A Survey on Socially Assistive Robotics: Clinicians’ and Patients’ Perception of a Social Robot within Gait Rehabilitation Therapies

A growing interest in Socially Assistive Robotics in Physical Rehabilitation is currently observed; some of the benefits highlight the capability of a social robot to support and assist rehabilitation procedures. This paper presents a perception study that aimed to evaluate clinicians’ and patients’...

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Autores:
Raigoso, Denniss
Céspedes, Nathalia
Cifuentes, Carlos A.
del Ama, Antonio J
Múnera, Marcela
Tipo de recurso:
Article of journal
Fecha de publicación:
2021
Institución:
Escuela Colombiana de Ingeniería Julio Garavito
Repositorio:
Repositorio Institucional ECI
Idioma:
eng
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oai:repositorio.escuelaing.edu.co:001/3245
Acceso en línea:
https://repositorio.escuelaing.edu.co/handle/001/3245
https://repositorio.escuelaing.edu.co/
Palabra clave:
Rehabilitación médica
Medical rehabilitation
Tecnología médica
Medical technology
Robótica médica
Robotics in medicine
Terapia Lokomat
Lokomat therapy
Social robots
Physical rehabilitation
Perception
Gait rehabilitation
Lokomat
Robots sociales
Rehabilitación física
Percepción
Rehabilitación de la marcha
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dc.title.eng.fl_str_mv A Survey on Socially Assistive Robotics: Clinicians’ and Patients’ Perception of a Social Robot within Gait Rehabilitation Therapies
title A Survey on Socially Assistive Robotics: Clinicians’ and Patients’ Perception of a Social Robot within Gait Rehabilitation Therapies
spellingShingle A Survey on Socially Assistive Robotics: Clinicians’ and Patients’ Perception of a Social Robot within Gait Rehabilitation Therapies
Rehabilitación médica
Medical rehabilitation
Tecnología médica
Medical technology
Robótica médica
Robotics in medicine
Terapia Lokomat
Lokomat therapy
Social robots
Physical rehabilitation
Perception
Gait rehabilitation
Lokomat
Robots sociales
Rehabilitación física
Percepción
Rehabilitación de la marcha
title_short A Survey on Socially Assistive Robotics: Clinicians’ and Patients’ Perception of a Social Robot within Gait Rehabilitation Therapies
title_full A Survey on Socially Assistive Robotics: Clinicians’ and Patients’ Perception of a Social Robot within Gait Rehabilitation Therapies
title_fullStr A Survey on Socially Assistive Robotics: Clinicians’ and Patients’ Perception of a Social Robot within Gait Rehabilitation Therapies
title_full_unstemmed A Survey on Socially Assistive Robotics: Clinicians’ and Patients’ Perception of a Social Robot within Gait Rehabilitation Therapies
title_sort A Survey on Socially Assistive Robotics: Clinicians’ and Patients’ Perception of a Social Robot within Gait Rehabilitation Therapies
dc.creator.fl_str_mv Raigoso, Denniss
Céspedes, Nathalia
Cifuentes, Carlos A.
del Ama, Antonio J
Múnera, Marcela
dc.contributor.author.none.fl_str_mv Raigoso, Denniss
Céspedes, Nathalia
Cifuentes, Carlos A.
del Ama, Antonio J
Múnera, Marcela
dc.contributor.researchgroup.spa.fl_str_mv GiBiome
dc.subject.armarc.none.fl_str_mv Rehabilitación médica
Medical rehabilitation
Tecnología médica
Medical technology
Robótica médica
Robotics in medicine
Terapia Lokomat
Lokomat therapy
topic Rehabilitación médica
Medical rehabilitation
Tecnología médica
Medical technology
Robótica médica
Robotics in medicine
Terapia Lokomat
Lokomat therapy
Social robots
Physical rehabilitation
Perception
Gait rehabilitation
Lokomat
Robots sociales
Rehabilitación física
Percepción
Rehabilitación de la marcha
dc.subject.proposal.eng.fl_str_mv Social robots
Physical rehabilitation
Perception
Gait rehabilitation
Lokomat
dc.subject.proposal.spa.fl_str_mv Robots sociales
Rehabilitación física
Percepción
Rehabilitación de la marcha
description A growing interest in Socially Assistive Robotics in Physical Rehabilitation is currently observed; some of the benefits highlight the capability of a social robot to support and assist rehabilitation procedures. This paper presents a perception study that aimed to evaluate clinicians’ and patients’ perception of a social robot that will be integrated as part of Lokomat therapy. A total of 88 participants were surveyed, employing an online questionnaire based on the Unified Theory of Acceptance and Use of Technology (UTAUT). The participants belong to two health care institutions located in different countries (Colombia and Spain). The results showed an overall positive perception of the social robot (>60% of participants have a positive acceptance). Furthermore, a difference depending on the nature of the user (clinician vs. patient) was found.
