AnOpen-Source Social Robot Based on Compliant Soft Robotics for Therapy with Children with ASD
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,...
- Autores:
-
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.
- Tipo de recurso:
- Article of journal
- Fecha de publicación:
- 2020
- Institución:
- Escuela Colombiana de Ingeniería Julio Garavito
- Repositorio:
- Repositorio Institucional ECI
- Idioma:
- eng
- OAI Identifier:
- oai:repositorio.escuelaing.edu.co:001/3308
- Acceso en línea:
- https://repositorio.escuelaing.edu.co/handle/001/3308
https://repositorio.escuelaing.edu.co/
- Palabra clave:
- Robótica médica
Robotics in medicine
Tecnología médica
Medical technology
Autismo en niños
Autism in children
Niños - Enfermedades - Tratamiento
Children - Diseases - Treatment
Trastorno del espectro autista
Robótica de asistencia social
Diseño de robots
Actuadores elásticos en serie
Mecanismos compatibles
Terapia del autismo
Interacción física
Autism spectrum disorder
Social assistive robotics
Robot design
Series elastic actuators
Compliant mechanisms
Autism therapy
Physical interaction
- Rights
- closedAccess
- License
- http://purl.org/coar/access_right/c_14cb
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ESCUELAIG2 |
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Repositorio Institucional ECI |
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| dc.title.eng.fl_str_mv |
AnOpen-Source Social Robot Based on Compliant Soft Robotics for Therapy with Children with ASD |
| title |
AnOpen-Source Social Robot Based on Compliant Soft Robotics for Therapy with Children with ASD |
| spellingShingle |
AnOpen-Source Social Robot Based on Compliant Soft Robotics for Therapy with Children with ASD Robótica médica Robotics in medicine Tecnología médica Medical technology Autismo en niños Autism in children Niños - Enfermedades - Tratamiento Children - Diseases - Treatment Trastorno del espectro autista Robótica de asistencia social Diseño de robots Actuadores elásticos en serie Mecanismos compatibles Terapia del autismo Interacción física Autism spectrum disorder Social assistive robotics Robot design Series elastic actuators Compliant mechanisms Autism therapy Physical interaction |
| title_short |
AnOpen-Source Social Robot Based on Compliant Soft Robotics for Therapy with Children with ASD |
| title_full |
AnOpen-Source Social Robot Based on Compliant Soft Robotics for Therapy with Children with ASD |
| title_fullStr |
AnOpen-Source Social Robot Based on Compliant Soft Robotics for Therapy with Children with ASD |
| title_full_unstemmed |
AnOpen-Source Social Robot Based on Compliant Soft Robotics for Therapy with Children with ASD |
| title_sort |
AnOpen-Source Social Robot Based on Compliant Soft Robotics for Therapy with Children with ASD |
| dc.creator.fl_str_mv |
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. |
| dc.contributor.author.none.fl_str_mv |
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. |
| dc.contributor.researchgroup.spa.fl_str_mv |
GiBiome |
| dc.subject.armarc.none.fl_str_mv |
Robótica médica Robotics in medicine Tecnología médica Medical technology Autismo en niños Autism in children Niños - Enfermedades - Tratamiento Children - Diseases - Treatment |
| topic |
Robótica médica Robotics in medicine Tecnología médica Medical technology Autismo en niños Autism in children Niños - Enfermedades - Tratamiento Children - Diseases - Treatment Trastorno del espectro autista Robótica de asistencia social Diseño de robots Actuadores elásticos en serie Mecanismos compatibles Terapia del autismo Interacción física Autism spectrum disorder Social assistive robotics Robot design Series elastic actuators Compliant mechanisms Autism therapy Physical interaction |
| dc.subject.proposal.spa.fl_str_mv |
Trastorno del espectro autista Robótica de asistencia social Diseño de robots Actuadores elásticos en serie Mecanismos compatibles Terapia del autismo Interacción física |
