Human-Robot Interaction and Social Robot: The Emerging Field of Healthcare Robotics and Current and Future Perspectives for Spinal Care.

Recent advances in robotics technology and artificial intelligence (AI) have sparked increased interest in humanoid robots that resemble humans and social robots capable of interacting socially. Alongside this trend, a new field of robot research called human-robot interaction (HRI) is gaining prominence. The aim of this review paper is to introduce the fundamental concepts of HRI and social robots, examine their current applications in the medical field, and discuss the current and future prospects of HRI and social robots in spinal care. HRI is an interdisciplinary field where robotics, AI, social sciences, design, and various disciplines collaborate organically to develop robots that successfully interact with humans as the ultimate goal. While social robots are not yet widely deployed in clinical environments, ongoing HRI research encompasses various areas such as nursing and caregiving support, social and emotional assistance, rehabilitation and cognitive enhancement for the elderly, medical information provision and education, as well as patient monitoring and data collection. Although still in its early stages, research related to spinal care includes studies on robotic support for rehabilitation exercises, assistance in gait training, and questionnaire-based assessments for spinal pain. Future applications of social robots in spinal care will require diverse HRI research efforts and active involvement from spinal specialists.

Child-centered home service design for a family robot companion.

The home robot-based child activity service aims to cultivate children's social emotions. A design theme was produced by interviewing child development experts and parents. The activity service is composed of 50 plays and 70 conversations. These were developed based on activities from psychomotor therapy and the guidelines of Ministry of Early Childhood Education in South Korea. In the field test, 50 children aged five-seven years participated to experience the activity services at home for 4 days. After completing the 4 days of field testing, we conducted customer satisfaction (CSAT) surveys, Godspeed evaluations and interviews to quantitatively and qualitatively verify the evaluations by the children and parents. As a result, 92% of the children and 80% of the parents evaluated that they were satisfied with the service. In addition, our results revealed that the social robot-based service contributed to improving the relationship between children and families by functioning as a messenger. Finally, the lessons learned from the service development and field tests were discussed to aid service designers and robotics engineers.

Interactive mirrOring Games wIth sOCial rObot (IOGIOCO): a pilot study on the use of intransitive gestures in a sample of Italian preschool children with autism spectrum disorder.

Background: Autism Spectrum Disorder (ASD) is a neurodevelopmental disorder characterized by persistent deficits in social communication, social interaction, and restricted behaviors. The importance of early intervention has been widely demonstrated, and developmental trajectories in ASD emphasize the importance of nonverbal communication, such as intransitive gesture production, as a possible positive prognostic factor for language development. The use of technological tools in the therapy of individuals with ASD has also become increasingly important due to their higher engagement and responsiveness to technological objects, such as robots. Materials and methods: We developed a training protocol using the humanoid robot NAO, called IOGIOCO (Interactive mirroring Games wIth sOCial rObot), based on the use of intransitive gestures embedded in naturalistic dialogues, stimulating a triadic interaction between child, robot and therapist. The training was divided into six levels; the first 2 levels were called "familiarization levels," and the other 4 were "training levels". The technological setup includes different complexity levels, from mirroring tasks to building spontaneous interactions. We tested the protocol on 10 preschool children with ASD (aged 2-6 years) for 14 weeks. We assessed them at recruitment (T0), at the end of training (T1), and after 6 months (T2). Results: We demonstrated the tolerability of the protocol. We found that one group (n=4, males and 2 females) reached the training level, while another and group (n=6 males) remained at a familiarization level (mirroring), we analyzed the results for the two groups. In the group that reached the training levels, we found promising results, such as an improvement in the Social Adaptive Domain of the ABAS-II questionnaire between T0 and T2. Conclusion: While current results will need a Randomized Controlled Trial to be confirmed, the present work sets an important milestone in using social robots for ASD treatment, aimed at impacting social and communication skills in everyday life.

When Trustworthiness Meets Face: Facial Design for Social Robots.

