Efficacy of relational agents for loneliness across age groups: a systematic review and meta-analysis.

BACKGROUND: Loneliness is a serious public health concern. Although previous interventions have had some success in mitigating loneliness, the field is in search of novel, more effective, and more scalable solutions. Here, we focus on "relational agents", a form of software agents that are increasingly powered by artificial intelligence and large language models (LLMs). We report on a systematic review and meta-analysis to investigate the impact of relational agents on loneliness across age groups. METHODS: In this systematic review and meta-analysis, we searched 11 databases including Ovid MEDLINE and Embase from inception to Sep 16, 2022. We included randomised controlled trials and non-randomised studies of interventions published in English across all age groups. These loneliness interventions, typically attempt to improve social skills, social support, social interaction, and maladaptive cognitions. Peer-reviewed journal articles, books, book chapters, Master's and PhD theses, or conference papers were eligible for inclusion. Two reviewers independently screened studies, extracted data, and assessed risk of bias via the RoB 2 and ROBINS-I tools. We calculated pooled estimates of Hedge's g in a random-effects meta-analysis and conducted sensitivity and sub-group analyses. We evaluated publication bias via funnel plots, Egger's test, and a trim-and-fill algorithm. FINDINGS: Our search identified 3,935 records of which 14 met eligibility criteria and were included in our meta-analysis. Included studies comprised 286 participants with individual study sample sizes ranging from 4 to 42 participants (x̄ = 20.43, s = 11.58, x̃ = 20). We used a Bonferroni correction with αBonferroni = 0.05 / 4 = 0.0125 and applied Knapp-Hartung adjustments. Relational agents reduced loneliness significantly at an adjusted αBonferroni (g = -0.552; 95% Knapp-Hartung CI, -0.877 to -0.226; P = 0.003), which corresponds to a moderate reduction in loneliness. CONCLUSION: Our results are currently the most comprehensive of their kind and provide promising evidence for the efficacy of relational agents. Relational agents are a promising technology that can alleviate loneliness in a scalable way and that can be a meaningful complement to other approaches. The advent of LLMs should boost their efficacy, and further research is needed to explore the optimal design and use of relational agents. Future research could also address shortcomings of current results, such as small sample sizes and high risk of bias. Particularly young audiences have been overlooked in past research.

Assisted Robots in Therapies for Children with Autism in Early Childhood.

Children with autism spectrum disorder (ASD) have deficits that affect their social relationships, communication, and flexibility in reasoning. There are different types of treatment (pharmacological, educational, psychological, and rehabilitative). Currently, one way to address this problem is by using robotic systems to address the abilities that are altered in these children. The aim of this review will be to analyse the effectiveness of the incorporation of the different robotic systems currently existing in the treatment of children up to 10 years of age diagnosed with autism. A systematic review has been carried out in the PubMed, Scopus, Web of Science, and Dialnet databases, with the following descriptors: child, autism, and robot. The search yielded 578 papers, and nine were selected after the application of the PRISMA guideline. The quality of the studies was analysed with the PEDRo scale, and only those with a score between four and six were selected. From this study, the conclusion is that the use of robots, in general, improves children's behaviour in the short term, but longer-term experiences are necessary to achieve more conclusive results.

Social robotics as an adjuvant during the hospitalization process in pediatric oncology patients.

OBJECTIVE: To describe the experience of implementing social robotics as an adjuvant during the hospitalization process in pediatric oncology patients. METHODS: Before and after cohort study, applying an intervention with the Lego Mindstorms EV3 kit in patients between 8 and 17 years old that are hospitalized with a cancer diagnosis. We excluded patients from the intensive care unit or when their treating physician recommended so. The intervention consisted of a three-phase workshop: an open architecture story, building a car robot using the Lego Mindstorm EV3 kit, and cooperative playing activities such as races and passing obstacles. RESULTS: Thirteen patients received the intervention with robotic lego. The median age was 15 years (IQR = 3), and 84.6% of the population (n = 11) were male. We found significant improvement in the language (topic management p = .011 and communicative intention p = .034). Other characteristics improved, but not significantly (self-care activities index, catching). No adverse events occurred during the intervention. CONCLUSIONS: The results of this pilot study suggest that implementing social robotics during hospitalization in children with cancer is a therapeutic adjuvant and safe intervention that promotes better communication, self-care, and a physical activity improvement. For future studies, the impact of this intervention could be measured in hospitalized pediatric cancer patients.

