Preface (including Acknowledgments) p. v
Editor's Introduction p. vii
List of authors p. xxi
The evolution and design of service robots in health care: evaluating the role of speech and other modalities in human-robot interaction
p. 1
A critical analysis of speech-based interaction in healthcare robots: making a case for the increased use of speech in medical and assistive robots
p. 3
Introduction p. 3
Background p. 6
Robots and health care p. 6
Speech-based interaction with machines p. 8
Technologies for spoken interaction with machines p. 11
Spoken interaction in healthcare robots - a brief review p. 13
Method p. 13 Overview of results p. 13 Findings p. 13 Discussion p. 16 Strengths p. 16 Weaknesses p. 16 Opportunities p. 17 Threats p. 17
Charting out a roadmap p. 17
Future directions: a roadmap p. 18
Evolution of speech and language technologies p. 18
More natural spoken interaction p. 21
Integrate into a multimodal interaction p. 22
Connect robots to services supporting speech interaction p. 22
Interaction design p. 23
Reduce the gap between robotic technology, health care and the users p. 23
Conclusion p. 24
Acknowledgments p. 24
References p. 24
Speech-based interaction with service robots: a survey of methods and approaches p. 31
Introduction p. 31
Methods and approaches p. 34
Command interpretation p. 34
Speech acts and probabilistic logic p. 34
Semantics and pragmatics of pick-and-place tasks p. 35
Interpretation of location and direction instructions p. 36
Extraction of spatial description clauses from linguistic input p. 37 Passive knowledge rarefication with direct memory access parsing p. 37
Template-based disambiguation p. 41
Disambiguation through NP grounding p. 42
Symbol grounding with probabilistic graphical models p. 43
Dialogue with the user p. 44
Spatial dialogue with 2D Sonar grid models p. 44
Human-robot interaction through gesture-free spoken dialogue p. 45 Talk the walk: robotic NLP vs. human sublanguage acquisition p. 48
Interaction with bystanders p. 48
Corpus-based robotics p. 49
Sublanguage acquisition p. 50
Discussion p. 53
User command disambiguation p. 53
User command disambiguation p. 54
Dialogue with the user p. 55
Sublanguage acquisition p. 56
References p. 56
Improving patient-robot interaction in health care: service robot feature effects on patient acceptance and emotional responses
p. 61
Introduction p. 61
Motivation p. 61
Current state of PRI in healthcare-related tasks p. 63
Telemedicine/Telepresence p. 64
Intelligent walker p. 65
Cognitive reminder p. 66
Social interaction and therapy p. 66
Design requirements and existing system guidelines p. 67
Role of human emotion in acceptance of robots in healthcare applications p. 68 Design of robot anthropomorphic features and effects on human responses p. 69 Design of robot etiquette and effects on human responses p. 69 Other constraints on robots in healthcare environments p. 71
System evaluation methodologies p. 73
Task performance p. 73
User compliance p. 74
Perceived anthropomorphism p. 74
Emotional response evaluation p. 75
Perceived emotional responses p. 75
Physiological responses p. 76
Case studies of robot feature designs on patient psychological experiences p. 83
Humanoid features in robots for medicine delivery p. 84
Combined humanoid features in robots for medicine delivery p. 88
Linguistic etiquette strategies in PRI p. 91
Design recommendations on humanoid features in robot design p. 95
Design recommendations on robot etiquette strategies p. 96
Design recommendations on robot hardware and functions p. 96
Integrated design recommendations p. 97
Conclusion p. 98
References p. 100
Designing embodied and virtual agents for the operating room: taking a closer look at multimodal medical-service robots and other cyber-physical systems
p. 107
Introduction p. 107
Background p. 108
Design of surgical robots p. 110
Types of surgical robots p. 110
Challenges and solutions p. 112
Conceptual modeling as a way to determine modalities of communication p. 114
Definition and terminology p. 114
A visual example p. 115
Importance of embodiment in human-machine interaction p. 116
Analyzing the performance of three cyber-physical systems designed for the operating room
p. 117
Gestix p. 118
Gestonurse p. 121
Telementoring p. 124
Discussion and conclusions p. 127
Acknowledgments p. 130
References p. 130
Design and usability of medical and assistive robots in elder care: reporting on case studies and pilot test results
p. 135
The emerging role of robotics for personal health management in the older-adult population
p. 137
Introduction p. 137
Review of literature: robots and elder care p. 140
Telehome health p. 141
Socially assistive robots for treating dementia in the elderly p. 143
Using robots for elder care: ethical considerations p. 144
Using robots for elder care: acceptance p. 147
Using robots for elder care: effectiveness p. 149
Design of robotic systems for elder care p. 150
Our exploratory study with users of eldercare robots p. 152
Study design p. 152
Study subjects p. 152
Study results p. 154
References p. 157 Enabling older adults to interact with robots: why input methods are critical for
usability
p. 163
Introduction p. 163
Considerations for choosing which input method to use p. 165
Defining older adult capabilities and limitations p. 166
Task requirements: how robots can help older adults p. 170
Robot capability and design p. 172
Choosing the right input methods p. 173
Conclusion p. 176
Acknowledgments p. 177
References p. 177
Human-robot interaction for assistance with activities of daily living: a case study of the socially and cognitively engaging Brian 2.1 in the long-term care setting
p. 183
Introduction p. 183
Background p. 186
Brian 2.1 p. 188
Socially assistive behaviors of Brian 2.1 p. 189
Memory card game p. 189
Meal-eating activity p. 191
Experiments p. 193
Memory game user study p. 193
Methods and participants p. 193
Results p. 194
One-on-one meal-eating activity p. 197
Methods and participants p. 197
Results p. 197
Discussion p. 199
Conclusion p. 201
References p. 202
Speech-driven companion robots for children with medical and neurodevelopmental disorders: presenting empirical findings of EU-sponsored projects and prototypes
p. 205
Voice-enabled assistive robots for handling autism spectrum conditions: an examination of the role of prosody
p. 207
Introduction p. 207
Background: the role of information communication technology for diagnosing and treating ASC
p. 209
Anthropomorphic, non-anthropomorphic, and non-biomimetic assistive robots p. 211 Adding prosody to socially assistive robots: challenges and solutions p. 214 Automatic recognition of intonation contour in atypical children's voice using
static and dynamic machine learning algorithms
p. 217
Automatic diagnosis of atypical children's voice p. 221
The acoustics of eye contact p. 223
Limitations p. 224
Conclusions p. 227
Acknowledgments p. 227
References p. 228
ASR and TTS for voice controlled child-robot interactions in Italian: empirical study findings on the Aliz-e project for treating children with metabolic disorders in the hospital setting
Aliz-e project p. 238
Description of the quiz game p. 239
The Aliz-e integrated system p. 241
Speech technology in Aliz-e p. 241
Automatic speech recognition p. 242
Children's speech recognition p. 243
Data collection p. 244 Julius p. 247 ASR component p. 248 Acoustic model p. 249 Language model p. 250 Adaptation p. 250 ASR results p. 251
Text to speech synthesis p. 252
Italian MaryTTS NLP modules p. 254
Italian corpus based HMM voice p. 255
Signal-driven TTS training p. 256
Integration in the robotic environment p. 258
Flexible TTS for Aliz-e p. 258
Conclusion p. 261
Acknowledgment p. 262
References p. 262
Editor's biography p. 265
