Teleoperated Robot Coaching for Mindfulness Training: A Longitudinal Study
Teleoperated Robot Coaching for Mindfulness Training: A Longitudinal Study
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DOI：
10.1109/ro-man50785.2021.9515371
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发表时间：
2021-08
期刊：
影响因子：
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通讯作者：
I. Bodala;Nikhil Churamani;H. Gunes
中科院分区：
文献类型：
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作者：
I. Bodala;Nikhil Churamani;H. Gunes
社交机器人正在融入人类的日常生活，帮助促进个人的身心健康。为了研究社交机器人提供正念训练的设计和使用，我们开发了一个远程操作框架，使经验丰富的人类教练(HC)能够通过将他们的上半身和头部动作实时复制到Pepper机器人上来虚拟地进行正念训练。佩珀的视觉被映射到HC佩戴的头盔显示器(HMD)上，并建立了双向音频管道，使HC能够通过机器人与参与者交流。为了评估参与者对遥控机器人教练(RC)的感知，我们研究了一组参与者与远程操作机器人教练(RC)在5周内的互动，并将这些互动与另一组直接与RC互动的参与者进行比较。对这些纵向数据的增长模型分析表明，所有方面的HC评级都一直大于4(满分为15)，而RC评级在过去几周中出现了增长，机器人运动和对话维度的评级有所上升。两种类型的教练提供的正念训练在所有课程中都能唤起参与者的积极反应，在生命力、亲和力和感知智力方面，HC的评分明显高于RC。研究发现，参与者的个性特征，如责任心和神经质，会影响他们对RC的感知。这些发现有助于理解HC和RC提供正念训练的认知差异，并为开发机器人教练以改善个体的心理健康提供见解。
Social robots are becoming incorporated in daily human lives, assisting in the promotion of the physical and mental wellbeing of individuals. To investigate the design and use of social robots for delivering mindfulness training, we develop a teleoperation framework that enables an experienced Human Coach (HC) to conduct mindfulness training sessions virtually, by replicating their upper-body and head movements onto the Pepper robot, in real-time. Pepper’s vision is mapped onto a Head-Mounted Display (HMD) worn by the HC and a bidirectional audio pipeline is set up, enabling the HC to communicate with the participants through the robot. To evaluate the participants’ perceptions of the teleoperated Robot Coach (RC), we study the interactions between a group of participants and the RC over 5 weeks and compare these with another group of participants interacting directly with the HC. Growth modelling analysis of this longitudinal data shows that the HC ratings are consistently greater than 4 (on a scale of 1 5) for all aspects while an increase is witnessed in the RC ratings over the weeks, for the Robot Motion and Conversation dimensions. Mindfulness training delivered by both types of coaching evokes positive responses from the participants across all the sessions, with the HC rated significantly higher than the RC on Animacy, Likeability and Perceived Intelligence. Participants’ personality traits such as Conscientiousness and Neuroticism are found to influence their perception of the RC. These findings enable an understanding of the differences between the perceptions of HC and RC delivering mindfulness training, and provide insights towards the development of robot coaches for improving the psychological wellbeing of individuals.