No playing around with robots? Ambivalent attitudes toward the use of Paro in elder care.

This paper explores the ways in which health care professionals, family carers, and older persons expressed attitudes and opinions on using Paro, a social robot designed to stimulate patients with dementia. Thereafter, we critically evaluate existing prejudicial views toward Paro users to provide recommendations for its future use. Using an exploratory qualitative interview method, we recruited a total of 67 participants in Switzerland. They included 23 care professionals, 17 family carers, and 27 older persons. Data obtained were analyzed thematically. Study findings present general agreement that Paro is an appealing and beneficial social robot, but it is not a tool that everyone feels comfortable with. Because it is perceived as "child play," it would be demeaning for competent adults to play with such things. Consequently, Paro is appropriate only for persons with dementia. These findings brought forth ethical concerns about deception, infantilization, and respecting older persons' dignity. The idea of who is an appropriate Paro user led to our discussions on predicting future Paro users. The meaning of using social robotics in nursing homes can be conditioned by a rigid interpretation of adulthood and playful behavior. To protect future selves when one is living with dementia from prejudices, it may be useful for older persons and their loved ones to plan their future care situations to ensure that they are treated in accordance with their delineated decisions.

Education by a social robot on nutrition and catheter care in pediatric oncology patients.

PURPOSE: To improve knowledge on nutrition and catheter care in children with cancer by an educational intervention with a social robot. METHODS: We conducted a cohort study on pediatric cancer patients in a high complexity Hospital in Bogotá, Colombia. We included 14 patients (8-17 years old) who underwent an educational intervention with the help of a humanoid robot (Nao V6). The robot was programmed to transmit educational messages about self-care in feeding and using the central venous catheter. A survey with yes-no questions was administered before and after the intervention. RESULTS: We found an improvement in understanding of the subject matter related to nutrition and catheter care, when comparing the knowledge on topics before and after the educational intervention (p < .001). CONCLUSION: Education by a social robot on nutrition and catheter care showed a positive effect on children's knowledge on these topics. Therefore, it potentially decreases the risk of poor feeding habits and inadequate central venous catheter management, and improves adherence to recommendations and quality of life.

Understanding Social Robots: Attribution of Intentional Agency to Artificial and Biological Bodies.

Much research in robotic artificial intelligence (AI) and Artificial Life has focused on autonomous agents as an embodied and situated approach to AI. Such systems are commonly viewed as overcoming many of the philosophical problems associated with traditional computationalist AI and cognitive science, such as the grounding problem (Harnad) or the lack of intentionality (Searle), because they have the physical and sensorimotor grounding that traditional AI was argued to lack. Robot lawn mowers and self-driving cars, for example, more or less reliably avoid obstacles, approach charging stations, and so on-and therefore might be considered to have some form of artificial intentionality or intentional directedness. It should be noted, though, that the fact that robots share physical environments with people does not necessarily mean that they are situated in the same perceptual and social world as humans. For people encountering socially interactive systems, such as social robots or automated vehicles, this poses the nontrivial challenge to interpret them as intentional agents to understand and anticipate their behavior but also to keep in mind that the intentionality of artificial bodies is fundamentally different from their natural counterparts. This requires, on one hand, a "suspension of disbelief " but, on the other hand, also a capacity for the "suspension of belief." This dual nature of (attributed) artificial intentionality has been addressed only rather superficially in embodied AI and social robotics research. It is therefore argued that Bourgine and Varela's notion of Artificial Life as the practice of autonomous systems needs to be complemented with a practice of socially interactive autonomous systems, guided by a better understanding of the differences between artificial and biological bodies and their implications in the context of social interactions between people and technology.

Potential Facilitators of and Barriers to Implementing the MINI Robot in Community-Based Meeting Centers for People With Dementia and Their Carers in the Netherlands and Spain: Explorative Qualitative Study.

