IEEE Robotics & Automation Magazine - June 2019 - 57

interact only with the information that NAO sends. This way,
the caregiver never has to physically move away from the
child and the robot to set up activities. This solution facilitates
the ability of the caregiver (as an observer) to retrieve answers
and send encouraging messages, while the robot is interacting
with the child. Currently, 13 Ask NAO Tablet applications
have been developed in the DREAM project. These applications will be tested on children with ASDs following the testing protocol created by our therapists. The results and
feedback from therapists after this testing will be used to
update the Ask NAO Tablet applications.
Acknowledgment
This work received funding from the European Commission's
Seventh Framework Program as part of the DREAM project
under grant 611391.
References
[1] American Psychiatric Association, Diagnostic and Statistical Manual
of Mental Disorders (DSM-5®). Washington, D.C. American Psychiatric
Publishing, 2013.
[2] S. Thill, C. A. Pop, T. Belpaeme, T. Ziemke, and B. Vanderborght,
"Robot-assisted therapy for autism spectrum disorders with (partially)
autonomous control: Challenges and outlook," Paladyn J. Behav.
Robot., vol. 3, no. 4, pp. 209-217, 2012.
[3] P. G. Esteban et al., "How to build a supervised autonomous system
for robot-enhanced therapy for children with autism spectrum disorder," Paladyn J. Behav. Robot., vol. 8, no. 1, pp. 18-38, 2017.
[4] J. J. Diehl, L. M. Schmitt, M. Villano, and C. R. Crowell, "The clinical
use of robots for individuals with autism spectrum disorders: A critical
review," Res. Autism Spectr. Disorders, vol. 6, no. 1, pp. 249-262, 2012.
[5] B. Robins, K. Dautenhahn, R. Te Boekhorst, and A. Billard, "Robotic
assistants in therapy and education of children with autism: Can a
small humanoid robot help encourage social interaction skills?" Universal Access Inform. Soc., vol. 4, no. 2, pp. 105-120, 2005.
[6] F. Sartorato, L. Przybylowski, and D. K. Sarko, "Improving therapeutic outcomes in autism spectrum disorders: Enhancing social communication and sensory processing through the use of interactive robots,"
J. Psychiatric Res., vol. 90, pp. 1-11, July 2017.
[7] C. A. Huijnen, M. A. Lexis, R. Jansens, and L. P. de Witte, "Mapping robots
to therapy and educational objectives for children with autism spectrum
disorder," J. Autism Develop. Disorders, vol. 46, no. 6, pp. 2100-2114, 2016.
[8] B. Scassellati, H. Admoni, and M. Matarić, "Robots for use in autism
research," Annu. Rev. Biomed. Eng., vol. 14, pp. 275-294, 2012.
[9] M. Coeckelbergh et al., "A survey of expectations about the role of
robots in robot-assisted therapy for children with ASD: Ethical acceptability, trust, sociability, appearance, and attachment," Sci. Eng. Ethics,
vol. 22, no. 1, pp. 47-65, 2016.
[10] A. Peca, "Robot enhanced therapy for children with autism disorders: Measuring ethical acceptability," IEEE Technol. Soc. Mag., vol. 35,
no. 2, pp. 54-66, 2016.
[11] H.-L. Cao et al., "A survey on behavior control architectures for
social robots in healthcare interventions," Int. J. Humanoid Robot., vol.
14, no. 04, 2017. doi: 10.1142/S0219843617500219
[12] H.-L. Cao et al., "A personalized and platform-independent behavior control system for social robots in therapy: Development and appli-