| dc.subject.proposal.eng.fl_str_mv |
Autism spectrum disorder Social assistive robotics Robot design Series elastic actuators Compliant mechanisms Autism therapy Physical interaction |
| description |
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. |
| publishDate |
2020 |
| dc.date.issued.none.fl_str_mv |
2020-09 |
| dc.date.accessioned.none.fl_str_mv |
2024-10-10T17:15:59Z |
| dc.date.available.none.fl_str_mv |
2024-10-10T17:15:59Z |
| dc.type.spa.fl_str_mv |
Artículo de revista |
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http://purl.org/coar/resource_type/c_2df8fbb1 |
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http://purl.org/coar/version/c_970fb48d4fbd8a85 |
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info:eu-repo/semantics/publishedVersion |
| dc.type.coar.spa.fl_str_mv |
http://purl.org/coar/resource_type/c_6501 |
| dc.type.content.spa.fl_str_mv |
Text |
| dc.type.driver.spa.fl_str_mv |
info:eu-repo/semantics/article |
| format |
http://purl.org/coar/resource_type/c_6501 |
| status_str |
publishedVersion |
| dc.identifier.issn.spa.fl_str_mv |
2076-0825 |
| dc.identifier.uri.none.fl_str_mv |
https://repositorio.escuelaing.edu.co/handle/001/3308 |
| dc.identifier.eissn.spa.fl_str_mv |
2076-0825 |
| dc.identifier.instname.spa.fl_str_mv |
Universidad Escuela Colombiana de Ingeniería Julio Garavito |
| dc.identifier.reponame.spa.fl_str_mv |
Repositorio Digital |
| dc.identifier.repourl.spa.fl_str_mv |
https://repositorio.escuelaing.edu.co/ |
| identifier_str_mv |
2076-0825 Universidad Escuela Colombiana de Ingeniería Julio Garavito Repositorio Digital |
| url |
https://repositorio.escuelaing.edu.co/handle/001/3308 https://repositorio.escuelaing.edu.co/ |
| dc.language.iso.spa.fl_str_mv |
eng |
| language |
eng |
| dc.relation.citationedition.spa.fl_str_mv |
Vol. 9 No. 91, 2020 |
| dc.relation.citationendpage.spa.fl_str_mv |
22 |
| dc.relation.citationissue.spa.fl_str_mv |
91 |
| dc.relation.citationstartpage.spa.fl_str_mv |
1 |
| dc.relation.citationvolume.spa.fl_str_mv |
9 |
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Actuators |
| dc.relation.references.spa.fl_str_mv |
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In Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, Taipei, Taiwan, 18–22 October 2010; IEEE: Piscataway, NJ, USA, 2010,; pp. 2163–2168. Stoelen, M.F.; Bonsignorio, F.; Cangelosi, A. Co-exploring actuator antagonism and bio-inspired control in a printable robot arm. In International Conference on Simulation of Adaptive Behavior; Springer: Berlin/Heidelberg, Germany, 2016, pp. 244–255. Petit, F.; Friedl, W.; Höppner, H.; Grebenstein, M. Analysis and synthesis of the bidirectional antagonistic variable stiffness mechanism. IEEE/ASME Trans. Mechatron. 2014, 20, 684–695. [CrossRef] Casas, J.; Leal-Junior, A.; Díaz, C.R.; Frizera, A.; Múnera, M.; Cifuentes, C.A. Large-range polymer optical-fibre strain-gauge sensor for elastic tendons in wearable assistive robots. Materials 2019, 12, 1443. [CrossRef] Clayton, H.M.; Lanovaz, J.; Schamhardt, H.; Willemen, M.; Colborne, G. Net joint moments and powers in the equine forelimb during the stance phase of the trot. Equine Vet. J. 1998, 30, 384–389. [CrossRef] Tronick, E.Z.; Morelli, G.A.; Ivey, P.K. The Efe forager infant and toddler’s pattern of social relationships: Multiple and simultaneous. Dev. Psychol. 1992, 28, 568. [CrossRef] |