publishDate 2021
dc.date.issued.none.fl_str_mv 2021
dc.date.accessioned.none.fl_str_mv 2024-09-04T20:58:49Z
dc.date.available.none.fl_str_mv 2024-09-04T20:58:49Z
dc.type.spa.fl_str_mv Artículo de revista
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dc.identifier.eissn.spa.fl_str_mv 2076-3425
dc.identifier.instname.spa.fl_str_mv Universidad Escuela Colombiana de Ingeniería Julio Garavito
dc.identifier.reponame.spa.fl_str_mv Repositorio Digital
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url https://repositorio.escuelaing.edu.co/handle/001/3245
https://repositorio.escuelaing.edu.co/
identifier_str_mv 2076-3425
Universidad Escuela Colombiana de Ingeniería Julio Garavito
Repositorio Digital
dc.language.iso.spa.fl_str_mv eng
language eng
dc.relation.citationedition.spa.fl_str_mv Vol. 11 (2021)
dc.relation.citationendpage.spa.fl_str_mv 751
dc.relation.citationstartpage.spa.fl_str_mv 738
dc.relation.citationvolume.spa.fl_str_mv 11
dc.relation.ispartofjournal.eng.fl_str_mv Brain Sciences
dc.relation.references.spa.fl_str_mv World Health Organization. World Report On Disability; World Health Organization: Geneva, Switzerland, 2011; Volume 1, pp. 57–70.
O’Sullivan, S.B.; Schmitz, T.J.; Fulk, G.D. Physical Rehabilitation, 6th ed.; FA Davis Company: Philadelphia, PA, USA, 2013; p. 1505.
Hocoma. Lokomat Therapy Is Backed Up by Nearly 20 Years of Clinical Research; Knowledge Hocoma: Volketswil, Switzerland, 2020.
Barbeau, H.; Wainberg, M.; Finch, L. Description and application of a system for locomotor rehabilitation. Med. Biol. Eng. Comput. 1987, 25, 341–344. [CrossRef] [PubMed]
Mayr, A.; Kofler, M.; Quirbach, E.; Matzak, H.; Fröhlich, K.; Saltuari, L. Prospective, blinded, randomized crossover study of gait rehabilitation in stroke patients using the Lokomat gait orthosis. Neurorehabilit. Neural Repair 2007, 21, 307–314. [CrossRef]
Hwang, S.; Kim, H.R.; Han, Z.A.; Lee, B.S.; Kim, S.; Shin, H.; Moon, J.G.; Yang, S.P.; Lim, M.H.; Cho, D.Y.; et al. Improved Gait Speed After Robot-Assisted Gait Training in Patients With Motor Incomplete Spinal Cord Injury: A Preliminary Study. Ann. Rehabil. Med. 2017, 41, 34–41. [CrossRef] [PubMed]
Vänni, K.J.; Salin, S.E. Attitudes of Professionals toward the Need for Assistive and Social Robots in the Healthcare Sector; Springer: Cham, Switzerland; New York, NY, USA, 2019; pp. 205–236. [CrossRef]
Appelbaum, S.H.; Marchionni, A.; Fernandez, A. The multi-tasking paradox: perceptions, problems and strategies. Manag. Decis. 2008, 46, 1313–1325. [CrossRef]
Kalisch, B.J.; Aebersold, M. Interruptions and multitasking in nursing care. Jt. Comm. J. Qual. Patient Saf. 2010, 36, 126–132. [CrossRef]
Céspedes, N.; Irfan, B.; Senft, E.; Cifuentes, C.A.; Gutierrez, L.F.; Rincon-Roncancio, M.; Belpaeme, T.; Múnera, M. A Socially Assistive Robot for Long-Term Cardiac Rehabilitation in the Real World. Front. Neurorobot. 2021, 15, 1–19. [CrossRef]
Fasola, J.; Matari´c, M.J. Using socially assistive human-robot interaction to motivate physical exercise for older adults. Proc. IEEE 2012, 100, 2512–2526. [CrossRef]
Masvaure, P.; Ruggunan, S.; Maharaj, A. Work Engagement, Intrinsic Motivation and Job Satisfaction among Employees of a Diamond Mining Company in Zimbabwe. J. Econ. Behav. Stud. 2014, 6, 488–499. [CrossRef]