BACKGROUND: Social robots, as a form of digital health technologies, are used to support emotional, cognitive, and physical care and have shown promising outcomes in enhancing social well-being in people with dementia (PwD) by boosting emotions, social interactions, and activity participation. OBJECTIVE: The goal is to investigate the attitude of stakeholders and potential facilitators and the barriers to implementing the social robot MINI in community-based meeting centers (MCs) for PwD and carers in the Netherlands and Spain. METHODS: Based on the British Medical Research Council guidance for process evaluation of the implementation of complex interventions and the model for tracing the facilitators of and barriers to the adaptive implementation of innovations in dementia care, an explorative qualitative study was conducted. Following the introduction of the MINI robot, 11 stakeholders were interviewed in 3 MCs in the Netherlands and 1 in Spain, as well as stakeholders in health and welfare organizations in both countries. In addition, 12 adults with dementia participated in focus groups. The data were thematically analyzed and narratively described. RESULTS: Overall, the stakeholder opinion and interest in the MINI robot were positive. The most important (expected) facilitating factors mentioned by stakeholders appeared to be human resources, funding, the impact of the MINI robot on the users and programs of the MCs, characteristics of the innovation, and collaboration with other care and welfare organizations. However, the (expected) barriers mentioned concerned the physical context and functionalities of the MINI robot, the user context, and MC activity policies. CONCLUSIONS: The findings will inform professional stakeholders, such as MC directors and managers, as well as care and welfare organizations, on the practicality of using the MINI robot in MCs. Furthermore, our research will aid MINI robot developers in tailoring its features to PwD's preferences and demands and MC policies, which will contribute to the MINI robot's effective adoption and deployment.

User Experience Design for Social Robots: A Case Study in Integrating Embodiment.

Social robotics is an emerging field with a high level of innovation. For many years, it was a concept framed in the literature and theoretical approaches. Scientific and technological advances have made it possible for robots to progressively make their way into different areas of our society, and now, they are ready to make the leap out of the industry and extend their presence into our daily lives. In this sense, user experience plays a fundamental role in achieving a smooth and natural interaction between robots and humans. This research focused on the user experience approach in terms of the embodiment of a robot, centring on its movements, gestures, and dialogues. The aim was to investigate how the interaction between robotic platforms and humans takes place and what differential aspects should be considered when designing the robot tasks. To achieve this objective, a qualitative and quantitative study was conducted based on a real interview between several human users and the robotic platform. The data were gathered by recording the session and having each user complete a form. The results showed that participants generally enjoyed interacting with the robot and found it engaging, which led to greater trust and satisfaction. However, delays and errors in the robot's responses caused frustration and disconnection. The study found that incorporating embodiment into the design of the robot improved the user experience, and the robot's personality and behaviour were significant factors. It was concluded that robotic platforms and their appearance, movements, and way of communicating have a decisive influence on the user's opinion and the way they interact.

Application of Social Robots in Healthcare: Review on Characteristics, Requirements, Technical Solutions.

Cyber-physical or virtual systems or devices that are capable of autonomously interacting with human or non-human agents in real environments are referred to as social robots. The primary areas of application for biomedical technology are nursing homes, hospitals, and private homes for the purpose of providing assistance to the elderly, people with disabilities, children, and medical personnel. This review examines the current state-of-the-art of social robots used in healthcare applications, with a particular emphasis on the technical characteristics and requirements of these different types of systems. Humanoids robots, companion robots, and telepresence robots are the three primary categories of devices that are identified and discussed in this article. The research looks at commercial applications, as well as scientific literature (according to the Scopus Elsevier database), patent analysis (using the Espacenet search engine), and more (searched with Google search engine). A variety of devices are enumerated and categorized, and then our discussion and organization of their respective specifications takes place.

Security Aspects of Social Robots in Public Spaces: A Systematic Mapping Study.

BACKGROUND: As social robots increasingly integrate into public spaces, comprehending their security implications becomes paramount. This study is conducted amidst the growing use of social robots in public spaces (SRPS), emphasising the necessity for tailored security standards for these unique robotic systems. METHODS: In this systematic mapping study (SMS), we meticulously review and analyse existing literature from the Web of Science database, following guidelines by Petersen et al. We employ a structured approach to categorise and synthesise literature on SRPS security aspects, including physical safety, data privacy, cybersecurity, and legal/ethical considerations. RESULTS: Our analysis reveals a significant gap in existing safety standards, originally designed for industrial robots, that need to be revised for SRPS. We propose a thematic framework consolidating essential security guidelines for SRPS, substantiated by evidence from a considerable percentage of the primary studies analysed. CONCLUSIONS: The study underscores the urgent need for comprehensive, bespoke security standards and frameworks for SRPS. These standards ensure that SRPS operate securely and ethically, respecting individual rights and public safety, while fostering seamless integration into diverse human-centric environments. This work is poised to enhance public trust and acceptance of these robots, offering significant value to developers, policymakers, and the general public.