As a technical application in artificial intelligence, a social robot is one of the branches of robotic studies that emphasizes socially communicating and interacting with human beings. Although both robot and behavior research have realized the significance of social robot design for its market success and related emotional benefit to users, the specific design of the eye and mouth shape of a social robot in eliciting trustworthiness has received only limited attention. In order to address this research gap, our study conducted a 2 (eye shape) × 3 (mouth shape) full factorial between-subject experiment. A total of 211 participants were recruited and randomly assigned to the six scenarios in the study. After exposure to the stimuli, perceived trustworthiness and robot attitude were measured accordingly. The results showed that round eyes (vs. narrow eyes) and an upturned-shape mouth or neutral mouth (vs. downturned-shape mouth) for social robots could significantly improve people's trustworthiness and attitude towards social robots. The effect of eye and mouth shape on robot attitude are all mediated by the perceived trustworthiness. Trustworthy human facial features could be applied to the robot's face, eliciting a similar trustworthiness perception and attitude. In addition to empirical contributions to HRI, this finding could shed light on the design practice for a trustworthy-looking social robot.

The acceptance of the potential use of social robots for children with autism spectrum disorder by Indonesian occupational therapists: a mixed methods study.

PURPOSE: Social robots have shown positive effects in treating children with autism spectrum disorder. The development of social robots in Indonesia has enabled their potential use in occupational therapy. This study aimed to investigate the factors influencing the acceptance of the potential use of social robots by Indonesian occupational therapists in clinical practice. METHODS: This study employed a mixed methods explanatory sequential design. An adapted unified theory of acceptance and use of technology model was utilised for the quantitative phase. The questionnaire explored the acceptance of social robots. The data were analysed using structural equation modelling. In the qualitative phase, semi-structured interviews with reflexive thematic analysis were conducted. The second phase aimed to explain the reasons behind the quantitative results and factors related to the acceptance of social robots in therapy. RESULTS: Occupational therapists showed high interest in using social robots in their sessions, as indicated by the significant positive relationship between performance expectancy and potential use. Three influential factors affecting acceptance emerged in the qualitative phase: occupational therapists' characteristics and competencies, social robots and occupational therapy interventions, and environmental influence. CONCLUSIONS: Indonesian occupational therapists have shown interest in using social robots. However, there are challenges regarding the practical application of social robots concerning individual differences in the factors that influence acceptance.

Social robots have been perceived as beneficial intervention tools for improving occupational therapists' performance with children with autism spectrum disorder.Environmental factors significantly influence the acceptance of social robots.The attitudes of occupational therapists influence their acceptance towards the potential use of social robots.

Bridging Requirements, Planning, and Evaluation: A Review of Social Robot Navigation.

Navigation lies at the core of social robotics, enabling robots to navigate and interact seamlessly in human environments. The primary focus of human-aware robot navigation is minimizing discomfort among surrounding humans. Our review explores user studies, examining factors that cause human discomfort, to perform the grounding of social robot navigation requirements and to form a taxonomy of elementary necessities that should be implemented by comprehensive algorithms. This survey also discusses human-aware navigation from an algorithmic perspective, reviewing the perception and motion planning methods integral to social navigation. Additionally, the review investigates different types of studies and tools facilitating the evaluation of social robot navigation approaches, namely datasets, simulators, and benchmarks. Our survey also identifies the main challenges of human-aware navigation, highlighting the essential future work perspectives. This work stands out from other review papers, as it not only investigates the variety of methods for implementing human awareness in robot control systems but also classifies the approaches according to the grounded requirements regarded in their objectives.

[New Technology, Warm Care: Social Robots in Nursing Practice and Research].

