Instruments for Measuring Psychological Dimensions in Human-Robot Interaction: A Systematic Review of Psychometric Properties.

BACKGROUND: Numerous user-related psychological dimensions can significantly influence the dynamics between humans and robots. For developers and researchers, it is crucial to have a comprehensive understanding of the psychometric properties of the available instruments used to assess these dimensions, as they indicate the reliability and validity of the assessment. OBJECTIVE: This study aims to provide a systematic review of the instruments available for assessing the psychological aspects between people and social and domestic robots, offering a summary of their psychometric properties and the quality of the evidence. METHODS: A systematic review was conducted following the PRISMA guidelines across different databases including Scopus, PubMed and IEEEXplore. The search strategy encompassed studies meeting the following inclusion criteria: a) the instrument could assess psychological dimensions related to social and domestic robots, including attitudes, beliefs, opinions, feelings, and perceptions; b) the study focused on validating the instrument; c) it evaluated the psychometric properties of the instrument; d) it underwent peer review; e) it was in English. Studies focusing on industrial robots, rescue robots, robotic arms, or those primarily concerned with technology validation or measuring anthropomorphism were excluded. Independent reviewers extracted instruments properties and methodological quality of their evidence following the COnsensus-based Standards for the selection of health Measurement INstruments (COSMIN) guidelines. RESULTS: From 3,828 identified records, the research strategy yielded 34 articles that validated and examined the psychometric properties of 27 instruments designed to assess individuals' psychological dimensions in relation to social and domestic robots. These instruments encompass a broad spectrum of psychological dimensions. While most studies predominantly focused on structural validity and internal consistency, consideration of other psychometric properties was frequently inconsistent or absent. Despite their significance in the clinical context, no instrument has evaluated measurement error and responsiveness. Most of the instruments were targeted at both adults and older adults (18 years old and above). There is a limited number of instruments specifically designed for children, older adults, and healthcare contexts. CONCLUSIONS: Given the strong interest in assessing psychological dimensions in the human-robot relationship, there is a need to develop new instruments using more rigorous methodologies and to consider a broader range of psychometric properties. This is essential to ensure the creation of reliable and valid measures for assessing people's psychological dimensions toward social and domestic robots. Among the limitations, the review included instruments applicable to both social robots and domestic robots, while excluding those for some specific types of robots (e.g., industrial robots). CLINICALTRIAL: The review was not registered with any relevant database.

Letter to the Editor: "How Can Biomedical Engineers Help Empower Individuals With Intellectual Disabilities? The Potential Benefits and Challenges of AI Technologies to Support Inclusivity and Transform Lives".

The rapid advancement of Artificial Intelligence (AI) is transforming healthcare and daily life, offering great opportunities but also posing ethical and societal challenges. To ensure AI benefits all individuals, including those with intellectual disabilities, the focus should be on adaptive technology that can adapt to the unique needs of the user. Biomedical engineers have an interdisciplinary background that helps them to lead multidisciplinary teams in the development of human-centered AI solutions. These solutions can personalize learning, enhance communication, and improve accessibility for individuals with intellectual disabilities. Furthermore, AI can aid in healthcare research, diagnostics, and therapy. The ethical use of AI in healthcare and the collaboration of AI with human expertise must be emphasized. Public funding for inclusive research is encouraged, promoting equity and economic growth while empowering those with intellectual disabilities in society.

Meeting sustainable development goals via robotics and autonomous systems.

Robotics and autonomous systems are reshaping the world, changing healthcare, food production and biodiversity management. While they will play a fundamental role in delivering the UN Sustainable Development Goals, associated opportunities and threats are yet to be considered systematically. We report on a horizon scan evaluating robotics and autonomous systems impact on all Sustainable Development Goals, involving 102 experts from around the world. Robotics and autonomous systems are likely to transform how the Sustainable Development Goals are achieved, through replacing and supporting human activities, fostering innovation, enhancing remote access and improving monitoring. Emerging threats relate to reinforcing inequalities, exacerbating environmental change, diverting resources from tried-and-tested solutions and reducing freedom and privacy through inadequate governance. Although predicting future impacts of robotics and autonomous systems on the Sustainable Development Goals is difficult, thoroughly examining technological developments early is essential to prevent unintended detrimental consequences. Additionally, robotics and autonomous systems should be considered explicitly when developing future iterations of the Sustainable Development Goals to avoid reversing progress or exacerbating inequalities.

