IEEE Robotics & Automation Magazine - June 2019 - 24
A Socially Assistive
Robotic Platform for
Upper-Limb Rehabilitation
A Longitudinal Study
With Pediatric Patients
By José Carlos Pulido, Cristina Suárez-Mejías,
José Carlos González, Álvaro Dueñas Ruiz,
Patricia Ferrand Ferri, María Encarnación
Martínez Sahuquillo, Carmen Echevarría
Ruiz De Vargas, Pedro Infante-Cossio,
Carlos Luis Parra Calderón,
and Fernando Fernández
I
n motor rehabilitation therapies, especially with pediatric patients, there is
often a loss of interest and motivation
due to the lack of variety in exercises
and therapeutic activities. NAOTherapist (NT) is a socially assistive robotics
(SAR) platform designed to support
hands-off rehabilitation sessions through
two interactive games: mirror and Simon.
It integrates a cognitive architecture with
an NAO humanoid robot that acts as a
coach, as well as a red-green-blue-depth
(RGB-D) sensor that eases body capture.
This work aims to deploy and evaluate the developed technology for a long-term experience.
For this purpose, eight pediatric patients were recruited
by Virgen del Rocío University Hospital (VRUH) in Sevilla, Spain, for a four-month study. Six of these patients
Digital Object Identifier 10.1109/MRA.2019.2905231
Date of publication: 8 April 2019
24
*
IEEE ROBOTICS & AUTOMATION MAGAZINE
*
JUNE 2019
ROBOT-©ISTOCKPHOTO.COM/KIRILLM, BOY- ©ISTOCKPHOTO.COM/MIMALEFI,
MIRROR-IMAGE LICENSED BY INGRAM PUBLISHING
suffered from cerebral palsy (CP), and two were afflicted
with obstetric brachial plexus palsy (OBPP). The study
design comprised two evaluation phases with the same
participants: the prephase followed traditional treatment;
the postphase was supported by the NT SAR-based platform. Clinical staff members personalized each session
using a set of prescribed exercises adapted to each patient's
condition; after this, the robot behaved autonomously during the session. The NAO robot led the session, providing
1070-9932/19©2019IEEE
http://www.ISTOCKPHOTO.COM/MIMALEFI
IEEE Robotics & Automation Magazine - June 2019
Table of Contents for the Digital Edition of IEEE Robotics & Automation Magazine - June 2019
Contents
IEEE Robotics & Automation Magazine - June 2019 - Cover1
IEEE Robotics & Automation Magazine - June 2019 - Cover2
IEEE Robotics & Automation Magazine - June 2019 - Contents
IEEE Robotics & Automation Magazine - June 2019 - 2
IEEE Robotics & Automation Magazine - June 2019 - 3
IEEE Robotics & Automation Magazine - June 2019 - 4
IEEE Robotics & Automation Magazine - June 2019 - 5
IEEE Robotics & Automation Magazine - June 2019 - 6
IEEE Robotics & Automation Magazine - June 2019 - 7
IEEE Robotics & Automation Magazine - June 2019 - 8
IEEE Robotics & Automation Magazine - June 2019 - 9
IEEE Robotics & Automation Magazine - June 2019 - 10
IEEE Robotics & Automation Magazine - June 2019 - 11
IEEE Robotics & Automation Magazine - June 2019 - 12
IEEE Robotics & Automation Magazine - June 2019 - 13
IEEE Robotics & Automation Magazine - June 2019 - 14
IEEE Robotics & Automation Magazine - June 2019 - 15
IEEE Robotics & Automation Magazine - June 2019 - 16
IEEE Robotics & Automation Magazine - June 2019 - 17
IEEE Robotics & Automation Magazine - June 2019 - 18
IEEE Robotics & Automation Magazine - June 2019 - 19
IEEE Robotics & Automation Magazine - June 2019 - 20
IEEE Robotics & Automation Magazine - June 2019 - 21
IEEE Robotics & Automation Magazine - June 2019 - 22
IEEE Robotics & Automation Magazine - June 2019 - 23
IEEE Robotics & Automation Magazine - June 2019 - 24
IEEE Robotics & Automation Magazine - June 2019 - 25
IEEE Robotics & Automation Magazine - June 2019 - 26
IEEE Robotics & Automation Magazine - June 2019 - 27
IEEE Robotics & Automation Magazine - June 2019 - 28
IEEE Robotics & Automation Magazine - June 2019 - 29
IEEE Robotics & Automation Magazine - June 2019 - 30
IEEE Robotics & Automation Magazine - June 2019 - 31
IEEE Robotics & Automation Magazine - June 2019 - 32
IEEE Robotics & Automation Magazine - June 2019 - 33
IEEE Robotics & Automation Magazine - June 2019 - 34
IEEE Robotics & Automation Magazine - June 2019 - 35
IEEE Robotics & Automation Magazine - June 2019 - 36
IEEE Robotics & Automation Magazine - June 2019 - 37
IEEE Robotics & Automation Magazine - June 2019 - 38
IEEE Robotics & Automation Magazine - June 2019 - 39
IEEE Robotics & Automation Magazine - June 2019 - 40
IEEE Robotics & Automation Magazine - June 2019 - 41
IEEE Robotics & Automation Magazine - June 2019 - 42
IEEE Robotics & Automation Magazine - June 2019 - 43
IEEE Robotics & Automation Magazine - June 2019 - 44
IEEE Robotics & Automation Magazine - June 2019 - 45
IEEE Robotics & Automation Magazine - June 2019 - 46
IEEE Robotics & Automation Magazine - June 2019 - 47
IEEE Robotics & Automation Magazine - June 2019 - 48
IEEE Robotics & Automation Magazine - June 2019 - 49
IEEE Robotics & Automation Magazine - June 2019 - 50
IEEE Robotics & Automation Magazine - June 2019 - 51
IEEE Robotics & Automation Magazine - June 2019 - 52
IEEE Robotics & Automation Magazine - June 2019 - 53
IEEE Robotics & Automation Magazine - June 2019 - 54
IEEE Robotics & Automation Magazine - June 2019 - 55
IEEE Robotics & Automation Magazine - June 2019 - 56
IEEE Robotics & Automation Magazine - June 2019 - 57
IEEE Robotics & Automation Magazine - June 2019 - 58
IEEE Robotics & Automation Magazine - June 2019 - 59
IEEE Robotics & Automation Magazine - June 2019 - 60
IEEE Robotics & Automation Magazine - June 2019 - 61
IEEE Robotics & Automation Magazine - June 2019 - 62
IEEE Robotics & Automation Magazine - June 2019 - 63
IEEE Robotics & Automation Magazine - June 2019 - 64
IEEE Robotics & Automation Magazine - June 2019 - 65
IEEE Robotics & Automation Magazine - June 2019 - 66
IEEE Robotics & Automation Magazine - June 2019 - 67
IEEE Robotics & Automation Magazine - June 2019 - 68
IEEE Robotics & Automation Magazine - June 2019 - 69
IEEE Robotics & Automation Magazine - June 2019 - 70