Recent, rapid advancements in technology have enabled the introduction and integration of robots into everyday life. Different from the traditional image of robots as cold and mechanical, social robots are designed to emulate human interaction patterns, improving the user experience and facilitating social interactivity. Thus, social robots represent a promising new care intervention. In this article, after defining social robots and explaining the factors influencing "human-robot interaction", the authors discuss the effectiveness of social robots in the context of providing care to patients with dementia and autism as well as to pediatric patients. Finally, current cases in which PARO, a social robot, has been used in nursing are described, and key challenges and suggestions for future social robot applications are given. Current evidence indicates social robots must be developed and designed to adhere to a people-centered approach to achieve better robot-assisted care outcomes, be better accepted by patients, and better enable patients to open up emotionally and maintain good physical, mental, and social well-being.

Social robots counselling in community pharmacies - Helping or harming? A qualitative study of pharmacists' views.

Background: Welfare technological solutions such as social robots attempt to meet the growing needs of the healthcare sector. Social robots may be able to respond to the shortage of pharmaceutical personnel at community pharmacies. However, there is a lack of previous studies regarding the use of social robots for medication counselling purposes in a pharmacy setting. Objectives: The objective of this qualitative study was to explore pharmacists' views on the potential role of social robots in medication counselling. Methods: Pharmacists, purposively sampled based on having recent experience of counselling customers in community pharmacies in Finland, first acted as customers interacting with the social robot in a simulated setting, before taking part in a focus group where their perspectives were explored. The focus group discussions were conducted in October and November 2022. The qualitative data was transcribed and analysed using reflexive thematic analysis. Results: The number of participants was eight in total. A main theme of how the robot may either help or harm concerning medication safety within a pharmacy setting was identified. The six sub-themes found, according to pharmacists' views on robot counselling in community pharmacies, are context, digital competence, customer integrity, interaction, pharmacists' professional role and human skills. Conclusions: According to the study findings, pharmacists experience that the social robot can offer a potential complement to a human pharmacist. The robot is seen as beneficial with respect to certain customer groups and in the light of personnel shortages, and may in the future add to trust, equality, freedom of choice and multilingualism, among other things, in the customer service situation at community pharmacies, thus improving medication safety.

The Role of Coherent Robot Behavior and Embodiment in Emotion Perception and Recognition During Human-Robot Interaction: Experimental Study.

BACKGROUND: Social robots are becoming increasingly important as companions in our daily lives. Consequently, humans expect to interact with them using the same mental models applied to human-human interactions, including the use of cospeech gestures. Research efforts have been devoted to understanding users' needs and developing robot's behavioral models that can perceive the user state and properly plan a reaction. Despite the efforts made, some challenges regarding the effect of robot embodiment and behavior in the perception of emotions remain open. OBJECTIVE: The aim of this study is dual. First, it aims to assess the role of the robot's cospeech gestures and embodiment in the user's perceived emotions in terms of valence (stimulus pleasantness), arousal (intensity of evoked emotion), and dominance (degree of control exerted by the stimulus). Second, it aims to evaluate the robot's accuracy in identifying positive, negative, and neutral emotions displayed by interacting humans using 3 supervised machine learning algorithms: support vector machine, random forest, and K-nearest neighbor. METHODS: Pepper robot was used to elicit the 3 emotions in humans using a set of 60 images retrieved from a standardized database. In particular, 2 experimental conditions for emotion elicitation were performed with Pepper robot: with a static behavior or with a robot that expresses coherent (COH) cospeech behavior. Furthermore, to evaluate the role of the robot embodiment, the third elicitation was performed by asking the participant to interact with a PC, where a graphical interface showed the same images. Each participant was requested to undergo only 1 of the 3 experimental conditions. RESULTS: A total of 60 participants were recruited for this study, 20 for each experimental condition for a total of 3600 interactions. The results showed significant differences (P<.05) in valence, arousal, and dominance when stimulated with the Pepper robot behaving COH with respect to the PC condition, thus underlying the importance of the robot's nonverbal communication and embodiment. A higher valence score was obtained for the elicitation of the robot (COH and robot with static behavior) with respect to the PC. For emotion recognition, the K-nearest neighbor classifiers achieved the best accuracy results. In particular, the COH modality achieved the highest level of accuracy (0.97) when compared with the static behavior and PC elicitations (0.88 and 0.94, respectively). CONCLUSIONS: The results suggest that the use of multimodal communication channels, such as cospeech and visual channels, as in the COH modality, may improve the recognition accuracy of the user's emotional state and can reinforce the perceived emotion. Future studies should investigate the effect of age, culture, and cognitive profile on the emotion perception and recognition going beyond the limitation of this work.

