Training Toddlers Seated on Mobile Robots to Drive Indoors Amidst Obstacles

Systematic Review of Affective Computing Techniques for Infant Robot Interaction

Research studies on social robotics and human-robot interaction have gained insights into factors that influence people’s perceptions and behaviors towards robots. However, adults’ perceptions of robots may differ significantly from those of infants. Consequently, extending this knowledge also to infants’ attitudes toward robots is a growing field of research. Indeed, infant-robot interaction (IRI) is emerging as a critical and necessary area of research as robots are increasingly used in social environments, such as caring for infants with all types of disabilities, companionship, and education. Although studies have been conducted on the ability of robots to positively engage infants, little is known about the infants’ affective state when interacting with a robot. In this systematic review, technologies for infant affective state recognition relevant to IRI applications are presented and surveyed. Indeed, adapting techniques currently employed for infant’s emotion recognition to the field of IRI results to be a complex task, since it requires timely response while not interfering with the infant’s behavior. Those aspects have a crucial impact on the selection of the emotion recognition techniques and the related metrics to be used for this purpose. Therefore, this review is intended to shed light on the advantages and the current research challenges of the infants’ affective state recognition approaches in the IRI field, elucidates a roadmap for their use in forthcoming studies as well as potentially provide support to future developments of emotion-aware robots.

Preliminary testing of eye gaze interfaces for controlling a haptic system intended to support play in children with physical impairments: Attentive versus explicit interfaces

Introduction

Children with physical impairments may face challenges to play because of their motor impairments, which could lead to negative impacts in their development. The objective of this article was to compare two eye gaze interfaces that identified the desired toy a user wanted to reach with a haptic-enabled telerobotic system in a play activity.

Methods

One of the interfaces was an attentive user interface predicted the toy that children wanted to reach by observing where they incidentally focused their gaze. The other was an explicit eye input interface determined the toy after the child dwelled for 500 ms on a selection point. Five typically developing children, an adult with cerebral palsy (CP) and a child with CP participated in this study. They controlled the robotic system to play a whack-a-mole game.

Results

The prediction accuracy of the attentive interface was higher than 89% in average, for all participants. All participants did the activity faster with the attentive interface than with the explicit interface.

Conclusions

Overall, the attentive interface was faster and easier to use, especially for children. Children needed constant prompting and were not 100% successful at using the explicit interface.

Haptic Training: Which Types Facilitate (re)Learning of Which Motor Task and for Whom? Answers by a Review

The use of robots has attracted researchers to design numerous haptic training methods to support motor learning. However, investigations of new methods yielded inconclusive results regarding their effectiveness to enhance learning due to the diversity of tasks, haptic designs, participants' skill level, and study protocols. In this review, we developed a taxonomy to identify generalizable findings out of publications on haptic training. In the taxonomy, we grouped the results of studies on healthy learners based on participants' skill level and tasks' characteristics. Our inspection of included studies revealed that: i) Performance-enhancing haptic methods were beneficial for novices, ii) Training with haptics was as effective as training with other feedback modalities, and iii) Performance-enhancing and performance-degrading haptic methods were useful for the learning of temporal and spatial aspects, respectively. We also observed that these findings are in line with results from robot-aided neurorehabilitation studies on patients. Our review suggests that haptic training can be effective to foster learning, especially when the information cannot be provided with other feedback modalities. We believe the findings from the taxonomy constitute a general guide, which can assist researchers when designing studies to investigate the effectiveness of haptics on learning different tasks.

Powered mobility interventions for very young children with mobility limitations to aid participation and positive development: the EMPoWER evidence synthesis

BACKGROUND

One-fifth of all disabled children have mobility limitations. Early provision of powered mobility for very young children (aged < 5 years) is hypothesised to trigger positive developmental changes. However, the optimum age at which to introduce powered mobility is unknown.

OBJECTIVE

The aim of this project was to synthesise existing evidence regarding the effectiveness and cost-effectiveness of powered mobility for very young children, compared with the more common practice of powered mobility provision from the age of 5 years.

