Socially Assistive Robot-Based Intervention for Children with Autism Spectrum Disorder
نویسندگان
چکیده
vi Chapter 1: Introduction 1 1.1 Toward Socially Assistive Robotics as an Intervention For Children with ASD . . . . . . . . . 2 1.2 Approach . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 1.2.1 Designing an Interaction Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 1.2.2 BIA Architecture . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 1.3 Experimental Validation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 1.4 Contributions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 1.5 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 Chapter 2: Background 8 2.1 Autism Spectrum Disorders (ASD) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 2.1.1 Diagnosis of ASD . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 2.1.2 Intervention Strategies for Children with ASD . . . . . . . . . . . . . . . . . . . . . . 13 2.2 Socially Assistive Robotics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 2.2.1 Examples of Socially Assistive Robotics . . . . . . . . . . . . . . . . . . . . . . . . . . 14 2.3 Socially Assistive Robotics and ASD . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 2.3.1 Benchmarks for Socially Assistive Robotics . . . . . . . . . . . . . . . . . . . . . . . . 17 2.4 Embodiment and Robotics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20 2.4.1 Meaning of Embodiment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20 2.4.2 Social Effects of Embodiment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 2.5 Robot Architectures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 2.5.1 Behavior-Based Architectures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22 2.5.2 Multi-Modal Sensing and Perception . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23 2.5.3 Developmental/Epigenetic Robotics . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 2.5.4 Robot-Assisted Intervention Architectures . . . . . . . . . . . . . . . . . . . . . . . . . 26 2.6 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 Chapter 3: Socially Assistive Robot-Based Intervention Approach 28 3.1 Assistive Characteristics of Robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 3.2 Behavior Intervention Interaction Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30 3.2.1 ADOS-Inspired Interaction Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30 3.2.2 Interaction Scenarios . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32 3.3 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 ii Chapter 4: Behavior-Based Behavior Intervention Architecture (BIA) 36 4.1 Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37 4.2 Activity History Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38 4.3 Behavior Network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39 4.3.1 Task-Oriented Behavior Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39 4.3.2 Expression Behavior Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39 4.3.3 Interaction Evaluation Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40 4.3.4 Interaction Priority Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41 4.4 Sensor and Interpretation Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 4.4.1 Overhead Position Tracking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 4.4.2 Human Motion Capture . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 4.4.3 Speech and Vocalization Recognition and Classification . . . . . . . . . . . . . . . . . 43 4.5 Effector Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43 4.6 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44 Chapter 5: Experimental Validation 45 5.1 Hypotheses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45 5.2 Scenarios . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47 5.2.1 Presentation Order . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48 5.3 Evaluation of Design Properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49 5.3.1 Contingency of Robot Behavior . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49 5.3.2 Anthropomorphism . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50 5.4 BIA Architecture Evaluation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50 5.4.1 Activity History Module and Interaction Evaluation Module . . . . . . . . . . . . . . . 51 5.4.2 Interaction Priority Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52 5.4.3 Overall Architecture Evaluation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52 5.5 Human Subject Participants . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52 5.5.1 Recruitment and Informed Consent . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53 5.6 Robot Hardware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53 5.7 Control Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55 5.8 Data Collection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55 5.9 Data Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57 5.10 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60 Chapter 6: Preliminary Results 61 6.1 Role of Embodiment Pilot Experiment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61 6.1.1 Tower of Hanoi Experiment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62 6.1.2 Tower of Hanoi Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64 6.2 Contingency Pilot Experiment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65 6.2.1 Pilot Scenarios and Qualitative Observations . . . . . . . . . . . . . . . . . . . . . . . 65 6.2.2 Insights from Additional Participants . . . . . . . . . . . . . . . . . . . . . . . . . . . 67 6.2.3 Quantitative Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68 6.3 Power Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70 6.4 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70 Chapter 7: Research Status and Thesis Completion Plan 72 7.1 BIA Module Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73 7.2 Hypotheses Testing Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74 7.3 Dissertation Completion Plan . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74 7.4 Timeline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75 Reference List 75
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