Seeing through a robot's eyes: A cross-sectional exploratory study in developing a robotic screening technology for autism.

The present exploratory cross-sectional case-control study sought to develop a reliable and scalable screening tool for autism using a social robot. The robot HUMANE, installed with computer vision and linked with recognition technology, detected the direction of eye gaze of children. Children aged 3-8 (M = 5.52; N = 199) participated, 87 of whom had been confirmed with autism, 55 of whom were suspected to have autism, and 57 of whom were not considered to cause any concern for having autism. Before a session, a human experimenter instructed HUMANE to narrate a story to a child. HUMANE prompted the child to return his/her eye gaze to the robot if the child looked away, and praised the child when it re-established its eye gaze quickly after a prompt. The reliability of eye gaze detection was checked across all pairs of human raters and HUMANE and reached 0.90, indicating excellent interrater agreement. Using the pre-specified reference standard (Autism Spectrum Quotient), the sensitivity and specificity of the index tests (i.e., the number of robot prompts and duration of inattentiveness) reached 0.88 or above and the Diagnostic Odds Ratios were beyond 190. These results show that social robots may detect atypical eye patterns, suggesting a potential future for screening autism using social robots.

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).

Social robot for older adults with cognitive decline: a preliminary trial.

The number of older adults living alone is rapidly increasing. Loneliness in older adults not only degrade their quality of life but also causes troubles such as heavy burden on the medical staff, especially when cognitive decline is present. Social robots could be used in several ways to reduce such problems. As a first step towards this goal, we introduced conversation robots into the homes of older adults with cognitive decline to evaluate the robot's availability and acceptance during several months. The study involved two steps, one for evaluating the robustness of the proposed robotic system, and the second one to examine the long-term acceptance of social robots by older adults with cognitive decline living alone. Our data shows that after several weeks of human-robot interaction, the participants continued to use the robot and successfully integrated them into their lives. These results open the possibility of further research involving how sustained interaction can be achieved, as well as which factors contributed to the acceptance of the robot.

Stereotypical nationality representations in HRI: perspectives from international young adults.

People often form immediate expectations about other people, or groups of people, based on visual appearance and characteristics of their voice and speech. These stereotypes, often inaccurate or overgeneralized, may translate to robots that carry human-like qualities. This study aims to explore if nationality-based preconceptions regarding appearance and accents can be found in people's perception of a virtual and a physical social robot. In an online survey with 80 subjects evaluating different first-language-influenced accents of English and nationality-influenced human-like faces for a virtual robot, we find that accents, in particular, lead to preconceptions on perceived competence and likeability that correspond to previous findings in social science research. In a physical interaction study with 74 participants, we then studied if the perception of competence and likeability is similar after interacting with a robot portraying one of four different nationality representations from the online survey. We find that preconceptions on national stereotypes that appeared in the online survey vanish or are overshadowed by factors related to general interaction quality. We do, however, find some effects of the robot's stereotypical alignment with the subject group, with Swedish subjects (the majority group in this study) rating the Swedish-accented robot as less competent than the international group, but, on the other hand, recalling more facts from the Swedish robot's presentation than the international group does. In an extension in which the physical robot was replaced by a virtual robot interacting in the same scenario online, we further found the same results that preconceptions are of less importance after actual interactions, hence demonstrating that the differences in the ratings of the robot between the online survey and the interaction is not due to the interaction medium. We hence conclude that attitudes towards stereotypical national representations in HRI have a weak effect, at least for the user group included in this study (primarily educated young students in an international setting).

Research Hotspots and Trends of Social Robot Interaction Design: A Bibliometric Analysis.

