What is a NAO robot? What is the Mask of eNAOtion? I want to discuss how it is used, why and how this project is contributing to the treatment of autism.

1. NAO ROBOT: MASK OF
ENAOTION
LINA ALAGRAMI

2. WHAT IS A NAO ROBOT?

3. THE NAO ROBOT
● Autonomous, intelligent, educational programmable humanoid robots
developed by Aldebaran Robotics

4. NAO ROBOT AND AUTISM
● Autism Solution for Kids (ASK) NAO is an interactive, educational and easily
implemented tool
● These applications are of a particular style:
○ NAO prompts the student
○ waits for the appropriate response, and provides a reward when the it is correct
○ or, when the response is incorrect, encouragement and a clue

5. WHAT IS THE MASK OF ENAOTION?

6. MASK OF ENAOTION
● A mask worn by a NAO robot to display different emotions
● It is controlled by ‘Game of eNAOtion’
● The aim of it is to contribute to the treatment of autism in young children

7. DESIGN: MASK OF ENAOTION
The Mask
The mask is controlled by an
LED display driver
MASK
CONTROLLER
Themaskismadeusingathree
PCBswithsurfacemounted
LEDs
ROBOT-MASK
COMMUNICATION
TheNAOrobot controlsthe
maskviaaUSBtoSerial module

8. DESIGN: THE MASK
● Materials considered:
○ Printed Circuit Boards (PCBs)
○ Fabric
○ Printouts
● LEDs
○ Orange surface mount LEDs
○ Mouth: 3 x 8 matrix
○ Eyebrows: 2 x 4 matrix (each)

9. DESIGN: MASK OF ENAOTION
The mask is made using a
three PCBs with surface
mounted LEDs
MASK
CONTROLLERThe Mask
Themaskiscontrolledby an
LEDdisplay driver
ROBOT-MASK
COMMUNICATION
TheNAOrobot controlsthe
maskviaaUSBtoSerial module

10. DESIGN: MASK CONTROLLER
● LED display drivers considered:
○ Maxim MAX7219 IC
○ Holtek HT16K33 IC

11. DESIGN: MASK OF ENAOTION
ROBOT-MASK
COMMUNICATION
The NAO robot controls the
mask via a USB to Serial
module
The Mask
Themaskiscontrolledby an
LEDdisplay driver
MASK
CONTROLLER
Themaskismadeusingathree
PCBswithsurfacemounted
LEDs

12. DESIGN: ROBOT-MASK
COMMUNICATION
● Microcontroller:
o None: NAO robot controls the mask via a USB-I2C module

13. TESTING HARDWARE: PROTOTYPING
Prototype 1
Determining LED matrix size
Prototype 2
Controllingready made8x8LED
matrices(SPI andI2C)
Prototype 3
Controllingcustommade3x8
and5x8LEDmatrices

14. TESTING HARDWARE: PROTOTYPE 1

15. TESTING HARDWARE: PROTOTYPING
Controlling ready made 8x8
LED matrices (SPI and I2C)
Prototype 2Prototype 1
DeterminingLEDmatrixsize
Prototype 3
Controllingcustommade3x8
and5x8LEDmatrices

16. TESTING HARDWARE: PROTOTYPE 2
● Maxim (SPI protocol):
● Holtek (I2C protocol):

17. TESTING HARDWARE: PROTOTYPING
Prototype 3
Controlling custom made
3x8 and 5x8 LED matrices
Prototype 1
DeterminingLEDmatrixsize
Prototype 2
Controllingready made8x8LED
matrices(SPI andI2C)

18. TESTING HARDWARE: PROTOTYPE 3
● 3x8 LED Matrix:
● 5x8 LED Matrix:

19. END PRODUCT

20. THE MASK OF ENAOTION
● PCB schematics
● The Mask

21. WHAT IS THE GAME OF ENAOTION?

22. GAME OF ENAOTION

23. TESTING SOFTWARE

24. DEMO

25. USER TESTING

26. USER TESTING: CUT-OUTS
Cut-Out Emotion Detection
Happy Detected
Sad Detected
Angry Detected
Shocked Detected

27. USER TESTING: REAL HUMANS
User Happy Sad Angry Shocked
1 Detected Detected Detected Detected
2 Detected Detected Detected Detected
3 Detected Undetected Detected Detected
4 Detected Undetected Detected Detected
5 Detected Undetected Detected Detected
6 Detected Undetected Detected Detected
7 Detected Detected Detected Detected
8 Detected Undetected Detected Detected
9 Detected Undetected Detected Detected
10 Detected Undetected Detected Detected
11 Detected Undetected Detected Detected
12 Detected Detected Detected Detected
13 Detected Detected Detected Detected
14 Detected Detected Detected Detected
15 Detected Detected Detected Detected

28. LIMITATIONS & IMPROVEMENTS

29. LIMITATIONS & IMPROVEMENTS
● Number of LEDs used
● Combining USB-I2C module and HT16K33 IC on one board
● Communication between NAO and the Mask
● Different PCB board type
● Different LEDs
● Mask base

30. THANK YOU
For questions or suggestions:
Lina Alagrami
alagrami@thoughtworks.com