Perceptions of In-home Monitoring Technology for Activities of Daily Living: Semistructured Interview Study With Community-Dwelling Older Adults.

BACKGROUND: Many older adults prefer to remain in their own homes for as long as possible. However, there are still questions surrounding how best to ensure that an individual can cope with autonomous living. Technological monitoring systems are an attractive solution; however, there is disagreement regarding activities of daily living (ADL) and the optimal technologies that should be used to monitor them. OBJECTIVE: This study aimed to understand older adults' perceptions of important ADL and the types of technologies they would be willing to use within their own homes. METHODS: Semistructured interviews were conducted on the web with 32 UK adults, divided equally into a younger group (aged 55-69 years) and an older group (≥70 years). RESULTS: Both groups agreed that ADL related to personal hygiene and feeding were the most important and highlighted the value of socializing. The older group considered several activities to be more important than their younger counterparts, including stair use and foot care. The older group had less existing knowledge of monitoring technology but was more willing to accept wearable sensors than the younger group. The younger group preferred sensors placed within the home but highlighted that they would not have them until they felt that daily life was becoming a struggle. CONCLUSIONS: Overall, technological monitoring systems were perceived as an acceptable method for monitoring ADL. However, developers and carers must be aware that individuals may express differences in their willingness to engage with certain types of technology depending on their age and circumstances.

The VISTA datasets, a combination of inertial sensors and depth cameras data for activity recognition.

This paper makes the VISTA database, composed of inertial and visual data, publicly available for gesture and activity recognition. The inertial data were acquired with the SensHand, which can capture the movement of wrist, thumb, index and middle fingers, while the RGB-D visual data were acquired simultaneously from two different points of view, front and side. The VISTA database was acquired in two experimental phases: in the former, the participants have been asked to perform 10 different actions; in the latter, they had to execute five scenes of daily living, which corresponded to a combination of the actions of the selected actions. In both phase, Pepper interacted with participants. The two camera point of views mimic the different point of view of pepper. Overall, the dataset includes 7682 action instances for the training phase and 3361 action instances for the testing phase. It can be seen as a framework for future studies on artificial intelligence techniques for activity recognition, including inertial-only data, visual-only data, or a sensor fusion approach.

A robot that counts like a child: a developmental model of counting and pointing.

In this paper, a novel neuro-robotics model capable of counting real items is introduced. The model allows us to investigate the interaction between embodiment and numerical cognition. This is composed of a deep neural network capable of image processing and sequential tasks performance, and a robotic platform providing the embodiment-the iCub humanoid robot. The network is trained using images from the robot's cameras and proprioceptive signals from its joints. The trained model is able to count a set of items and at the same time points to them. We investigate the influence of pointing on the counting process and compare our results with those from studies with children. Several training approaches are presented in this paper, all of them use pre-training routine allowing the network to gain the ability of pointing and number recitation (from 1 to 10) prior to counting training. The impact of the counted set size and distance to the objects are investigated. The obtained results on counting performance show similarities with those from human studies.

A Database for Learning Numbers by Visual Finger Recognition in Developmental Neuro-Robotics.

Numerical cognition is a fundamental component of human intelligence that has not been fully understood yet. Indeed, it is a subject of research in many disciplines, e.g., neuroscience, education, cognitive and developmental psychology, philosophy of mathematics, linguistics. In Artificial Intelligence, aspects of numerical cognition have been modelled through neural networks to replicate and analytically study children behaviours. However, artificial models need to incorporate realistic sensory-motor information from the body to fully mimic the children's learning behaviours, e.g., the use of fingers to learn and manipulate numbers. To this end, this article presents a database of images, focused on number representation with fingers using both human and robot hands, which can constitute the base for building new realistic models of numerical cognition in humanoid robots, enabling a grounded learning approach in developmental autonomous agents. The article provides a benchmark analysis of the datasets in the database that are used to train, validate, and test five state-of-the art deep neural networks, which are compared for classification accuracy together with an analysis of the computational requirements of each network. The discussion highlights the trade-off between speed and precision in the detection, which is required for realistic applications in robotics.

Technology Used to Recognize Activities of Daily Living in Community-Dwelling Older Adults.