IEEE Robotics & Automation Magazine - June 2019 - 71
IEEE Robotics & Automation Magazine - June 2019 - 72
IEEE Robotics & Automation Magazine - June 2019 - 73
IEEE Robotics & Automation Magazine - June 2019 - 74
IEEE Robotics & Automation Magazine - June 2019 - 75
IEEE Robotics & Automation Magazine - June 2019 - 76
IEEE Robotics & Automation Magazine - June 2019 - 77
IEEE Robotics & Automation Magazine - June 2019 - 78
IEEE Robotics & Automation Magazine - June 2019 - 79
IEEE Robotics & Automation Magazine - June 2019 - 80
IEEE Robotics & Automation Magazine - June 2019 - 81
IEEE Robotics & Automation Magazine - June 2019 - 82
IEEE Robotics & Automation Magazine - June 2019 - 83
IEEE Robotics & Automation Magazine - June 2019 - 84
IEEE Robotics & Automation Magazine - June 2019 - 85
IEEE Robotics & Automation Magazine - June 2019 - 86
IEEE Robotics & Automation Magazine - June 2019 - 87
IEEE Robotics & Automation Magazine - June 2019 - 88
IEEE Robotics & Automation Magazine - June 2019 - 89
IEEE Robotics & Automation Magazine - June 2019 - 90
IEEE Robotics & Automation Magazine - June 2019 - 91
IEEE Robotics & Automation Magazine - June 2019 - 92
IEEE Robotics & Automation Magazine - June 2019 - 93
IEEE Robotics & Automation Magazine - June 2019 - 94
IEEE Robotics & Automation Magazine - June 2019 - 95
IEEE Robotics & Automation Magazine - June 2019 - 96
IEEE Robotics & Automation Magazine - June 2019 - 97
IEEE Robotics & Automation Magazine - June 2019 - 98
IEEE Robotics & Automation Magazine - June 2019 - 99
IEEE Robotics & Automation Magazine - June 2019 - 100
IEEE Robotics & Automation Magazine - June 2019 - 101
IEEE Robotics & Automation Magazine - June 2019 - 102
IEEE Robotics & Automation Magazine - June 2019 - 103
IEEE Robotics & Automation Magazine - June 2019 - 104
IEEE Robotics & Automation Magazine - June 2019 - 105
IEEE Robotics & Automation Magazine - June 2019 - 106
IEEE Robotics & Automation Magazine - June 2019 - 107
IEEE Robotics & Automation Magazine - June 2019 - 108
IEEE Robotics & Automation Magazine - June 2019 - 109
IEEE Robotics & Automation Magazine - June 2019 - 110
IEEE Robotics & Automation Magazine - June 2019 - 111
IEEE Robotics & Automation Magazine - June 2019 - 112
IEEE Robotics & Automation Magazine - June 2019 - 113
IEEE Robotics & Automation Magazine - June 2019 - 114
IEEE Robotics & Automation Magazine - June 2019 - 115
IEEE Robotics & Automation Magazine - June 2019 - 116
IEEE Robotics & Automation Magazine - June 2019 - 117
IEEE Robotics & Automation Magazine - June 2019 - 118
IEEE Robotics & Automation Magazine - June 2019 - 119
IEEE Robotics & Automation Magazine - June 2019 - 120
IEEE Robotics & Automation Magazine - June 2019 - Cover3
IEEE Robotics & Automation Magazine - June 2019 - Cover4
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2023
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2023
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2023
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2023
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2022
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2022
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2022
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2022
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2021
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2021
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2021
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2021
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2020
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2020
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2020
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2020
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2019
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2019
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2019
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2019
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2018
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2018
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2018
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2018
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2017
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2017
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2017
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2017
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2016
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2016
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2016
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2016
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2015
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2015
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2015
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2015
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2014
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2014
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2014
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2014
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2013
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2013
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2013
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2013
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2012
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2012
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2012
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2012
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2011
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2011
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2011
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2011
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2010
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2010
https://www.nxtbookmedia.com