A Study on the Role of Affective Feedback in Robot-Assisted Learning.

In recent years, there have been many approaches to using robots to teach computer programming. In intelligent tutoring systems and computer-aided learning, there is also some research to show that affective feedback to the student increases learning efficiency. However, a few studies on the role of incorporating an emotional personality in the robot in robot-assisted learning have found different results. To explore this issue further, we conducted a pilot study to investigate the effect of positive verbal encouragement and non-verbal emotive behaviour of the Miro-E robot during a robot-assisted programming session. The participants were tasked to program the robot's behaviour. In the experimental group, the robot monitored the participants' emotional state via their facial expressions, and provided affective feedback to the participants after completing each task. In the control group, the robot responded in a neutral way. The participants filled out a questionnaire before and after the programming session. The results show a positive reaction of the participants to the robot and the exercise. Though the number of participants was small, as the experiment was conducted during the pandemic, a qualitative analysis of the data was carried out. We found that the greatest affective outcome of the session was for students who had little experience or interest in programming before. We also found that the affective expressions of the robot had a negative impact on its likeability, revealing vestiges of the uncanny valley effect.

Cognitive Exercise for Persons with Alzheimer's Disease and Related Dementia Using a Social Robot.

Reminiscence therapy (RT) can improve the mood and communication of persons living with Alzheimer's Disease and Alzheimer's Disease related dementias (PLWD). Traditional RT requires professionals' facilitation, limiting its accessibility to PLWD. Social robotics has the potential to facilitate RT, enabling accessible, home-based RT. However, studies are needed to investigate how PLWD would perceive a robot-mediated RT (RMRT) and how to develop RMRT for positive user experience and successful adoption. In this paper, we developed a prototype of RMRT using a humanoid social robot and tested it with 12 participants (7 PLWD, 2 with mild cognitive impairment, and 3 informal caregivers). The robot automatically displayed a memory trigger on its tablet and engaged participants in a relatable conversation during RMRT. A mixed-method approach was employed to assess its acceptability and usability. Our results showed that PLWD had an overall positive user experience with the RMRT. Participants laughed and sang along with the robot during RMRT and demonstrated intention to use it. We additionally discussed robot control method and several critical problems for RMRT. The RMRT can facilitate both verbal and nonverbal social interaction for PLWD and holds promise for engaging, personalized, and efficient home-based cognitive exercises for PLWD.

The seven troubles with norm-compliant robots.

Many researchers from robotics, machine ethics, and adjacent fields seem to assume that norms represent good behavior that social robots should learn to benefit their users and society. We would like to complicate this view and present seven key troubles with norm-compliant robots: (1) norm biases, (2) paternalism (3) tyrannies of the majority, (4) pluralistic ignorance, (5) paths of least resistance, (6) outdated norms, and (7) technologically-induced norm change. Because discussions of why norm-compliant robots can be problematic are noticeably absent from the robot and machine ethics literature, this paper fills an important research gap. We argue that it is critical for researchers to take these issues into account if they wish to make norm-compliant robots.

The usability and feasibility validation of the social robot MINI in people with dementia and mild cognitive impairment; a study protocol.

BACKGROUND: Social robots have demonstrated promising outcomes in terms of increasing the social health and well-being of people with dementia and mild cognitive impairment. According to the World Health Organization's Monitoring and assessing digital health interventions framework, usability and feasibility studies are crucial before implementing prototype social robots and proving their efficacy and effectiveness. This protocol paper aims to detail the plan for conducting the usability and feasibility study of the MINI robot based on evidence-based recommended methodology. METHODS: In this study, an experimental design and a mixed method of data collection will be applied. Twenty participants aged 65 and over with dementia or mild cognitive impairment will be recruited. Eight sessions of interaction with the robot, as well as qualitative and quantitative assessments, will be accomplished. The research will take place in a laboratory. Ethical approvals have been acquired. This research will be valuable in the development of the MINI robot and its practical deployment in the actual world, as well as the methodological evidence base in the sector of social robots. DISCUSSION: By the winter of 2022-2023, the findings of this study will be accessible for dissemination. This study will aid to improve the evidence-based methodology used to study the feasibility and usability of social robots in people with dementia and mild cognitive impairment as well as what can be learned to advance such study designs in the future.