Casas, J.; Cespedes, N.; Múnera, M.; Cifuentes, C.A. Human-Robot Interaction for Rehabilitation Scenarios; Academic Press: Cambridge, MA, USA, 2020; pp. 1–31. [CrossRef]
Leite, I.; Martinho, C.; Paiva, A. Social Robots for Long-Term Interaction: A Survey; Springer: New York, NY, USA, 2013; pp. 291–308. [CrossRef]
Cifuentes, C.A.; Pinto, M.J.; Céspedes, N.; Munera, M. Social Robots in Therapy and Care; Springer: Berlin/Heidelberg, Germany, 2020. [CrossRef]
Heerink, M.; Vanderborght, B.; Broekens, J.; Albo-Canals, J. New Friends: Social Robots in Therapy and Education. Int. J. Soc. Robot. 2016, 8, 443–444. [CrossRef]
Fischinger, D.; Einramhof, P.; Papoutsakis, K.; Wohlkinger, W.; Mayer, P.; Panek, P.; Hofmann, S.; Koertner, T.; Weiss, A.; Argyros, A.; et al. Hobbit, a care robot supporting independent living at home: First prototype and lessons learned. Robot. Auton. Syst. 2016, 75, 60–78. [CrossRef]
Riek, L.D. Healthcare robotics. Commun. ACM 2017, 60, 68–78. [CrossRef]
Céspedes Gómez, N.; Calderon Echeverria, A.V.; Munera, M.; Rocon, E.; Cifuentes, C.A. First Interaction Assessment between a Social Robot and Children Diagnosed with Cerebral Palsy in a Rehabilitation Context; Association for Computing Machinery: New York, NY, USA, 2021; pp. 484–488. [CrossRef]
Martí Carrillo, F.; Butchart, J.; Knight, S.; Scheinberg, A.; Wise, L.; Sterling, L.; McCarthy, C. In-situ design and development of a socially assistive robot for paediatric rehabilitation. In Proceedings of the ACM/IEEE International Conference on Human-Robot Interaction, Vienna, Austria, 6–9 March 2017; pp. 199–200. [CrossRef]
Matari´c, M.J.; Eriksson, J.; Feil-Seifer, D.J.; Winstein, C.J. Socially assistive robotics for post-stroke rehabilitation. J. Neuroeng. Rehabil. 2007, 4, 5. [CrossRef] [PubMed]
Munera, M.; Marroquin, A.; Jimenez, L.; Lara, J.S.; Gomez, C.; Rodriguez, S.; Rodriguez, L.E.; Cifuentes, C.A. Lokomat Therapy in Colombia: Current State and Cognitive Aspects; IEEE: London, UK, 2017; pp. 394–399. [CrossRef]
Casas, J.A.; Céspedes, N.; Cifuentes, C.A.; Gutierrez, L.F.; Rincón-Roncancio, M.; Múnera, M. Expectation vs. reality: Attitudes towards a socially assistive robot in cardiac rehabilitation. Appl. Sci. 2019, 9, 4651. [CrossRef]
Chen, S.C.; Jones, C.; Moyle, W. Health Professional and Workers Attitudes Towards the Use of Social Robots for Older Adults in Long-Term Care. Int. J. Soc. Robot. 2019, 12, 1135–1147. [CrossRef]
Cespedes, N.; Munera, M.; Gomez, C.; Cifuentes, C.A. Social Human-Robot Interaction for Gait Rehabilitation. IEEE Trans. Neural Syst. Rehabil. Eng. 2020, 28, 1299–1307. [CrossRef] [PubMed]
Céspedes, N.; Raigoso, D.; Múnera, M.; Cifuentes, C. Long-Term Social Human-Robot Interaction for Neurorehabilitation: Robots as a Tool to Support Gait Therapy in the Pandemic. Front. Neurorobot. 2021, 15, 612034. [CrossRef] [PubMed]
Broadbent, E.; Stafford, R.; MacDonald, B. Acceptance of healthcare robots for the older population: Review and future directions. Int. J. Soc. Robot. 2009, 1, 319–330. [CrossRef]
Sierra, S.D.; Gomez, D.; Céspedes, N.; Múnera, M.; Roberti, F.; Barria, P.; Ramamoorthy, S.; Becker, M.; Carelli, R.; Cifuentes, C.A. Expectations and Perceptions of Healthcare Professionals for Robot Deployment in Hospital Environments during the COVID-19 Pandemic. Front. Robot. AI 2021, 8, 102. [CrossRef]
