Clinical Application of Humanoid Robots in Playing Imitation Games for Autistic Children in Iran

Taheri, Alireza; Alemi, Minoo; Meghdari, A.; Pouretemad, Hamidreza; Holderread, S.L.

doi:10.1016/j.sbspro.2015.01.556

Cited by 40 publications

(23 citation statements)

References 9 publications

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“…This was true even for a model with more complex kinematics (a three-dimensional model with non-spherical hip joints), although the produced walking was too slow. However, this problem did not have a serious con ict with the goals expected for the robot [25][26][27][28].…”

Section: Resultsmentioning

confidence: 96%

“…These factors make it di cult to use a dynamic stability criterion. Fortunately, considering the goals expected for this robot [25][26][27][28][29], it does not need to walk too fast; thus, static stability has been used in this paper. Review of the construction of this robot (see Figure 1) shows a 6.09 cm o set at the hip.…”

Section: The Alice \Mina" Humanoid Robotmentioning

confidence: 99%

“…In this research, a GPG is developed for the humanoid robot \Alice" with the given Iranian name \Mina" [24], as shown in Figure 1. This robot has been used in autism treatment as a therapy assistant and in English as a Second Language (ESL) education [25][26][27][28]. Although this robot has the capability of walking, no walking pattern has been designed for it thus far.…”

Section: Introductionmentioning

confidence: 99%

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Employing a Novel Gait Pattern Generator on a Social Humanoid Robot

2019

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This paper presents a novel Gait Pattern Generator (GPG) developed for the \Alice" social humanoid robot, which up to now lacked an appropriate walking pattern. Due to the limitations of this robot, the proposed gate pattern generator was formulated based on a nine-mass model to decrease the modeling errors and the inverse kinematics of the whole lower-body was solved in such a way that the robot remained statically stable during the movements. The main challenge of this work was to solve the inverse kinematics of a 7-link chain with 12 degrees of freedom. For this purpose, a new graphical-numerical technique has been provided using the de nition of the kinematic equations of the robot joints' Cartesian coordinates. This method resulted in a signi cant increase in the solution rate of calculations. Finally, a novel algorithm was developed for step-by-step displacement of the robot towards a desired destination in a two-dimensional space. Performance of the proposed gate pattern generator was evaluated both with a model of the robot in a MATLAB Simulink environment and in real experiments with the Alice humanoid robot.

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Section: Resultsmentioning

confidence: 96%

Section: The Alice \Mina" Humanoid Robotmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Employing a Novel Gait Pattern Generator on a Social Humanoid Robot

2019

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“…For example, statistics have shown an epidemic increase since 1960's in cases of Autistic Spectrum Disorders (ASD). In recent years, robots have been increasingly used in autism diagnosis and treatment [55]. Humanoid robots have also been used for the treatment for cerebral palsy disabilities present in children that cause impairment in movement and posture [56].…”

Section: 2applicationsmentioning

confidence: 99%

“…Socially Assistive Robotics (SAR) is an example of a high end technology that assists humans in rehabilitation treatment of CP and ASD. Using human like responses from humanoid robots it has been possible to develop motor skills in CP patients and to Improving social and imitation skills in autistic children [55,56].…”

Section: 2applicationsmentioning

confidence: 99%