(1) Background: Social robot interaction design is crucial for determining user acceptance and experience. However, few studies have systematically discussed the current focus and future research directions of social robot interaction design from a bibliometric perspective. Therefore, we conducted this study in order to identify the latest research progress and evolution trajectory of research hotspots in social robot interaction design over the last decade. (2) Methods: We conducted a comprehensive review based on 2416 papers related to social robot interaction design obtained from the Web of Science (WOS) database. Our review utilized bibliometric techniques and integrated VOSviewer and CiteSpace to construct a knowledge map. (3) Conclusions: The current research hotspots of social robot interaction design mainly focus on #1 the study of human-robot relationships in social robots, #2 research on the emotional design of social robots, #3 research on social robots for children's psychotherapy, #4 research on companion robots for elderly rehabilitation, and #5 research on educational social robots. The reference co-citation analysis identifies the classic literature that forms the basis of the current research, which provides theoretical guidance and methods for the current research. Finally, we discuss several future research directions and challenges in this field.

Invoking and identifying task-oriented interlocutor confusion in human-robot interaction.

Successful conversational interaction with a social robot requires not only an assessment of a user's contribution to an interaction, but also awareness of their emotional and attitudinal states as the interaction unfolds. To this end, our research aims to systematically trigger, but then interpret human behaviors to track different states of potential user confusion in interaction so that systems can be primed to adjust their policies in light of users entering confusion states. In this paper, we present a detailed human-robot interaction study to prompt, investigate, and eventually detect confusion states in users. The study itself employs a Wizard-of-Oz (WoZ) style design with a Pepper robot to prompt confusion states for task-oriented dialogues in a well-defined manner. The data collected from 81 participants includes audio and visual data, from both the robot's perspective and the environment, as well as participant survey data. From these data, we evaluated the correlations of induced confusion conditions with multimodal data, including eye gaze estimation, head pose estimation, facial emotion detection, silence duration time, and user speech analysis-including emotion and pitch analysis. Analysis shows significant differences of participants' behaviors in states of confusion based on these signals, as well as a strong correlation between confusion conditions and participants own self-reported confusion scores. The paper establishes strong correlations between confusion levels and these observable features, and lays the ground or a more complete social and affect oriented strategy for task-oriented human-robot interaction. The contributions of this paper include the methodology applied, dataset, and our systematic analysis.

Older Adults' Engagement and Mood During Robot-Assisted Group Activities in Nursing Homes: Development and Observational Pilot Study.

BACKGROUND: Promoting the well-being of older adults in an aging society requires new solutions. One resource might be the use of social robots for group activities that promote physical and cognitive stimulation. Engaging in a robot-assisted group activity may help in the slowdown of physical and cognitive decline in older adults. Currently, our knowledge is limited on whether older adults engage in group activities with humanlike social robots and whether they experience a positive affect while doing so. Both are necessary preconditions to achieve the intended effects of a group activity. OBJECTIVE: Our pilot study has 2 aims. First, we aimed to develop and pilot an observational coding scheme for robot-assisted group activities because self-report data on engagement and mood of nursing home residents are often difficult to obtain, and the existing observation instruments do have limitations. Second, we aimed to investigate older adults' engagement and mood during robot-assisted group activities in 4 different nursing care homes in the German-speaking part of Switzerland. METHODS: We developed an observation system, inspired by existing tools, for a structured observation of engagement and mood of older adults during a robot-assisted group activity. In this study, 85 older adult residents from 4 different care homes in Switzerland participated in 5 robot-assisted group activity sessions, and they were observed using our developed system. The data were collected in the form of video clips that were assessed by 2 raters regarding engagement (direction of gaze, posture as well as body expression, and activity) and mood (positive and negative affects). Both variables were rated on a 5-point rating scale. RESULTS: Our pilot study findings show that the engagement and mood of older adults can be assessed reliably by using the proposed observational coding scheme. Most participants actively engaged in robot-assisted group activities (mean 4.19, SD 0.47; median 4.0). The variables used to measure engagement were direction of gaze (mean 4.65, SD 0.49; median 5.0), posture and body expression (mean 4.03, SD 0.71; median 4.0), and activity (mean 3.90, SD 0.65; median 4.0). Further, we observed mainly positive affects in this group. Almost no negative affect was observed (mean 1.13, SD 0.20; median 1.0), while the positive affect (mean 3.22, SD 0.55; median 3.2) was high. CONCLUSIONS: The developed observational coding system can be used and further developed in future studies on robot-assisted group activities in the nursing home context and potentially in other settings. Additionally, our pilot study indicates that cognitive and physical stimulation of older adults can be promoted by social robots in a group setting. This finding encourages future technological development and improvement of social robots and points to the potential of observational research to systematically evaluate such developments.