Breazeal, C.; Dautenhahn, K.; Kanda, T. Social robotics. In Handbook of Robotics; Springer International Publishing: Berlin/Heidelberg, Germany, 2016; pp. 1935–1971. [CrossRef]
Shamsuddin, S. Humanoid robot NAO: Review of control and motion exploration. In Proceedings of the 2011 IEEE International Conference on Control System, Computing and Engineering, Penang, Malaysia, 25–27 November 2011; Volume 75. [CrossRef]
Heerink, M.; Kröse, B.; Evers, V.; Wielinga, B. Assessing Acceptance of Assistive Social Agent Technology by Older Adults: The Almere Model. Int. J. Soc. Robot. 2010, 2, 361–375. [CrossRef]
Venkatesh, V.; Morris, M.G.; Davis, G.B.; Davis, F.D. User Acceptance of Information Technology: Toward a Unified View. MIS Q. 2003, 27, 425–478. [CrossRef]
Tavakol, M.; Dennick, R. Making sense of Cronbach’s alpha. Int. J. Med Educ. 2011, 2, 53–55. [CrossRef]
Jalessi, M.; Farhadi, M.; Kamrava, S.K.; Amintehran, E.; Asghari, A.; Rezaei Hemami, M.; Mobasseri, A.; Masroorchehr, M. The reliability and validity of the persian version of sinonasal outcome test 22 (SNOT 22) questionnaires. Iran. Red Crescent Med. J. 2013, 15, 404–408. [CrossRef] [PubMed]
Vandemeulebroucke, T.; de Casterlé, B.D.; Gastmans, C. How do older adults experience and perceive socially assistive robots in aged care: a systematic review of qualitative evidence. Aging Ment. Health 2018, 22, 149–167. [CrossRef] [PubMed]
Bartneck, C.; Belpaeme, T.; Eyssel, F.; Kanda, T.; Keijsers, M.; Šabanovi´c, S. Human-Robot Interaction; Cambridge University Press: Cambridge, UK, 2020. [CrossRef]
Stafford, R.Q.; MacDonald, B.A.; Jayawardena, C.; Wegner, D.M.; Broadbent, E. Does the Robot Have a Mind? Mind Perception and Attitudes Towards Robots Predict Use of an Eldercare Robot. Int. J. Soc. Robot. 2014, 6, 17–32. [CrossRef]
Jokinen, K.; Wilcock, G. Multimodal Open-Domain Conversations with Robotic Platforms; Academic Press: Cambridge, MA, USA, 2018; pp. 9–26. [CrossRef]
Hayashi, K.; Sakamoto, D.; Kanda, T.; Shiomi, M.; Koizumi, S.; Ishiguro, H.; Ogasawara, T.; Hagita, N. Humanoid Robots as a Passive-Social Medium: A Field Experiment at a Train Station; Association for Computing Machinery: New York, NY, USA, 2007; pp. 137–144. [CrossRef]
Wu, Y.H.; Fassert, C.; Rigaud, A.S. Designing robots for the elderly: Appearance issue and beyond. Arch. Gerontol. Geriatr. 2012, 54, 121–126. [CrossRef] [PubMed]
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spelling Raigoso, Denniss1abb5649219c31ed284b49f0f2b26663Céspedes, Nathalia60511aded7d8a09c17c810c00f67c2d8Cifuentes, Carlos A.0b885a45437175ae12e5d0a6f598afc4del Ama, Antonio J45486a68380c4bb8163e7553e323c81fMúnera, Marcela8047a30ff2499f8ae5a4e903871b8f95GiBiome2024-09-04T20:58:49Z2024-09-04T20:58:49Z2021https://repositorio.escuelaing.edu.co/handle/001/32452076-3425Universidad Escuela Colombiana de Ingeniería Julio GaravitoRepositorio Digitalhttps://repositorio.escuelaing.edu.co/A growing interest in Socially Assistive Robotics in Physical Rehabilitation is currently observed; some of the benefits highlight the capability of a social robot to support and assist rehabilitation procedures. This paper presents a perception study that aimed to evaluate clinicians’ and patients’ perception of a social robot that will be integrated as part of Lokomat therapy. A total of 88 participants were