TY - JOUR
T1 - Energetic optimization of an autonomous mobile socially assistive robot for autism spectrum disorder
AU - Fuentes-Alvarez, Ruben
AU - Morfin-Santana, Alejandro
AU - Ibañez, Karlo
AU - Chairez, Isaac
AU - Salazar, Sergio
N1 - Publisher Copyright:
Copyright © 2023 Fuentes-Alvarez, Morfin-Santana, Ibañez, Chairez and Salazar.
PY - 2023/1/26
Y1 - 2023/1/26
N2 - The usage of socially assistive robots for autism therapies has increased in recent years. This novel therapeutic tool allows the specialist to keep track of the improvement in socially assistive tasks for autistic children, who hypothetically prefer object-based over human interactions. These kinds of tools also allow the collection of new information to early diagnose neurodevelopment disabilities. This work presents the integration of an output feedback adaptive controller for trajectory tracking and energetic autonomy of a mobile socially assistive robot for autism spectrum disorder under an event-driven control scheme. The proposed implementation integrates facial expression and emotion recognition algorithms to detect the emotions and identities of users (providing robustness to the algorithm since it automatically generates the missing input parameters, which allows it to complete the recognition) to detonate a set of adequate trajectories. The algorithmic implementation for the proposed socially assistive robot is presented and implemented in the Linux-based Robot Operating System. It is considered that the optimization of energetic consumption of the proposal is the main contribution of this work, as it will allow therapists to extend and adapt sessions with autistic children. The experiment that validates the energetic optimization of the proposed integration of an event-driven control scheme is presented.
AB - The usage of socially assistive robots for autism therapies has increased in recent years. This novel therapeutic tool allows the specialist to keep track of the improvement in socially assistive tasks for autistic children, who hypothetically prefer object-based over human interactions. These kinds of tools also allow the collection of new information to early diagnose neurodevelopment disabilities. This work presents the integration of an output feedback adaptive controller for trajectory tracking and energetic autonomy of a mobile socially assistive robot for autism spectrum disorder under an event-driven control scheme. The proposed implementation integrates facial expression and emotion recognition algorithms to detect the emotions and identities of users (providing robustness to the algorithm since it automatically generates the missing input parameters, which allows it to complete the recognition) to detonate a set of adequate trajectories. The algorithmic implementation for the proposed socially assistive robot is presented and implemented in the Linux-based Robot Operating System. It is considered that the optimization of energetic consumption of the proposal is the main contribution of this work, as it will allow therapists to extend and adapt sessions with autistic children. The experiment that validates the energetic optimization of the proposed integration of an event-driven control scheme is presented.
KW - adaptive control
KW - autism spectrum disorder
KW - facial emotion recognition
KW - skid-steered autonomous robotic platform
KW - socially assistive robotics
UR - http://www.scopus.com/inward/record.url?scp=85147688484&partnerID=8YFLogxK
U2 - 10.3389/frobt.2022.1053115
DO - 10.3389/frobt.2022.1053115
M3 - Artículo
C2 - 36779207
AN - SCOPUS:85147688484
SN - 2296-9144
VL - 9
JO - Frontiers in Robotics and AI
JF - Frontiers in Robotics and AI
M1 - 1053115
ER -