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A personalized and platform-independent behavior control system for social robots in therapy : development and applications

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Abstract
Social robots have been proven beneficial in different types of healthcare interventions. An ongoing trend is to develop (semi-)autonomous socially assistive robotic systems in healthcare context to improve the level of autonomy and reduce human workload. This paper presents a behavior control system for social robots in therapies with a focus on personalization and platform-independence. This system architecture provides the robot an ability to behave as a personable character, which behaviors are adapted to user profiles and responses during the human-robot interaction. Robot behaviors are designed at abstract levels and can be transferred to different social robot platforms. We adopt the component-based software engineering approach to implement our proposed architecture to allow for the replaceability and reusability of the developed components. We introduce three different experimental scenarios to validate the usability of our system. Results show that the system is potentially applicable to different therapies and social robots. With the component-based approach, the system can serve as a basic framework for researchers to customize and expand the system for their targeted healthcare applications.
Keywords
Personalized behaviors, platform-independent, robot-assisted therapy, social robots, supervised autonomy, ASSISTIVE ROBOTICS, CHILDREN, INTERVENTIONS, ENGAGEMENT, DESIGN, DEVICE, MODEL, PLAY, NAO, ASD

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MLA
Cao, Hoang-Long, et al. “A Personalized and Platform-Independent Behavior Control System for Social Robots in Therapy : Development and Applications.” IEEE TRANSACTIONS ON COGNITIVE AND DEVELOPMENTAL SYSTEMS, vol. 11, no. 3, 2019, pp. 334–46, doi:10.1109/tcds.2018.2795343.
APA
Cao, H.-L., Van de Perre, G., Kennedy, J., Senft, E., Esteban, P. G., De Beir, A., … Vanderborght, B. (2019). A personalized and platform-independent behavior control system for social robots in therapy : development and applications. IEEE TRANSACTIONS ON COGNITIVE AND DEVELOPMENTAL SYSTEMS, 11(3), 334–346. https://doi.org/10.1109/tcds.2018.2795343
Chicago author-date
Cao, Hoang-Long, Greet Van de Perre, James Kennedy, Emmanuel Senft, Pablo Gomez Esteban, Albert De Beir, Ramona Simut, Tony Belpaeme, Dirk Lefeber, and Bram Vanderborght. 2019. “A Personalized and Platform-Independent Behavior Control System for Social Robots in Therapy : Development and Applications.” IEEE TRANSACTIONS ON COGNITIVE AND DEVELOPMENTAL SYSTEMS 11 (3): 334–46. https://doi.org/10.1109/tcds.2018.2795343.
Chicago author-date (all authors)
Cao, Hoang-Long, Greet Van de Perre, James Kennedy, Emmanuel Senft, Pablo Gomez Esteban, Albert De Beir, Ramona Simut, Tony Belpaeme, Dirk Lefeber, and Bram Vanderborght. 2019. “A Personalized and Platform-Independent Behavior Control System for Social Robots in Therapy : Development and Applications.” IEEE TRANSACTIONS ON COGNITIVE AND DEVELOPMENTAL SYSTEMS 11 (3): 334–346. doi:10.1109/tcds.2018.2795343.
Vancouver
1.
Cao H-L, Van de Perre G, Kennedy J, Senft E, Esteban PG, De Beir A, et al. A personalized and platform-independent behavior control system for social robots in therapy : development and applications. IEEE TRANSACTIONS ON COGNITIVE AND DEVELOPMENTAL SYSTEMS. 2019;11(3):334–46.
IEEE
[1]
H.-L. Cao et al., “A personalized and platform-independent behavior control system for social robots in therapy : development and applications,” IEEE TRANSACTIONS ON COGNITIVE AND DEVELOPMENTAL SYSTEMS, vol. 11, no. 3, pp. 334–346, 2019.
@article{8556459,
  abstract     = {{Social robots have been proven beneficial in different types of healthcare interventions. An ongoing trend is to develop (semi-)autonomous socially assistive robotic systems in healthcare context to improve the level of autonomy and reduce human workload. This paper presents a behavior control system for social robots in therapies with a focus on personalization and platform-independence. This system architecture provides the robot an ability to behave as a personable character, which behaviors are adapted to user profiles and responses during the human-robot interaction. Robot behaviors are designed at abstract levels and can be transferred to different social robot platforms. We adopt the component-based software engineering approach to implement our proposed architecture to allow for the replaceability and reusability of the developed components. We introduce three different experimental scenarios to validate the usability of our system. Results show that the system is potentially applicable to different therapies and social robots. With the component-based approach, the system can serve as a basic framework for researchers to customize and expand the system for their targeted healthcare applications.}},
  author       = {{Cao, Hoang-Long and Van de Perre, Greet and Kennedy, James and Senft, Emmanuel and Esteban, Pablo Gomez and De Beir, Albert and Simut, Ramona and Belpaeme, Tony and Lefeber, Dirk and Vanderborght, Bram}},
  issn         = {{2379-8920}},
  journal      = {{IEEE TRANSACTIONS ON COGNITIVE AND DEVELOPMENTAL SYSTEMS}},
  keywords     = {{Personalized behaviors,platform-independent,robot-assisted therapy,social robots,supervised autonomy,ASSISTIVE ROBOTICS,CHILDREN,INTERVENTIONS,ENGAGEMENT,DESIGN,DEVICE,MODEL,PLAY,NAO,ASD}},
  language     = {{eng}},
  number       = {{3}},
  pages        = {{334--346}},
  title        = {{A personalized and platform-independent behavior control system for social robots in therapy : development and applications}},
  url          = {{http://doi.org/10.1109/tcds.2018.2795343}},
  volume       = {{11}},
  year         = {{2019}},
}

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