons learnt from these studies concerning the design of humanoid robots for social interaction will also be discussed. An assessment of the robot in terms of utility of the design for human--robot interaction experiments concludes the paper.

From Isolation to Communication: A Case Study Evaluation of Robot Assisted Play for Children with Autism with a Minimally Expressive Humanoid Robot

The general context of the work presented in this paper is assistive robotics with our long-term aim to support children with autism. This paper is part of the Aurora project that studies ways in which robotic systems can encourage basic communication and social interaction skills in children with autism. This paper investigates how a small minimally expressive humanoid robot KASPAR can assume the role of a social mediator - encouraging children with low functioning autism to interact with the robot, to break their isolation and importantly, to facilitate interaction with other people. The article provides a case study evaluation of segments of trials where three children with autism, who usually do not interact with other people in their day to day activity, interacted with the robot and with co-present adults. A preliminary observational analysis was undertaken which applied, in abbreviated form, certain principles from conversation analysis - notably attention to the context in which the target behaviour occurred. The analysis was conducted by a social psychologist with expertise in using conversation analysis to understand interactions involving persons with an ASD. The analysis emphasises aspects of embodiment and interaction kinesics and revealed unexpected competencies on the part of the children. It showed how the robot served as a salient object mediating and encouraging interaction between the children and co-present adults.

Building Robota, a Mini-Humanoid Robot for the Rehabilitation of Children with Autism

The Robota project constructs a series of multiple-degrees-of-freedom, doll-shaped humanoid robots, whose physical features resemble those of a human baby. The Robota robots have been applied as assistive technologies in behavioral studies with low-functioning children with autism. These studies investigate the potential of using an imitator robot to assess childrens imitation ability and to teach children simple coordinated behaviors. In this article, the authors review the recent technological developments that have made the Robota robots suitable for use with children with autism. They critically appraise the main outcomes of two sets of behavioral studies conducted with Robota and discuss how these results inform future development of the Robota robots and robots in general for the rehabilitation of children with complex developmental disabilities.

Effects of repeated exposure to a humanoid robot on children with autism

This work is part of the Aurora project which investigates the possible use of robots in therapy and education of children with autism (Aurora, 2003), based on findings that people with autism enjoy interacting with computers, e.g. (Powell, 1996). In most of our trials we have been using mobile robots, e.g. (Dautenhahn and Werry, 2002). More recently we tested the use of a humanoid robotic doll. In (Dautenhahn and Billard, 2002) we reported on a first set of trials with 14 autistic subjects interacting with this doll. In this chapter we discuss lessons learnt from our previous study, and introduce a new approach, heavily inspired by therapeutic issues. A longitudinal study with four children with autism is presented. The children were repeatedly exposed to the humanoid robot over a period of several months. Our aim was to encourage imitation and social interaction skills. Different behavioural criteria (including Eye Gaze, Touch, and Imitation) were evaluated based on the video data of the interactions. The chapter exemplifies the results that clearly demonstrate the crucial need for long-term studies in order to reveal the full potential of robots in therapy and education of children with autism.

Therapeutic and educational objectives in robot assisted play for children with autism

This article is a methodological paper that describes the therapeutic and educational objectives that were identified during the design process of a robot aimed at robot assisted play. The work described in this paper is part of the IROMEC project (Interactive Robotic Social Mediators as Companions) that recognizes the important role of play in child development and targets children who are prevented from or inhibited in playing. The project investigates the role of an interactive, autonomous robotic toy in therapy and education for children with special needs. This paper specifically addresses the therapeutic and educational objectives related to children with autism. In recent years, robots have already been used to teach basic social interaction skills to children with autism. The added value of the IROMEC robot is that play scenarios have been developed taking childrens specific strengths and needs into consideration and covering a wide range of objectives in childrens development areas (sensory, communicational and interaction, motor, cognitive and social and emotional). The paper describes childrens developmental areas and illustrates how different experiences and interactions with the IROMEC robot are designed to target objectives in these areas.

Collaborating with Kaspar: Using an autonomous humanoid robot to foster cooperative dyadic play among children with autism

This article describes a pilot study in which children with autism alternated between playing a co-operative, dyadic video game with an adult human and playing the same game with an autonomous humanoid robot. The purpose of the study was to determine whether the children, all of whom had difficulties communicating and engaging in social play with others, would display more collaborative behaviours when playing with an adult after playing and interacting with the humanoid robot. Based on our analysis of the childrens behaviours while playing the cooperative game, our findings suggest that the children were more entertained, seemed more invested in the game, and collaborated better with their partners during their second sessions of playing with human adults than during their first. One possible explanation for this result is that the childrens intermediary play session with the humanoid robot had an impact on their subsequent play session with the adult. Additionally, while the autistic children saw the robotic partner as being more interesting and entertaining, they played more collaboratively and cooperated better with the human adult.