Determinants of implementing of pet robots in nursing homes for dementia care.

BACKGROUND: Pet robots have been employed as viable substitutes to pet therapy in nursing homes. Despite their potential to enhance the psychosocial health of residents with dementia, there is a lack of studies that have investigated determinants of implementing pet robots in real-world practice. This study aims to explore the determinants of implementing pet robots for dementia care in nursing homes, from the perspectives of healthcare professionals and organisational leaders. METHODS: A descriptive qualitative study, conceptualised and guided using the Consolidated Framework of Implementation Research (CFIR), was conducted. We conducted semi-structured interviews with healthcare professionals and organisational leaders from nursing homes. Data was transcribed and analysed using Framework Analysis, based on the CFIR as an a priori framework. RESULTS: A total of 22 participants from eight nursing homes were included. Determinants were mapped to constructs from all five CFIR domains. Determinants relating to the characteristics of pet robots include their design, realisticness and interactivity, affordability, cleanability, perceived evidence strength and comparative advantages to live pets. Determinants relating to external influences (outer setting) include national regulatory guidelines, funding and networks with other organisations. With regards to characteristics of nursing homes (inner setting), determinants include the relevance of pet robots in relation to the needs of residents with dementia, alignment with care processes, infection control mandates and their relative priority. In the domain 'characteristics of individuals', determinants were associated with individuals' beliefs on the role of technology, desires to enhance residents' quality of life, and differential attitudes on the use of robots. Finally, in the domain 'implementation process', assessments and care planning were identified as determinants. CONCLUSIONS: Overall, while sentiments around determinants within CFIR domains of pet robots' characteristics, outer setting and implementation process were similar, participants' opinions on the determinants within the 'inner setting' and 'characteristics of individuals' were more varied. This could be due to different organisational structures, disciplinary differences and personal experiences of using pet robots. Many determinants in different domains were interrelated. Findings provide a springboard for identifying and designing implementation strategies to guide the translation of pet robots from research into real-world practice.

Using the Social Robot NAO for Emotional Support to Children at a Pediatric Emergency Department: Randomized Clinical Trial.

BACKGROUND: Social robots (SRs) have been used for improving anxiety in children in stressful clinical situations, such as during painful procedures. However, no studies have yet been performed to assess their effect in children while waiting for emergency room consultations. OBJECTIVE: This study aims to assess the impact of SRs on managing stress in children waiting for an emergency room procedure through the assessment of salivary cortisol levels. METHODS: This was an open randomized clinical trial in children attending a pediatric emergency department. Children accessing the emergency room were randomized to 1 of 3 groups: (1) playing with a NAO SR, (2) playing with a study nurse, or (3) waiting with parents. The salivary cortisol levels of all children were measured through a swab. Salivary cortisol levels before and after the intervention were compared in the 3 groups. We calculated the effect size of our interventions through the Cohen d-based effect size correlation (r). RESULTS: A total of 109 children aged 3-10 years were enrolled in the study, and 94 (86.2%) had complete data for the analyses. Salivary cortisol levels significantly decreased more in the group exposed to robot interaction than in the other two groups (r=0.75). Cortisol levels decreased more in girls (r=0.92) than in boys (r=0.57). CONCLUSIONS: SRs are efficacious in decreasing stress in children accessing the emergency room and may be considered a tool for improving emotional perceptions of children and their families in such a critical setting. TRIAL REGISTRATION: ClinicalTrials.gov NCT04627909; https://clinicaltrials.gov/ct2/show/study/NCT04627909.

Methodologies Used to Study the Feasibility, Usability, Efficacy, and Effectiveness of Social Robots For Elderly Adults: Scoping Review.

