IEEE Robotics & Automation Magazine - June 2019 - 46

Yes

TD

3

31

2.74

Yes

TD

4

15

4.33

Yes

TD

5

44

7.57

No

TD

6

58

2.89

Yes

TD

7

18

2.78

No

TD

8

11

8

No

TD

9

7

1.58

Yes

TD

10

12

2.21

Yes

TD

11

32

0.89

Yes

TD

12

28

3.8

Yes

ASD

13

15

4.36

Yes

ASD

14

12

3.84

No

ASD

15

7

10.03

No

ASD

16

22

4.32

Yes

ASD

17

11

5.53

No

ASD

15
10
5
0

0.23583 0.32833

0.34567
(a)

0.3745

0.51617

Interaction Pattern: Sensory Station
Activity Versus Emotion Game-TD Group

70
60
50
40
30
20
10
0

0.561

4.26

0.467

25

0.46667

2

20

0.415

TD

0.36717

Yes

0.28517

4.06

0.27033

47

0.21767

1

25

0.20217

Group

30

0.18117

Success
of ER

Interaction Pattern: Sensory Station
Activity Versus Emotion Game-ASD Group

0.16283

Emotional
Difference

Length of
Interaction (Emotion Game)

ID

Length of Interaction
(Number of Turns)

Length of
Interaction (Emotion Game)

Table 2. Results from the emotional-interaction
activity.

(b)

Length (Number of Turns)

Lengths of Emotion Interactions per Group
60
50
40
30
20
10
ASD

TD
Group

Figure 8. Distribution of the lengths of interactions for both
groups.

It is important to note that the emotional-interaction game
preceded this activity in every session. Because the outcome measure of this study was the engagement index for
each participant, we also investigated any identifiable
trends in the children's performances of both activities. The
results are discussed in the following section.
Experimental Results
To evaluate the effectiveness of this framework in conducting
emotional interactions with both the TD and ASD children,
46

*

Figure 9. The correlation among participant performances in
emotional interaction and sensory station activities for both groups.
(a) The ASD group and (b) the TD group.

IEEE ROBOTICS & AUTOMATION MAGAZINE

*

JUNE 2019

two metrics were obtained from the participant's sessions: the
length of the interaction and the success of the ER capability.
The length of the interaction was calculated as the number of
turns taken by the participant in the interaction sequence.
The success of the ER capability was then calculated by the
emotional difference between the participant's and the character's last few emotional states (dependent measure), as
determined by the mapping of emotions on the circumplex. A
distance less than 10% of the maximal range in the emotional
domain was considered a successful execution of ER. The
final 30% of the emotional exchanges over the entire length of
each participant's interaction were utilized in the measurement of this distance.
Table 2 summarizes the results from the emotionalinteraction activity for both groups, listing the lengths of
interaction, emotional distances, and success of ER for all
participants. For both these metrics, a one-way analysis
of variance (ANOVA) was applied to the data collected
from both groups. Because the TD group was almost
twice the size of the ASD group, we used the data from
only seven of the TD participants (IDs: 1, 3, 5, 6, 7, 10,
and 11). These participants were selected such that they



IEEE Robotics & Automation Magazine - June 2019

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