A Pilot Study with a Novel Setup for Collaborative Play of the Humanoid Robot KASPAR with Children with Autism

This article describes a pilot study in which a novel experimental setup, involving an autonomous humanoid robot, KASPAR, participating in a collaborative, dyadic video game, was implemented and tested with children with autism, all of whom had impairments in playing socially and communicating with others. The children alternated between playing the collaborative video game with a neurotypical adult and playing the same game with the humanoid robot, being exposed to each condition twice. The equipment and experimental setup were designed to observe whether the children would engage in more collaborative behaviours while playing the video game and interacting with the adult than performing the same activities with the humanoid robot. The article describes the development of the experimental setup and its first evaluation in a small-scale exploratory pilot study. The purpose of the study was to gain experience with the operational limits of the robot as well as the dyadic video game, to determine what changes should be made to the systems, and to gain experience with analyzing the data from this study in order to conduct a more extensive evaluation in the future. Based on our observations of the childrens’ experiences in playing the cooperative game, we determined that while the children enjoyed both playing the game and interacting with the robot, the game should be made simpler to play as well as more explicitly collaborative in its mechanics. Also, the robot should be more explicit in its speech as well as more structured in its interactions.Results show that the children found the activity to be more entertaining, appeared more engaged in playing, and displayed better collaborative behaviours with their partners (For the purposes of this article, ‘partner’ refers to the human/robotic agent which interacts with the children with autism. We are not using the term’s other meanings that refer to specific relationships or emotional involvement between two individuals.) in the second sessions of playing with human adults than during their first sessions. One way of explaining these findings is that the children’s intermediary play session with the humanoid robot impacted their subsequent play session with the human adult. However, another longer and more thorough study would have to be conducted in order to better re-interpret these findings. Furthermore, although the children with autism were more interested in and entertained by the robotic partner, the children showed more examples of collaborative play and cooperation while playing with the human adult.

The effectiveness of using a robotics class to foster collaboration among groups of children with autism in an exploratory study

This article describes an exploratory study involving the design of an after-school robotics class for groups of children at the higher-functioning end of the autistic spectrum. The aim of the study was to foster collaboration among the children in the context of a class where they programmed Lego robots under the guidance of an experimenter. The class took place once a week over several months and used many different measures to assess the children’s collaborative behaviours. Detailed analysis of behavioural data is presented, and despite the small sample size, our findings suggest that the number of potentially collaborative behaviours the children displayed during a class is more strongly related to the amount of enjoyment the children derived from the classes than to the number of classes in which the children participated. Parallel-run, free-form drawing sessions conducted before certain classes gave some indication that these behavioural changes partly generalized to a different context. Additionally, many of the children in the class either found their experiences in class to be helpful in other social interactions or expected them to be.

Using the Humanoid Robot KASPAR to Autonomously Play Triadic Games and Facilitate Collaborative Play Among Children With Autism

This paper presents a novel design, implementation, and first evaluation of a triadic, collaborative game involving the humanoid robot, kinesics and synchronization in personal assistant robotics (KASPAR), playing games with pairs of children with autism. Children with autism have impaired social communication and social interaction skills which make it difficult for them to participate in many different forms of social and collaborative play. Our proof-of-concept 10-week, long term study demonstrates how a humanoid robot can be used to foster and support collaborative play among children with autism. In this work, KASPAR operates fully autonomously, and uses information on the state of the game and behavior of the children to engage, motivate, encourage, and advise pairs of children playing an imitation game. Results are presented from a first evaluation study which examined whether having pairs of children with autism play an imitative, collaborative game with a humanoid robot affected the way these children would play the same game without the robot. Our initial evaluation involved six children with autism who each participated in 23 controlled play sessions both with and without the robot, using a specially designed imitation-based collaborative game. In total 78 play sessions were run. Detailed observational analyses of the childrens behaviors indicated that different pairs of children with autism showed improved social behaviors in playing with each other after they played as pairs with the robot KASPAR compared to before they did so. These results are encouraging and provide a proof-of-concept of using an autonomously operating robot to encourage collaborative skills among children with autism.

Human-centred design methods: Developing scenarios for robot assisted play informed by user panels and field trials

This article describes the user-centred development of play scenarios for robot assisted play, as part of the multidisciplinary IROMEC project that develops a novel robotic toy for children with special needs. The project investigates how robotic toys can become social mediators, encouraging children with special needs to discover a range of play styles, from solitary to collaborative play (with peers, carers/teachers, parents, etc.). This article explains the developmental process of constructing relevant play scenarios for children with different special needs. Results are presented from consultation with panel of experts (therapists, teachers, parents) who advised on the play needs for the various target user groups and who helped investigate how robotic toys could be used as a play tool to assist in the childrens development. Examples from experimental investigations are provided which have informed the development of scenarios throughout the design process. We conclude by pointing out the potential benefit of this work to a variety of research projects and applications involving human-robot interactions.