BACKGROUND: New research fields to design social robots for older people are emerging. By providing support with communication and social interaction, these robots aim to increase quality of life. Because of the decline in functioning due to cognitive impairment in older people, social robots are regarded as promising, especially for people with dementia. Although study outcomes are hopeful, the quality of studies on the effectiveness of social robots for the elderly is still low due to many methodological limitations. OBJECTIVE: We aimed to review the methodologies used thus far in studies evaluating the feasibility, usability, efficacy, and effectiveness of social robots in clinical and social settings for elderly people, including persons with dementia. METHODS: Dedicated search strings were developed. Searches in MEDLINE (PubMed), Web of Science, PsycInfo, and CINAHL were performed on August 13, 2020. RESULTS: In the 33 included papers, 23 different social robots were investigated for their feasibility, usability, efficacy, and effectiveness. A total of 8 (24.2%) studies included elderly persons in the community, 9 (27.3%) included long-term care facility residents, and 16 (48.5%) included people with dementia. Most of the studies had a single aim, of which 7 (21.2%) focused on efficacy and 7 (21.2%) focused on effectiveness. Moreover, forms of randomized controlled trials were the most applied designs. Feasibility and usability were often studied together in mixed methods or experimental designs and were most often studied in individual interventions. Feasibility was often assessed with the Unified Theory of the Acceptance and Use of Technology model. Efficacy and effectiveness studies used a range of psychosocial and cognitive outcome measures. However, the included studies failed to find significant improvements in quality of life, depression, and cognition. CONCLUSIONS: This study identified several shortcomings in methodologies used to evaluate social robots, resulting in ambivalent study findings. To improve the quality of these types of studies, efficacy/effectiveness studies will benefit from appropriate randomized controlled trial designs with large sample sizes and individual intervention sessions. Experimental designs might work best for feasibility and usability studies. For each of the 3 goals (efficacy/effectiveness, feasibility, and usability) we also recommend a mixed method of data collection. Multiple interaction sessions running for at least 1 month might aid researchers in drawing significant results and prove the real long-term impact of social robots.

A Bio-Inspired Endogenous Attention-Based Architecture for a Social Robot.

A robust perception system is crucial for natural human-robot interaction. An essential capability of these systems is to provide a rich representation of the robot's environment, typically using multiple sensory sources. Moreover, this information allows the robot to react to both external stimuli and user responses. The novel contribution of this paper is the development of a perception architecture, which was based on the bio-inspired concept of endogenous attention being integrated into a real social robot. In this paper, the architecture is defined at a theoretical level to provide insights into the underlying bio-inspired mechanisms and at a practical level to integrate and test the architecture within the complete architecture of a robot. We also defined mechanisms to establish the most salient stimulus for the detection or task in question. Furthermore, the attention-based architecture uses information from the robot's decision-making system to produce user responses and robot decisions. Finally, this paper also presents the preliminary test results from the integration of this architecture into a real social robot.

Socially-Assistive Robots to Support Learning in Students on the Autism Spectrum: Investigating Educator Perspectives and a Pilot Trial of a Mobile Platform to Remove Barriers to Implementation.

Technology offers educators tools that can tailor learning to students' learning styles and interests. Research into the use of socially-assistive robots as a learning support for children on the autism spectrum are showing promising results. However, to date, few schools have introduced these robots to support learning in students on the autism spectrum. This paper reports on a research project that investigated the barriers to implementing socially-assistive robot supported learning, and the expectations, perceived benefits and concerns of school teachers and therapists of students on the autism spectrum and adults on the autism spectrum. First, three focus groups were conducted with six adults on the autism spectrum, and 13 teachers and therapists of students from two autism-specific schools. During the focus groups, there was cautious optimism from participants about the value of socially-assistive robots for teaching support. While the data showed that participants were in favour of trialling socially-assistive robots in the classroom, they also raised several concerns and potential barriers to implementation, including the need for teacher training. In response to their concerns, the second part of the project focussed on developing a software platform and mobile application (app) to support the introduction of robots into autism-specific classrooms. The software platform and app were then trialled in two schools (n = 7 teachers and therapists). Results from focus groups indicated that participants believe socially-assistive robots could be useful for learning support, as the mobile app provides an easy to use tool to support preparing and conducting lessons that would motivate them to trial robots in the classroom.

A New Approach for Including Social Conventions into Social Robots Navigation by Using Polygonal Triangulation and Group Asymmetric Gaussian Functions.

Many authors have been working on approaches that can be applied to social robots to allow a more realistic/comfortable relationship between humans and robots in the same space. This paper proposes a new navigation strategy for social environments by recognizing and considering the social conventions of people and groups. To achieve that, we proposed the application of Delaunay triangulation for connecting people as vertices of a triangle network. Then, we defined a complete asymmetric Gaussian function (for individuals and groups) to decide zones where the robot must avoid passing. Furthermore, a feature generalization scheme called socialization feature was proposed to incorporate perception information that can be used to change the variance of the Gaussian function. Simulation results have been presented to demonstrate that the proposed approach can modify the path according to the perception of the robot compared to a standard A* algorithm.