The use of technology has been suggested as a means of allowing continued autonomous living for older adults, while reducing the burden on caregivers and aiding decision-making relating to healthcare. However, more clarity is needed relating to the Activities of Daily Living (ADL) recognised, and the types of technology included within current monitoring approaches. This review aims to identify these differences and highlight the current gaps in these systems. A scoping review was conducted in accordance with PRISMA-ScR, drawing on PubMed, Scopus, and Google Scholar. Articles and commercially available systems were selected if they focused on ADL recognition of older adults within their home environment. Thirty-nine ADL recognition systems were identified, nine of which were commercially available. One system incorporated environmental and wearable technology, two used only wearable technology, and 34 used only environmental technologies. Overall, 14 ADL were identified but there was variation in the specific ADL recognised by each system. Although the use of technology to monitor ADL of older adults is becoming more prevalent, there is a large variation in the ADL recognised, how ADL are defined, and the types of technology used within monitoring systems. Key stakeholders, such as older adults and healthcare workers, should be consulted in future work to ensure that future developments are functional and useable.

Are Future Psychologists Willing to Accept and Use a Humanoid Robot in Their Practice? Italian and English Students' Perspective.

Despite general scepticism from care professionals, social robotics research is providing evidence of successful application in education and rehabilitation in clinical psychology practice. In this article, we investigate the cultural influences of English and Italian psychology students in the perception of usefulness and intention to use a robot as an instrument for future clinical practice and, secondly, the modality of presentation of the robot by comparing oral vs. video presentation. To this end, we surveyed 158 Italian and British-English psychology students after an interactive demonstration using a humanoid robot to evaluate the social robot's acceptance and use. The Italians were positive, while the English were negative toward the perceived usefulness and intention to use the robot in psychological practice in the near future. However, most English and Italian respondents felt they did not have the necessary abilities to make good use of the robot. We concluded that it is necessary to provide psychology students with further knowledge and practical skills regarding social robotics, which could facilitate the adoption and use of this technology in clinical settings.

Robotic Services Acceptance in Smart Environments With Older Adults: User Satisfaction and Acceptability Study.

BACKGROUND: In Europe, the population of older people is increasing rapidly. Many older people prefer to remain in their homes but living alone could be a risk for their safety. In this context, robotics and other emerging technologies are increasingly proposed as potential solutions to this societal concern. However, one-third of all assistive technologies are abandoned within one year of use because the end users do not accept them. OBJECTIVE: The aim of this study is to investigate the acceptance of the Robot-Era system, which provides robotic services to permit older people to remain in their homes. METHODS: Six robotic services were tested by 35 older users. The experiments were conducted in three different environments: private home, condominium, and outdoor sites. The appearance questionnaire was developed to collect the users' first impressions about the Robot-Era system, whereas the acceptance was evaluated through a questionnaire developed ad hoc for Robot-Era. RESULTS: A total of 45 older users were recruited. The people were grouped in two samples of 35 participants, according to their availability. Participants had a positive impression of Robot-Era robots, as reflected by the mean score of 73.04 (SD 11.80) for DORO's (domestic robot) appearance, 76.85 (SD 12.01) for CORO (condominium robot), and 75.93 (SD 11.67) for ORO (outdoor robot). Men gave ORO's appearance an overall score higher than women (P=.02). Moreover, participants younger than 75 years understood more readily the functionalities of Robot-Era robots compared to older people (P=.007 for DORO, P=.001 for CORO, and P=.046 for ORO). For the ad hoc questionnaire, the mean overall score was higher than 80 out of 100 points for all Robot-Era services. Older persons with a high educational level gave Robot-Era services a higher score than those with a low level of education (shopping: P=.04; garbage: P=.047; reminding: P=.04; indoor walking support: P=.006; outdoor walking support: P=.03). A higher score was given by male older adults for shopping (P=.02), indoor walking support (P=.02), and outdoor walking support (P=.03). CONCLUSIONS: Based on the feedback given by the end users, the Robot-Era system has the potential to be developed as a socially acceptable and believable provider of robotic services to facilitate older people to live independently in their homes.

Lateral specialization in unilateral spatial neglect: a cognitive robotics model.

