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An open-source social robot based on CompliAnt SofT Robotics for therapy with children with ASD

Diego Casas-Bocanegra, Daniel Gomez-Vargas, Maria Jose Pinto Bernal (UGent) , Juan Maldonado, Marcela Munera, Adriana Villa-Moreno, Martin F. Stoelen, Tony Belpaeme (UGent) and Carlos A. Cifuentes
(2020) ACTUATORS. 9(3).
Author
Organization
Abstract
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 design methodology, 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 promising results in terms of robustness and the safety of the user and robot. Likewise, mechanical tests 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.
Keywords
AUTISM SPECTRUM DISORDER, JOINT ATTENTION, DESIGN, PATTERNS, SYSTEM, autism spectrum disorder, social assistive robotics, robot design, series elastic actuators, compliant mechanisms, autism therapy, physical, interaction

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MLA
Casas-Bocanegra, Diego, et al. “An Open-Source Social Robot Based on CompliAnt SofT Robotics for Therapy with Children with ASD.” ACTUATORS, vol. 9, no. 3, 2020, doi:10.3390/act9030091.
APA
Casas-Bocanegra, D., Gomez-Vargas, D., Pinto Bernal, M. J., Maldonado, J., Munera, M., Villa-Moreno, A., … Cifuentes, C. A. (2020). An open-source social robot based on CompliAnt SofT Robotics for therapy with children with ASD. ACTUATORS, 9(3). https://doi.org/10.3390/act9030091
Chicago author-date
Casas-Bocanegra, Diego, Daniel Gomez-Vargas, Maria Jose Pinto Bernal, Juan Maldonado, Marcela Munera, Adriana Villa-Moreno, Martin F. Stoelen, Tony Belpaeme, and Carlos A. Cifuentes. 2020. “An Open-Source Social Robot Based on CompliAnt SofT Robotics for Therapy with Children with ASD.” ACTUATORS 9 (3). https://doi.org/10.3390/act9030091.
Chicago author-date (all authors)
Casas-Bocanegra, Diego, Daniel Gomez-Vargas, Maria Jose Pinto Bernal, Juan Maldonado, Marcela Munera, Adriana Villa-Moreno, Martin F. Stoelen, Tony Belpaeme, and Carlos A. Cifuentes. 2020. “An Open-Source Social Robot Based on CompliAnt SofT Robotics for Therapy with Children with ASD.” ACTUATORS 9 (3). doi:10.3390/act9030091.
Vancouver
1.
Casas-Bocanegra D, Gomez-Vargas D, Pinto Bernal MJ, Maldonado J, Munera M, Villa-Moreno A, et al. An open-source social robot based on CompliAnt SofT Robotics for therapy with children with ASD. ACTUATORS. 2020;9(3).
IEEE
[1]
D. Casas-Bocanegra et al., “An open-source social robot based on CompliAnt SofT Robotics for therapy with children with ASD,” ACTUATORS, vol. 9, no. 3, 2020.
@article{8680359,
  abstract     = {{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 design methodology, 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 promising results in terms of robustness and the safety of the user and robot. Likewise, mechanical tests 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.}},
  articleno    = {{91}},
  author       = {{Casas-Bocanegra, Diego and Gomez-Vargas, Daniel and Pinto Bernal, Maria Jose and Maldonado, Juan and Munera, Marcela and Villa-Moreno, Adriana and Stoelen, Martin F. and Belpaeme, Tony and Cifuentes, Carlos A.}},
  issn         = {{2076-0825}},
  journal      = {{ACTUATORS}},
  keywords     = {{AUTISM SPECTRUM DISORDER,JOINT ATTENTION,DESIGN,PATTERNS,SYSTEM,autism spectrum disorder,social assistive robotics,robot design,series elastic actuators,compliant mechanisms,autism therapy,physical,interaction}},
  language     = {{eng}},
  number       = {{3}},
  pages        = {{22}},
  title        = {{An open-source social robot based on CompliAnt SofT Robotics for therapy with children with ASD}},
  url          = {{http://doi.org/10.3390/act9030091}},
  volume       = {{9}},
  year         = {{2020}},
}
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