Roman10 mazzei

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Roman10 mazzei

  1. 1. The FACE of Autism<br />Daniele Mazzei University of Pisa<br />IEEE Ro-Man 2010 Viareggio 12th-15th sept 2010<br />
  2. 2. Mindblindness<br />People with autism are known to have great difficulties in inferring and analysingmental states, both their own and of others. <br />S. Baron-Cohen has defined mindblindness as the inability to develop an awareness of what is in the mind of another human<br />
  3. 3. ASD and Robotics<br />In recent years, robots have been proposed for the treatment and rehabilitation of people with cognitive disorders.<br />Human-like robots which embody emotional states expression, empathy and non-verbal communication have also been proposed for autism therapy<br />
  4. 4. Our Hypothesis<br />Therapy in which a robot is able to adapt its behaviour in response to a patient’s postulated mental states can help ASD subjects to improve their social skills.<br />We call this adaptive therapy.<br />
  5. 5. FACET platform<br />FACE android<br />Gaze tracking hat<br />Sensorized T-Shirt<br />Face Control Unit<br />(Bodymap and brain)<br />Face tracking and facial expression recognition<br />Inertial platform<br />Room motorized cameras<br />Face configurator and control interface<br />Environmental microphone<br />
  6. 6. FACE (Facial Automaton for Conveying Emotions)<br /> Phase 1 Phase 2 Phase 3<br />Limited expressivity<br />Aesthetically not appreciated<br />1 ASD and 1 control subject tested<br />Well accepted by ASD but not comfortable for the controlsubject <br />Improved aesthetically and in expressivity<br />4 ASD and 3 control subjects tested<br />Better accepted by ASD and control subject<br />Improved empathic link<br />Current phase<br /><ul><li>PioggiaG, et al. 2005, IEEE Transactions
  7. 7. Pioggia G. et al. 2008, Cybertherapy and Rehabilitation</li></li></ul><li>FACE3<br />
  8. 8. Sensorized Shirt<br />Based on e-textiles<br />Gathers, computes and transmits HR, HRV, RR, skin conductance, skin temperature and respiratory rate<br />All this signals can be correlated with subject emotional states<br />Made by SmartexSrl, Prato, Italy<br />
  9. 9. HATCAM Eye Tracker<br />Wearable and specifically designed to investigate early attention disorders in infants<br />Hat or Band mounted system <br />fast and easy calibration procedure <br />Mirror allows to use images of both eyes (3D gaze point identification)<br />A.Armato, et al. GNB 2010<br />Patent: TO2008A000862 2008<br />
  10. 10. Robotics4.Net<br />The framework proposes a software architecture inspired to the human nervous system architecture<br /><ul><li>The Brain: The core of control system
  11. 11. The Bodymap: A sort of black board used to send and receive messages
  12. 12. The Roblets: The appendix of the system, as the parts of our nervous system, read data from the environment and convert the Brain signal into an action</li></ul>Each acquisition or actuation system is an independent roblet<br />
  13. 13. The Joker Effect<br />The Joker effect consists in the generation of unsuitable expressions for the therapeutic context and could induce fear or discomfort in the subject.<br />It is a emphatic misalignment typical of sociopaths<br />We need to modulate in intensity the expressions<br />
  14. 14. Happy +3<br />Surprised +2<br />Sad +1<br />Neutral 0<br />Angry -1<br />Disgusted -2<br />Fearful -3<br />Adaptive Control Paradigm<br />+1<br />0<br />-1<br />FACE mood state<br />FACET Signal processing algorithm<br />Subject physiological signals<br />Base line signals<br />Expressions selection and intensity calculation algorithm<br />FACE operator GUI<br />Happiness +3<br />Surprise +2<br />Sadness +1<br />Neutral 0<br />Anger -1<br />Disgust -2<br />Fear -3<br />0 +1<br />FACE terapist GUI<br />FACE Android<br />
  15. 15. Happy +3<br />Surprised +2<br />Sad +1<br />Neutral 0<br />Angry -1<br />Disgusted -2<br />Fearful -3<br />Adaptive Control Paradigm<br />+1<br />0<br />-1<br />FACE mood state<br />FACET Signal processing algorithm<br />Subject physiological signals<br />Base line signals<br />Expressions selection and intensity calculation algorithm<br />FACE operator GUI<br />Happiness +3<br />Surprise +2<br />Sadness +1<br />Neutral 0<br />Anger -1<br />Disgust -2<br />Fear -3<br />0 +1<br />FACE terapist GUI<br />FACE Android<br />
  16. 16. Happy +3<br />Surprised +2<br />Sad +1<br />Neutral 0<br />Angry -1<br />Disgusted -2<br />Fearful -3<br />Adaptive Control Paradigm<br />+1<br />0<br />-1<br />FACE mood state<br />FACET Signal processing algorithm<br />Subject physiological signals<br />Base line signals<br />Expressions selection and intensity calculation algorithm<br />FACE operator GUI<br />Happiness +3<br />Surprise +2<br />Sadness +1<br />Neutral 0<br />Anger -1<br />Disgust -2<br />Fear -3<br />0 +1<br />FACE terapist GUI<br />FACE Android<br />
  17. 17. Happy +3<br />Surprised +2<br />Sad +1<br />Neutral 0<br />Angry -1<br />Disgusted -2<br />Fearful -3<br />Adaptive Control Paradigm<br />+1<br />0<br />-1<br />FACE mood state<br />FACET Signal processing algorithm<br />Subject physiological signals<br />Base line signals<br />Expressions selection and intensity calculation algorithm<br />FACE operator GUI<br />Happiness +3<br />Surprise +2<br />Sadness +1<br />Neutral 0<br />Anger -1<br />Disgust -2<br />Fear -3<br />0 +1<br />FACE terapist GUI<br />FACE Android<br />
  18. 18. Expressions Creation<br />3D simulator of FACE allows to study and design facial expressions<br />The final expression intensity is modulated merging the motor position of the selected expression with that of the neutral expression<br />
  19. 19. Preliminary results<br />At the moment the therapy/paradigm was tested with 10 ASD subjects and 5 controls <br />No subjects showed discomfort or fear during the therapy<br />Preliminary signal analysis showed a correlation between heart rate variability and intensity of interaction <br />
  20. 20. Conclusions and Future Works<br />FACET system could have a wide range of applications in the study of non-verbal communication and expression.<br />On going experiments on control and ASD subjects <br />More tests of the adaptive control algorithm and of the FACET hardware/software infrastructure<br />Using of the FACET platform to perform generic studies on the human-robot empathic link <br />
  21. 21. Thanks For Your Attention<br />Questions?<br />IEEE Ro-Man 2010<br />

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