In this paper, we present the experimental results of an embodied cognitive robotic approach for modelling the human cognitive deficit known as unilateral spatial neglect (USN). To this end, we introduce an artificial neural network architecture designed and trained to control the spatial attentional focus of the iCub robotic platform. Like the human brain, the architecture is divided into two hemispheres and it incorporates bio-inspired plasticity mechanisms, which allow the development of the phenomenon of the specialization of the right hemisphere for spatial attention. In this study, we validate the model by replicating a previous experiment with human patients affected by the USN and numerical results show that the robot mimics the behaviours previously exhibited by humans. We also simulated recovery after the damage to compare the performance of each of the two hemispheres as additional validation of the model. Finally, we highlight some possible advantages of modelling cognitive dysfunctions of the human brain by means of robotic platforms, which can supplement traditional approaches for studying spatial impairments in humans.

Making fingers and words count in a cognitive robot.

Evidence from developmental as well as neuroscientific studies suggest that finger counting activity plays an important role in the acquisition of numerical skills in children. It has been claimed that this skill helps in building motor-based representations of number that continue to influence number processing well into adulthood, facilitating the emergence of number concepts from sensorimotor experience through a bottom-up process. The act of counting also involves the acquisition and use of a verbal number system of which number words are the basic building blocks. Using a Cognitive Developmental Robotics paradigm we present results of a modeling experiment on whether finger counting and the association of number words (or tags) to fingers, could serve to bootstrap the representation of number in a cognitive robot, enabling it to perform basic numerical operations such as addition. The cognitive architecture of the robot is based on artificial neural networks, which enable the robot to learn both sensorimotor skills (finger counting) and linguistic skills (using number words). The results obtained in our experiments show that learning the number words in sequence along with finger configurations helps the fast building of the initial representation of number in the robot. Number knowledge, is instead, not as efficiently developed when number words are learned out of sequence without finger counting. Furthermore, the internal representations of the finger configurations themselves, developed by the robot as a result of the experiments, sustain the execution of basic arithmetic operations, something consistent with evidence coming from developmental research with children. The model and experiments demonstrate the importance of sensorimotor skill learning in robots for the acquisition of abstract knowledge such as numbers.

Autonomous learning in humanoid robotics through mental imagery.

In this paper we focus on modeling autonomous learning to improve performance of a humanoid robot through a modular artificial neural networks architecture. A model of a neural controller is presented, which allows a humanoid robot iCub to autonomously improve its sensorimotor skills. This is achieved by endowing the neural controller with a secondary neural system that, by exploiting the sensorimotor skills already acquired by the robot, is able to generate additional imaginary examples that can be used by the controller itself to improve the performance through a simulated mental training. Results and analysis presented in the paper provide evidence of the viability of the approach proposed and help to clarify the rational behind the chosen model and its implementation.

Intelligent quotient estimation of mental retarded people from different psychometric instruments using artificial neural networks.

OBJECTIVE: The estimation of a person's intelligence quotient (IQ) by means of psychometric tests is indispensable in the application of psychological assessment to several fields. When complex tests as the Wechsler scales, which are the most commonly used and universally recognized parameter for the diagnosis of degrees of retardation, are not applicable, it is necessary to use other psycho-diagnostic tools more suited for the subject's specific condition. But to ensure a homogeneous diagnosis it is necessary to reach a common metric, thus, the aim of our work is to build models able to estimate accurately and reliably the Wechsler IQ, starting from different psycho-diagnostic tools. METHODS AND MATERIALS: Four different psychometric tests (Leiter international performance scale; coloured progressive matrices test; the mental development scale; psycho educational profile), along with the Wechsler scale, were administered to a group of 40 mentally retarded subjects, with various pathologies, and control persons. The obtained database is used to evaluate Wechsler IQ estimation models starting from the scores obtained in the other tests. Five modelling methods, two statistical and three from machine learning, that belong to the family of artificial neural networks (ANNs) are employed to build the estimator. RESULTS: Several error metrics for estimated IQ and for retardation level classification are defined to compare the performance of the various models with univariate and multivariate analyses. Eight empirical studies show that, after ten-fold cross-validation, best average estimation error is of 3.37 IQ points and mental retardation level classification error of 7.5%. Furthermore our experiments prove the superior performance of ANN methods over statistical regression ones, because in all cases considered ANN models show the lowest estimation error (from 0.12 to 0.9 IQ points) and the lowest classification error (from 2.5% to 10%). CONCLUSIONS: Since the estimation performance is better than the confidence interval of Wechsler scales (five IQ points), we consider models built very accurate and reliable and they can be used into help clinical diagnosis. Therefore a computer software based on the results of our work is currently used in a clinical center and empirical trails confirm its validity. Furthermore positive results in our multivariate studies suggest new approaches for clinicians.