surveyed, employing an online questionnaire based on the Unified Theory of Acceptance and Use of Technology (UTAUT). The participants belong to two health care institutions located in different countries (Colombia and Spain). The results showed an overall positive perception of the social robot (>60% of participants have a positive acceptance). Furthermore, a difference depending on the nature of the user (clinician vs. patient) was found.Actualmente se observa un creciente interés en la Robótica de Asistencia Social en la Rehabilitación Física; algunos de los beneficios resaltan la capacidad de un robot social para apoyar y asistir en los procedimientos de rehabilitación. Este artículo presenta un estudio de percepción que tuvo como objetivo evaluar la percepción de los médicos y los pacientes sobre un robot social que se integrará como parte de la terapia Lokomat. Se encuestó a un total de 88 participantes, empleando un cuestionario en línea basado en la Teoría Unificada de Aceptación y Uso de la Tecnología (UTAUT). Los participantes pertenecen a dos instituciones de atención médica ubicadas en diferentes países (Colombia y España). Los resultados mostraron una percepción general positiva del robot social (>60% de los participantes tienen una aceptación positiva). Además, se encontró una diferencia según la naturaleza del usuario (médico vs. paciente)13 páginasapplication/pdfengMultidisciplinary Digital Publishing Institute (MDPI)Basel (Suiza)https://www.mdpi.com/A Survey on Socially Assistive Robotics: Clinicians’ and Patients’ Perception of a Social Robot within Gait Rehabilitation TherapiesArtículo 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. 11 (2021)75173811Brain SciencesWorld Health Organization. World Report On Disability; World Health Organization: Geneva, Switzerland, 2011; Volume 1, pp. 57–70.O’Sullivan, S.B.; Schmitz, T.J.; Fulk, G.D. Physical Rehabilitation, 6th ed.; FA Davis Company: Philadelphia, PA, USA, 2013; p. 1505.Hocoma. Lokomat Therapy Is Backed Up by Nearly 20 Years of Clinical Research; Knowledge Hocoma: Volketswil, Switzerland, 2020.Barbeau, H.; Wainberg, M.; Finch, L. Description and application of a system for locomotor rehabilitation. Med. Biol. Eng. Comput. 1987, 25, 341–344. [CrossRef] [PubMed]Mayr, A.; Kofler, M.; Quirbach, E.; Matzak, H.; Fröhlich, K.; Saltuari, L. Prospective, blinded, randomized crossover study of gait rehabilitation in stroke patients using the Lokomat gait orthosis. Neurorehabilit. Neural Repair 2007, 21, 307–314. [CrossRef]Hwang, S.; Kim, H.R.; Han, Z.A.; Lee, B.S.; Kim, S.; Shin, H.; Moon, J.G.; Yang, S.P.; Lim, M.H.; Cho, D.Y.; et al. Improved Gait Speed After Robot-Assisted Gait Training in Patients With Motor Incomplete Spinal Cord Injury: A Preliminary Study. Ann. Rehabil. Med. 2017, 41, 34–41. [CrossRef] [PubMed]Vänni, K.J.; Salin, S.E. Attitudes of Professionals toward the Need for Assistive and Social Robots in the Healthcare Sector; Springer: Cham, Switzerland; New York, NY, USA, 2019; pp. 205–236. [CrossRef]Appelbaum, S.H.; Marchionni, A.; Fernandez, A. The multi-tasking paradox: perceptions, problems and strategies. Manag. Decis. 