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Casas Bocanegra, Diego6bc4988bb1cc86abc5767bca3ae6d901Gomez Vargas, Daniel5ff3db3ae07cf9b63849c33c764c6401Pinto Bernal, Maria J.7987b931b6ab9b3d7fbb1bf26e10ae54Maldonado, Juan573b50497fdc5deddb900c728a2061a6Munera, Marcelaad6bfbf95a34697f0011b08cab1ec1cdVilla Moreno, Adriana5591202220929653e04d66a873d02213Stoelen, Martin F64348d30b4c77eb8708c504bbfb91acbBelpaeme, Tonya6dc6cd6c436b85b39cf8a7551413d16Cifuentes, Carlos A.0b885a45437175ae12e5d0a6f598afc4GiBiome2024-10-10T17:15:59Z2024-10-10T17:15:59Z2020-092076-0825https://repositorio.escuelaing.edu.co/handle/001/33082076-0825Universidad Escuela Colombiana de Ingeniería Julio GaravitoRepositorio Digitalhttps://repositorio.escuelaing.edu.co/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.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.22 páginasapplication/pdfengMDPI (Multidisciplinary Digital Publishing Institute)S.L.https://www.mdpi.com/2076-0825/9/3/91AnOpen-Source Social Robot Based on Compliant Soft Robotics for Therapy with Children with ASDArtículo de revistainfo:eu-repo/semantics/publishedVersionhttp://purl.org/coar/resource_type/c_6501http://purl.org/coar/resource_type/c_2df8fbb1Textinfo:eu-repo/semantics/articlehttp://purl.org/coar/version/c_970fb48d4fbd8a85Vol. 9 No. 91, 2020229119ActuatorsCifuentes, C.A.; Pinto, M.J.; Céspedes, N.; Múnera, M. Social Robots in Therapy and Care. Curr. Robot. Rep. 2020, 1, 59–74. [CrossRef]Baio, J.; Wiggins, L.; Christensen, D.L.; Maenner, M.J.; Daniels, J.; Warren, Z.; Kurzius-Spencer, M.; Zahorodny,W.; Robinson, C.; Rosenberg, C.R.; etal. 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[CrossRef]info:eu-repo/semantics/closedAccesshttp://purl.org/coar/access_right/c_14cbRobótica médicaRobotics in medicineTecnología médicaMedical technologyAutismo en niñosAutism in childrenNiños - Enfermedades - TratamientoChildren - Diseases - TreatmentTrastorno del espectro autistaRobótica de asistencia socialDiseño de robotsActuadores elásticos en serieMecanismos compatiblesTerapia del autismoInteracción físicaAutism spectrum disorderSocial assistive roboticsRobot designSeries elastic actuatorsCompliant mechanismsAutism therapyPhysical interactionTEXTAn Open-Source Social Robot Based on Compliant Soft Robotics for Therapy with Children with ASD.pdf.txtAn Open-Source Social Robot Based on Compliant Soft Robotics for Therapy with Children with ASD.pdf.txtExtracted texttext/plain67952https://repositorio.escuelaing.edu.co/bitstream/001/3308/4/An%20Open-Source%20Social%20Robot%20Based%20on%20Compliant%20Soft%20Robotics%20for%20Therapy%20with%20Children%20with%20ASD.pdf.txtbe3207b254bc53736e206c921fb6c693MD54metadata only accessTHUMBNAILPortada An Open-Source Social Robot Based on Compliant Soft Robotics for Therapy with Children with ASD.PNGPortada An Open-Source Social Robot Based on Compliant Soft Robotics for Therapy with Children with ASD.PNGimage/png173149https://repositorio.escuelaing.edu.co/bitstream/001/3308/3/Portada%20An%20Open-Source%20Social%20Robot%20Based%20on%20Compliant%20Soft%20Robotics%20for%20Therapy%20with%20Children%20with%20ASD.PNGd00fb8dd6a3ae32c929748ef8e95813bMD53open accessAn Open-Source Social Robot Based on Compliant Soft Robotics for Therapy with Children with ASD.pdf.jpgAn Open-Source Social Robot Based on Compliant Soft Robotics for Therapy with Children with ASD.pdf.jpgGenerated Thumbnailimage/jpeg14946https://repositorio.escuelaing.edu.co/bitstream/001/3308/5/An%20Open-Source%20Social%20Robot%20Based%20on%20Compliant%20Soft%20Robotics%20for%20Therapy%20with%20Children%20with%20ASD.pdf.jpgf0be56955e8052f9dd2d892b53aeeb13MD55metadata only accessLICENSElicense.txtlicense.txttext/plain; charset=utf-81881https://repositorio.escuelaing.edu.co/bitstream/001/3308/2/license.txt5a7ca94c2e5326ee169f979d71d0f06eMD52open accessORIGINALAn Open-Source Social Robot Based on Compliant Soft Robotics for Therapy with Children with ASD.pdfAn Open-Source Social Robot Based on Compliant Soft Robotics for Therapy with Children with ASD.pdfapplication/pdf21837926https://repositorio.escuelaing.edu.co/bitstream/001/3308/1/An%20Open-Source%20Social%20Robot%20Based%20on%20Compliant%20Soft%20Robotics%20for%20Therapy%20with%20Children%20with%20ASD.pdf19deb9cb018decd2128d0f32e3428bafMD51metadata only access001/3308oai:repositorio.escuelaing.edu.co:001/33082024-10-11 03:01:44.031metadata only accessRepositorio Escuela Colombiana de Ingeniería Julio Garavitorepositorio.eci@escuelaing.edu.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 |