REVIEW METHODS

The study was planned as a mixed-methods evidence synthesis and economic modelling study. First, evidence relating to the effectiveness, cost-effectiveness, acceptability, feasibility and anticipated outcomes of paediatric powered mobility interventions was reviewed. A convergent mixed-methods evidence synthesis was undertaken using framework synthesis, and a separate qualitative evidence synthesis was undertaken using thematic synthesis. The two syntheses were subsequently compared and contrasted to develop a logic model for evaluating the outcomes of powered mobility interventions for children. Because there were insufficient published data, it was not possible to develop a robust economic model. Instead, a budget impact analysis was conducted to estimate the cost of increased powered mobility provision for very young children, using cost data from publicly available sources.

DATA SOURCES

A range of bibliographic databases [Cumulative Index to Nursing and Allied Health Literature (CINHAL), MEDLINE, EMBASE™ (Elsevier, Amsterdam, the Netherlands), Physiotherapy Evidence Database (PEDro), Occupational Therapy Systematic Evaluation of Evidence (OTseeker), Applied Social Sciences Index and Abstracts (ASSIA), PsycINFO, Science Citation Index (SCI; Clarivate Analytics, Philadelphia, PA, USA), Social Sciences Citation Index™ (SSCI; Clarivate Analytics), Conference Proceedings Citation Index - Science (CPCI-S; Clarivate Analytics), Conference Proceedings Citation Index - Social Science & Humanities (CPCI-SSH; Clarivate Analytics), Cochrane Central Register of Controlled Trials (CENTRAL), Cochrane Database of Systematic Reviews, Database of Abstracts of Reviews of Effects (DARE), NHS Economic Evaluation Database (NHS EED), Health Technology Assessment (HTA) Database and OpenGrey] was systematically searched and the included studies were quality appraised. Searches were carried out in June 2018 and updated in October 2019. The date ranges searched covered from 1946 to September 2019.

RESULTS

In total, 89 studies were included in the review. Only two randomised controlled trials were identified. The overall quality of the evidence was low. No conclusive evidence was found about the effectiveness or cost-effectiveness of powered mobility in children aged either < 5 or ≥ 5 years. However, strong support was found that powered mobility interventions have a positive impact on children's movement and mobility, and moderate support was found for the impact on children's participation, play and social interactions and on the safety outcome of accidents and pain. 'Fit' between the child, the equipment and the environment was found to be important, as were the outcomes related to a child's independence, freedom and self-expression. The evidence supported two distinct conceptualisations of the primary powered mobility outcome, movement and mobility: the former is 'movement for movement's sake' and the latter destination-focused mobility. Powered mobility should be focused on 'movement for movement's sake' in the first instance. From the budget impact analysis, it was estimated that, annually, the NHS spends £1.89M on the provision of powered mobility for very young children, which is < 2% of total wheelchair service expenditure.

LIMITATIONS

The original research question could not be answered because there was a lack of appropriately powered published research.

CONCLUSIONS

Early powered mobility is likely to have multiple benefits for very young children, despite the lack of robust evidence to demonstrate this. Age is not the key factor; instead, the focus should be on providing developmentally appropriate interventions and focusing on 'movement for movement's sake'.

FUTURE WORK

Future research should focus on developing, implementing, evaluating and comparing different approaches to early powered mobility.

STUDY REGISTRATION

This study is registered as PROSPERO CRD42018096449.

FUNDING

This project was funded by the National Institute for Health Research (NIHR) Health Technology programme and will be published in full in Health Technology Assessment; Vol. 24, No. 50. See the NIHR Journals Library website for further project information.

