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AnOpen-Source Social Robot Based on Compliant Soft Robotics for Therapy with Children with ASD

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Casas Bocanegra, Diego
Gomez Vargas, Daniel
Pinto Bernal, Maria J.
Maldonado, Juan
Munera, Marcela
Villa Moreno, Adriana
Stoelen, Martin F
Belpaeme, Tony
Cifuentes, Carlos A.
Abstract (Spanish)
La terapia con herramientas robóticas es una forma prometedora de ayudar a mejorar la comunicación verbal y no verbal en los niños. Las herramientas robóticas son capaces de incrementar aspectos como el contacto visual y la capacidad de seguir instrucciones y empatizar con los demás. Este trabajo presenta la metodología de diseño, desarrollo y validación experimental de un novedoso robot social basado en CompliAnt SofT Robotics llamado robot CASTOR, que pretende ser utilizado como una plataforma de código abierto para la terapia a largo plazo de niños con trastorno del espectro autista ( CwASD). CASTOR integra los conceptos de actuadores suaves y mecanismos compatibles para crear una plataforma robótica replicable dirigida a escenarios de terapia reales que involucran la interacción física entre los niños y el robot. La validación muestra resultados prometedores en términos de robustez y seguridad del usuario androbot. Asimismo, las pruebas mecánicas evalúan la respuesta del robot a las condiciones de bloqueo de dos módulos críticos (es decir, el cuello y el brazo) en escenarios de interacción. Los trabajos futuros deberían centrarse en la validación de la eficacia del robot en el tratamiento del CwASD.
Abstract (English)
Therapy with robotic tools is a promising way to help improve verbal and nonverbal communication in children. The robotic tools are able to increase aspects such as eye contact and the ability to follow instructions and to empathize with others. This work presents the designmethodology, development, and experimental validation of a novel social robot based on CompliAnt SofT Robotics called the CASTOR robot, which intends to be used as an open-source platform for the long-term therapy of children with autism spectrum disorder (CwASD). CASTOR integrates the concepts of soft actuators and compliant mechanisms to create a replicable robotic platform aimed at real therapy scenarios involving physical interaction between the children and the robot. The validation shows promisingresults in terms of robustness andthesafetyoftheuserandrobot. Likewise,mechanicaltests assess the robot’s response to blocking conditions for two critical modules (i.e., neck and arm) in interaction scenarios. Future works should focus on the validation of the robot’s effectiveness in the therapy of CwASD.
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22 páginas
URI: https://repositorio.escuelaing.edu.co/handle/001/3308
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