How do you do the things that you do? Ethological approach to the description of robot behaviour.

The detailed description of behaviour of the interacting parties is becoming more and more important in human-robot interaction (HRI), especially in social robotics (SR). With the rise in the number of publications, there is a substantial need for the objective and comprehensive description of implemented robot behaviours to ensure comparability and reproducibility of the studies. Ethograms and the meticulous analysis of behaviour was introduced long ago in animal behaviour research (cf. ethology). The adoption of this method in SR and HRI can ensure the desired clarity over robot behaviours, while also providing added benefits during robot development, behaviour modelling and analysis of HRI experiments. We provide an overview of the possible uses and advantages of ethograms in HRI, and propose a general framework for describing behaviour which can be adapted to the requirements of specific studies.

The Estimation of Physical Distances Between Oneself and a Social Robot: Am I as Far From the Robot as It is from Me?

Research on the perception of interpersonal distance has shown the existence of an asymmetry effect which depends on the reference point of the estimation: the distance from oneself to others can be perceived as longer or shorter than the distance from others to oneself. The mechanism underlying this asymmetric effect is related to the object's cognitive salience. The self often functions as a habitual reference point and therefore one's own salience may be higher than that of other objects. In this case, an egocentric asymmetry effect appears with a perceived shorter distance from others to oneself. However, if others are more salient than oneself, then the reverse can happen (allocentric asymmetry effect). The present work investigates if asymmetry in self-other(s) distance perception changes when the other is a social robot. An experiment was conducted with 174 participants who were asked to estimate the distance between themselves and both robotic and human assistants on a schematic map of a hospital emergency room (between-subjects design). With robust ANOVA, the results showed that the participants felt closer to the human assistant than to the robot, notably when the person served as the estimation reference point. Perceived distances to the social robot were not significantly distorted. If a rather allocentric effect with the human assistant might reflect an affiliation goal on the part of the participants, the absence of effect with the social robot forces us to reconsider its humanization. This could nevertheless reflect a purely mechanical and utilitarian conception of it.

The Godspeed Questionnaire Series in the Assessment of the Social Robot TIAGo by Older Individuals.

(1) Background: A robot in care for older adults requires solid research confirming its acceptance. The aim of this study was to present the Polish version of the Godspeed Questionnaire Series (GQS) and assess the perception of the social robot TIAGo; (2) Methods: The study involved older individuals living in the community and care homes and measured perception after interaction with TIAGo using five series of GQS (S1: Anthropomorphism, S2: Animacy, S3: Likeability, S4: Perceived intelligence, and S5: Perceived safety); (3) Results: We studied 178 individuals (age: 75.2 ± 9.6 years, 103 women). Good internal consistency was found. Cronbach's Alpha was 0.90 for the entire tool (from 0.75 to 0.94 for the individual series). Mean scores for S1 and S2 were comparable but lower than all others (p < 0.001). Average scores for S3 and S4 did not differ but were higher than those of S5. Age, gender and education did not impact the answers, as did the ease of use of technology and self-assessment of independence. Solely, the place of residence influenced the results of S3 and S5; people living in institutions scored higher (p < 0.05 and p < 0.001, respectively); (4) Conclusions: Acceptance does not go hand in hand with the perception of anthropomorphism and animacy.