Supporting Play by Applying Haptic Guidance Along a Surface Learnt from Single Motion Trajectories

Haptic-enabled teleoperated robots can help children with physical disabilities to reach toys by applying haptic guidance towards their toys, thus compensating for their limitations in reaching and manipulating objects. In this article we preliminarily tested a learning from demonstration (LfD) approach, where a robotic system learnt the surface that best approximated to all motion trajectories demonstrated by the participants while playing a whack-a-mole game. The end-goal of the system is for therapists or parents to demonstrate to it how to play a game, and then be used by children with physical disabilities. In this study, four adults without disabilities participated, to identify aspects that will be necessary to improve before conducting trials with children. During the demonstration phase, participants played the game in normal teleoperation, assuming the role of the therapist/parent. Then, the surface was modeled using a neural network. Participants played the game without and with the haptic guidance. The movements of the robotic system were mirrored to induce errors in movements, and thus require the guidance. Participants spent more time, moved the robot longer distances, and had jerkier movements when they played the game with the guidance than without it. Possible reasons were discussed, and several solutions were proposed to improve the system. The main contribution of this paper was the learning of a surface instead of learning a single motion trajectory.

Learning Shared Control by Demonstration for Personalized Wheelchair Assistance

An emerging research problem in assistive robotics is the design of methodologies that allow robots to provide personalized assistance to users. For this purpose, we present a method to learn shared control policies from demonstrations offered by a human assistant. We train a Gaussian process (GP) regression model to continuously regulate the level of assistance between the user and the robot, given the user's previous and current actions and the state of the environment. The assistance policy is learned after only a single human demonstration, i.e. in one-shot. Our technique is evaluated in a one-of-a-kind experimental study, where the machine-learned shared control policy is compared to human assistance. Our analyses show that our technique is successful in emulating human shared control, by matching the location and amount of offered assistance on different trajectories. We observed that the effort requirement of the users were comparable between human-robot and human-human settings. Under the learned policy, the jerkiness of the user's joystick movements dropped significantly, despite a significant increase in the jerkiness of the robot assistant's commands. In terms of performance, even though the robotic assistance increased task completion time, the average distance to obstacles stayed in similar ranges to human assistance.

Design and Evaluation of the Kinect-Wheelchair Interface Controlled (KWIC) Smart Wheelchair for Pediatric Powered Mobility Training

BACKGROUND

Children with severe disabilities are sometimes unable to access powered mobility training. Thus, we developed the Kinect-Wheelchair Interface Controlled (KWIC) smart wheelchair trainer that converts a manual wheelchair into a powered wheelchair. The KWIC Trainer uses computer vision to create a virtual tether with adaptive shared-control between the wheelchair and a therapist during training. It also includes a mixed-reality video game system.

METHODS

We performed a year-long usability study of the KWIC Trainer at a local clinic, soliciting qualitative and quantitative feedback on the device after extended use.

RESULTS

Eight therapists used the KWIC Trainer for over 50 hours with 8 different children. Two of the children obtained their own powered wheelchair as a result of the training. The therapists indicated the device allowed them to provide mobility training for more children than would have been possible with a demo wheelchair, and they found use of the device to be as safe as or safer than conventional training. They viewed the shared control algorithm as counter-productive because it made it difficult for the child to discern when he or she was controlling the chair. They were enthusiastic about the video game integration for increasing motivation and engagement during training. They emphasized the need for additional access methods for controlling the device.

CONCLUSION

The therapists confirmed that the KWIC Trainer is a useful tool for increasing access to powered mobility training and for engaging children during training sessions. However, some improvements would enhance its applicability for routine clinical use.

Design and preliminary evaluation of a multi-robotic system with pelvic and hip assistance for pediatric gait rehabilitation

This paper presents a modular, computationally-distributed "multi-robot" cyberphysical system designed to assist children with developmental delays in learning to walk. The system consists of two modules, each assisting a different aspect of gait: a tethered cable pelvic module with up to 6 degrees of freedom (DOF), which can modulate the motion of the pelvis in three dimensions, and a two DOF wearable hip module assisting lower limb motion, specifically hip flexion. Both modules are designed to be lightweight and minimally restrictive to the user, and the modules can operate independently or in cooperation with each other, allowing flexible system configuration to provide highly customized and adaptable assistance. Motion tracking performance of approximately 2 mm root mean square (RMS) error for the pelvic module and less than 0.1 mm RMS error for the hip module was achieved. We demonstrate coordinated operation of the two modules on a mannequin test platform with articulated and instrumented lower limbs.