cations," IEEE Trans. Cogn. Develop. Syst., Jan. 2018. doi: 10.1109/
TCDS.2018.2795343.
[13] X. Zhou, H. Cai, Y. Li, and H. Liu, "Two-eye model-based gaze estimation from a Kinect sensor," in Proc. IEEE Int. Conf. Robotics and
Automation (ICRA), 2017, pp. 1646-1653.
[14] B. Liu, H. Yu, X. Zhou, D. Tang, and H. Liu, "Combining 3D joints moving trend and geometry property for human action recognition," in Proc.
IEEE Int. Conf. Systems, Man, and Cybernetics (SMC), 2016, pp. 332-337.
[15] Y. Wang, H. Yu, B. Stevens, and H. Liu, "Dynamic facial expression
recognition using local patch and LBP-TOP," in Proc. 8th Int. Conf.
Human System Interactions (HSI), Warsaw, Poland, 2015, pp. 362-367.
[16] X. Zhou, H. Yu, H. Liu, and Y. Li, "Tracking multiple video targets
with an improved GM-PHD tracker," Sensors, vol. 15, no. 12, pp. 30,240-
30,260, 2015.
[17] T. Kinnunen and H. Li, "An overview of text-independent speaker
recognition: From features to supervectors," Speech Commun., vol. 52,
no. 1, pp. 12-40, 2010.
[18] D. Wall, J. Kosmicki, T. Deluca, E. Harstad, and V. Fusaro, "Use of
machine learning to shorten observation-based screening and diagnosis of autism," Transl. Psychiatry vol. 2, no. 4, 2012. doi: https://doi
.org/10.1038/tp.2012.10.
[19] M. Bartlett, T. Belpaeme, and S. Thill, "Towards a full spectrum diagnosis of autistic behaviours using human robot interactions," in Proc. 1st
Workshop on Social Robots in Therapy: Focusing on Autonomy and Ethical Challenges (SREC), 2018.
[20] P. G. Esteban, H.-L. Cao, A. De Beir, G. Van de Perre, D. Lefeber, and
B. Vanderborght, A multilayer reactive system for robots interacting with
children with autism. 2016. [Online]. Available: arXiv:1606.03875
[21] E. Senft, P. Baxter, J. Kennedy, S. Lemaignan, and T. Belpaeme,
"Supervised autonomy for online learning in human-robot interaction," Pattern Recog. Lett., vol. 99, pp. 77-86, Nov. 2017.
[22] C. Lord et al., "The autism diagnostic observation schedule-
generic: A standard measure of social and communication deficits
associated with the spectrum of autism," J. Autism Develop. Disorders,
vol. 30, no. 3, pp. 205-223, 2000.
[23] P. Baxter, R. Wood, and T. Belpaeme, "A touchscreen-based 'sand
tray' to facilitate, mediate and contextualise human-robot social interaction," in Proc. 7th Annu. ACM/IEEE Int. Conf. Human-Robot Interaction (HRI), 2012, pp. 105-106.
[24] D. O. David, C. A. Costescu, S. Matu, A. Szentagotai, and A.
Dobrean, "Developing joint attention for children with autism in robotenhanced therapy," Int. J. Social Robot., vol. 10, no. 5, pp. 595-605, 2018.
[25] G. Veruggio and F. Operto, "Roboethics: Social and ethical implications of robotics," in Springer Handbook of Robotics, B. Siciliano and
O. Khatib, Eds. Berlin: Springer-Verlag, 2008, pp. 1499-1524.
[26] K. Richardson et al., "Robot enhanced therapy for children with
autism (DREAM): A social model of autism," IEEE Technol. Soc. Mag.,
vol. 37, no. 1, pp. 30-39, 2018.
[27] C. A. Costescu, B. Vanderborght, and D. O. David, "Beliefs, emotions, and behaviors-Differences between children with ASD and
typically developing children. A robot-enhanced task," J. EvidenceBased Psychotherapies, vol. 16, no. 2, p. 221, 2016.
[28] GitHub, "The DREAM wiki." Dec. 17, 2017. [Online]. Available:
https://github.com/dream2020/DREAM/wiki
[29] SoftBank Robotics. Accessed on: Mar. 20, 2019. [Online]. Available:
https://www.softbankrobotics.com/emea/en/nao

JUNE 2019

*

IEEE ROBOTICS & AUTOMATION MAGAZINE

*

57
https://doi.org/10.1038/tp.2012.10 https://doi.org/10.1038/tp.2012.10 https://www.github.com/dream2020/DREAM/wiki https://www.softbankrobotics.com/emea/en/nao
IEEE Robotics & Automation Magazine - June 2019

Table of Contents for the Digital Edition of IEEE Robotics & Automation Magazine - June 2019