2008, 46, 1313–1325. [CrossRef]Kalisch, B.J.; Aebersold, M. Interruptions and multitasking in nursing care. Jt. Comm. J. Qual. Patient Saf. 2010, 36, 126–132. [CrossRef]Céspedes, N.; Irfan, B.; Senft, E.; Cifuentes, C.A.; Gutierrez, L.F.; Rincon-Roncancio, M.; Belpaeme, T.; Múnera, M. A Socially Assistive Robot for Long-Term Cardiac Rehabilitation in the Real World. Front. Neurorobot. 2021, 15, 1–19. [CrossRef]Fasola, J.; Matari´c, M.J. Using socially assistive human-robot interaction to motivate physical exercise for older adults. Proc. IEEE 2012, 100, 2512–2526. [CrossRef]Masvaure, P.; Ruggunan, S.; Maharaj, A. Work Engagement, Intrinsic Motivation and Job Satisfaction among Employees of a Diamond Mining Company in Zimbabwe. J. Econ. Behav. Stud. 2014, 6, 488–499. [CrossRef]Casas, J.; Cespedes, N.; Múnera, M.; Cifuentes, C.A. Human-Robot Interaction for Rehabilitation Scenarios; Academic Press: Cambridge, MA, USA, 2020; pp. 1–31. [CrossRef]Leite, I.; Martinho, C.; Paiva, A. Social Robots for Long-Term Interaction: A Survey; Springer: New York, NY, USA, 2013; pp. 291–308. [CrossRef]Cifuentes, C.A.; Pinto, M.J.; Céspedes, N.; Munera, M. Social Robots in Therapy and Care; Springer: Berlin/Heidelberg, Germany, 2020. [CrossRef]Heerink, M.; Vanderborght, B.; Broekens, J.; Albo-Canals, J. New Friends: Social Robots in Therapy and Education. Int. J. Soc. Robot. 2016, 8, 443–444. [CrossRef]Fischinger, D.; Einramhof, P.; Papoutsakis, K.; Wohlkinger, W.; Mayer, P.; Panek, P.; Hofmann, S.; Koertner, T.; Weiss, A.; Argyros, A.; et al. Hobbit, a care robot supporting independent living at home: First prototype and lessons learned. Robot. Auton. Syst. 2016, 75, 60–78. [CrossRef]Riek, L.D. Healthcare robotics. Commun. ACM 2017, 60, 68–78. [CrossRef]Céspedes Gómez, N.; Calderon Echeverria, A.V.; Munera, M.; Rocon, E.; Cifuentes, C.A. First Interaction Assessment between a Social Robot and Children Diagnosed with Cerebral Palsy in a Rehabilitation Context; Association for Computing Machinery: New York, NY, USA, 2021; pp. 484–488. [CrossRef]Martí Carrillo, F.; Butchart, J.; Knight, S.; Scheinberg, A.; Wise, L.; Sterling, L.; McCarthy, C. In-situ design and development of a socially assistive robot for paediatric rehabilitation. In Proceedings of the ACM/IEEE International Conference on Human-Robot Interaction, Vienna, Austria, 6–9 March 2017; pp. 199–200. [CrossRef]Matari´c, M.J.; Eriksson, J.; Feil-Seifer, D.J.; Winstein, C.J. Socially assistive robotics for post-stroke rehabilitation. J. Neuroeng. Rehabil. 2007, 4, 5. [CrossRef] [PubMed]Munera, M.; Marroquin, A.; Jimenez, L.; Lara, J.S.; Gomez, C.; Rodriguez, S.; Rodriguez, L.E.; Cifuentes, C.A. Lokomat Therapy in Colombia: Current State and Cognitive Aspects; IEEE: London, UK, 2017; pp. 394–399. [CrossRef]Casas, J.A.; Céspedes, N.; Cifuentes, C.A.; Gutierrez, L.F.; Rincón-Roncancio, M.; Múnera, M. Expectation vs. reality: Attitudes towards a socially assistive robot in cardiac rehabilitation. Appl. Sci. 2019, 9, 4651. [CrossRef]Chen, S.C.; Jones, C.; Moyle, W. Health Professional and Workers Attitudes Towards the Use of Social Robots for Older Adults in Long-Term Care. Int. J. Soc. Robot. 2019, 12, 1135–1147. [CrossRef]Cespedes, N.; Munera, M.; Gomez, C.; Cifuentes, C.A. Social Human-Robot Interaction for Gait Rehabilitation. IEEE Trans. Neural Syst. Rehabil. Eng. 2020, 28, 1299–1307. [CrossRef] [PubMed]Céspedes, N.; Raigoso, D.; Múnera, M.; Cifuentes, C. 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