Synergistic Effects on the Elderly People's Motor Control by Wearable Skin-Stretch Device Combined with Haptic Joystick

Cutaneous sensory feedback can be used to provide additional sensory cues to a person performing a motor task where vision is a dominant feedback signal. A haptic joystick has been widely used to guide a user by providing force feedback. However, the benefit of providing force feedback is still debatable due to performance dependency on factors such as the user's skill-level, task difficulty. Meanwhile, recent studies have shown the feasibility of improving a motor task performance by providing skin-stretch feedback. Therefore, a combination of two aforementioned feedback types is deemed to be promising to promote synergistic effects to consistently improve the person's motor performance. In this study, we aimed at identifying the effect of the combined haptic and skin-stretch feedbacks on the aged person's driving motor performance. For the experiment, 15 healthy elderly subjects (age 72.8 ± 6.6 years) were recruited and were instructed to drive a virtual power-wheelchair through four different courses with obstacles. Four augmented sensory feedback conditions were tested: no feedback, force feedback, skin-stretch feedback, and a combination of both force and skin-stretch feedbacks. While the haptic force was provided to the hand by the joystick, the skin-stretch was provided to the steering forearm by a custom-designed wearable skin-stretch device. We tested two hypotheses: (i) an elderly individual's motor control would benefit from receiving information about a desired trajectory from multiple sensory feedback sources, and (ii) the benefit does not depend on task difficulty. Various metrics related to skills and safety were used to evaluate the control performance. Repeated measure ANOVA was performed for those metrics with two factors: task scenario and the type of the augmented sensory feedback. The results revealed that elderly subjects' control performance significantly improved when the combined feedback of both haptic force and skin-stretch feedback was applied. The proposed approach suggest the feasibility to improve people's task performance by the synergistic effects of multiple augmented sensory feedback modalities.

It Pays to Go Off-Track: Practicing with Error-Augmenting Haptic Feedback Facilitates Learning of a Curve-Tracing Task

Researchers in the domain of haptic training are now entering the long-standing debate regarding whether or not it is best to learn a skill by experiencing errors. Haptic training paradigms provide fertile ground for exploring how various theories about feedback, errors and physical guidance intersect during motor learning. Our objective was to determine how error minimizing, error augmenting and no haptic feedback while learning a self-paced curve-tracing task impact performance on delayed (1 day) retention and transfer tests, which indicate learning. We assessed performance using movement time and tracing error to calculate a measure of overall performance – the speed accuracy cost function. Our results showed that despite exhibiting the worst performance during skill acquisition, the error augmentation group had significantly better accuracy (but not overall performance) than the error minimization group on delayed retention and transfer tests. The control group’s performance fell between that of the two experimental groups but was not significantly different from either on the delayed retention test. We propose that the nature of the task (requiring online feedback to guide performance) coupled with the error augmentation group’s frequent off-target experience and rich experience of error-correction promoted information processing related to error-detection and error-correction that are essential for motor learning.

Haptics to improve task performance in people with disabilities: A review of previous studies and a guide to future research with children with disabilities

This review examines the studies most pertinent to the potential of haptics on the functionality of assistive robots in manipulation tasks for use by children with disabilities. Haptics is the fast-emerging science that studies the sense of touch concerning the interaction of a human and his/her environment; this paper particularly studies the human–machine interaction that happens through a haptic interface to enable touch feedback. Haptics-enabled user interfaces for assistive robots can potentially benefit children whose haptic exploration is impaired due to a disability in their infancy and throughout their childhood. A haptic interface can provide touch feedback and potentially contribute to an enhancement in perception of objects and overall ability to perform manipulation tasks. The intention of this paper is to review the research on the applications of haptics, exclusively focusing on attributes affecting task performance. A review of studies will give a retrospective insight into previous research with various disability populations, and inform potential limitations/challenges in research regarding haptic interfaces for assistive robots for use by children with disabilities.

Design of a robotic mobility system with a modular haptic feedback approach to promote socialization in children

Self-initiated mobility is a causal factor in children's development. Previous studies have demonstrated the effectiveness of our training methods in learning directional driving and navigation. The ultimate goal of mobility training is to enable children to be social, that is, to interact with their peers. A powered mobility device was developed that can localize itself, map the environment, plan an obstacle-free path to a goal, and ensure safety of a human driver. Combined with a positioning system, this system is able to apply a force field using a modular haptic feedback approach to train subjects to drive towards an object, a caregiver, a peer, or a group of peers. System feasibility was tested by designing a 'ball chasing' game. Results show that the system is promising in promoting socialization in children.

Modified ride-on car for mobility and socialization: single-case study of an infant with Down syndrome

PURPOSE

Before the onset of walking, children with Down syndrome experience limited mobility yet are never considered candidates for traditional powered mobility devices. The purpose of this single-case study is to quantify the feasibility and family perceptions of including modified ride-on car use as an option for increasing daily mobility, socialization, and fun for a child with Down syndrome.

METHODS

A 13-month-old child, Natalie, and her family were video recorded during the 28-week study using her ride-on car in their home and community.

RESULTS

Natalie demonstrated and her family reported increased movement, mobility, and socialization over the study period.

CONCLUSIONS

Ride-on car use appears feasible, fun, and functional to increase daily mobility for pediatric populations working toward independent walking.

Design of a robotic mobility system to promote socialization in children

Self-initiated mobility is a causal factor in children's development. Previous studies have demonstrated the effectiveness of our training methods in learning directional driving and navigation. The ultimate goal of mobility training is to enable children to be social, that is, to interact with peers. A powered mobility device was developed that can localize itself, map the environment, plan an obstacle-free path to a goal, and ensure safety of a human driver. Combined with a positioning system, this system is able to apply a force field to train subjects to drive towards an object, a caregiver, a peer, or a group of peers. System feasibility was tested by designing a 'ball chasing' game. Results show that the system is promising in promoting socialization in children.

Modified ride-on toy cars for early power mobility: a technical report

BACKGROUND AND PURPOSE

Children with significantly decreased mobility have limited opportunities to explore their physical and social environment. A variety of assistive technologies are available to increase mobility; however, no single device provides the level of functional mobility that children developing typically enjoy. The purpose of this technical report is to formally introduce a new power mobility option--the modified ride-on toy car.

KEY POINTS

This report will provide (a) an overview of toy car features, (b) examples of basic electrical and mechanical modifications, and (c) a brief clinical case.

CLINICAL IMPLICATIONS

With creative use and customized modifications, toy cars can function as a "general learning environment" for use in the clinic, home, and school. As such, we anticipate that these cars will become a multiuse clinical tool to address not only mobility goals but also goals involving body function and structure such as posture and movement impairments.

Design of a novel mobility device controlled by the feet motion of a standing child: a feasibility study

Self-generated mobility is a major contributor to the physical, emotional, cognitive, and social development of infants and toddlers. When young children have disorders that hinder self locomotion, their development is at risk for delay. Independent mobility via traditional power mobility devices may prevent this delay, but do little to encourage the child's development of gross motor skills. This research aims to develop a bio-driven mobile-assistive device that is controlled and driven by moving the feet, which may encourage the development of gross motor skills. In this study, system feasibility is shown by experiments on five typically developing toddlers and one special needs toddler with spastic cerebral palsy. Children were placed in the bio-driven device and instructed to navigate through a maze. All subjects were able to successfully complete the maze in multiple trials. In addition, two toddlers showed evidence of improved driving skill by completing the maze in shorter times in successive trials on a given testing day. The results suggest that such a device is feasible for purposeful driving. Recommendations are given for the device and protocol redesign for related future testing.