Social Robotics: 14th International

Conference, ICSR 2022, Florence, Italy,

December 13–16, 2022, Proceedings,
Part I Filippo Cavallo
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 Filippo Cavallo · John-John Cabibihan ·
Laura Fiorini · Alessandra Sorrentino ·
Hongsheng He · Xiaorui Liu ·
Yoshio Matsumoto · Shuzhi Sam Ge (Eds.)
LNAI 13817

Social Robotics
14th International Conference, ICSR 2022
Florence, Italy, December 13–16, 2022
Proceedings, Part I

123
Lecture Notes in Artificial Intelligence 13817

Subseries of Lecture Notes in Computer Science

Series Editors
Randy Goebel
University of Alberta, Edmonton, Canada
Wolfgang Wahlster
DFKI, Berlin, Germany
Zhi-Hua Zhou
Nanjing University, Nanjing, China

Founding Editor
Jörg Siekmann
DFKI and Saarland University, Saarbrücken, Germany
More information about this subseries at https://link.springer.com/bookseries/1244
Filippo Cavallo · John-John Cabibihan ·
Laura Fiorini · Alessandra Sorrentino ·
Hongsheng He · Xiaorui Liu ·
Yoshio Matsumoto · Shuzhi Sam Ge (Eds.)

Social Robotics
14th International Conference, ICSR 2022
Florence, Italy, December 13–16, 2022
Proceedings, Part I
Editors
Filippo Cavallo John-John Cabibihan
University of Florence Qatar University
Florence, Italy Doha, Qatar

Laura Fiorini Alessandra Sorrentino

University of Florence University of Florence
Florence, Italy Florence, Italy

Hongsheng He Xiaorui Liu

Wichita State University Qingdao University
Wichita, KS, USA Qingdao, China

Yoshio Matsumoto Shuzhi Sam Ge

National Institute of Advanced Industrial National University of Singapore
Science and Technology Singapore, Singapore
Tsukuba, Japan

ISSN 0302-9743 ISSN 1611-3349 (electronic)

Lecture Notes in Artificial Intelligence
ISBN 978-3-031-24666-1 ISBN 978-3-031-24667-8 (eBook)
https://doi.org/10.1007/978-3-031-24667-8
LNCS Sublibrary: SL7 – Artificial Intelligence

© The Editor(s) (if applicable) and The Author(s), under exclusive license
to Springer Nature Switzerland AG 2022
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 Preface

The 14th International Conference on Social Robotics (ICSR 2022) was held as a tradi-
tional in-person conference in Florence, Italy on December 13th–16th, 2022. The theme
of ICSR 2022 was Social Robots for Assisted Living and Healthcare, emphasizing on
the increasing importance of social robotics in human daily living and society.
The International Conference on Social Robotics brings together researchers and
practitioners working on the interaction between humans and intelligent robots and on
the integration of robots into the fabric of our society. Out of a total of 143 submitted
manuscripts reviewed by a dedicated international team of editors, associate editors and
reviewers, 111 full papers were selected for inclusion into the proceedings in this book
and presented during the technical and special sessions and the conference. In addition to
paper presentation sessions, ICSR 2021 also featured three keynote talks, twelve work-
shops, two robot design competitions, and exhibitions. The keynote talks were deliv-
ered by three renowned researchers – Professor Kerstin Dautenhahn from University of
Waterloo, Canada, Professor Maria Chiara Carrozza, Italian National Research Council
(CNR), Italy, and Professor Oussama Khatib, Stanford University, United States.
We would like to express our sincere gratitude to all members of the Steering Com-
mittee, International Advisory Committee, Organizing Committee, and volunteers for
their dedication in making the conference a great success. We are indebted to the asso-
ciate editors and reviewers for their hard work in the rigorous review of the papers. We
are also very grateful to the authors, participants, and sponsors, for the continued support
to ICSR.

December 2022 Filippo Cavallo

John-John Cabibihan
Laura Fiorini
Alessandra Sorrentino
Hongsheng He
Xiaorui Liu
Yoshio Matsumoto
Shuzhi Sam Ge
 Organization

General Chair
Cavallo, Filippo University of Florence, Italy

Co-general Chair
Cabibihan, John-John Qatar University, Qatar

Honorary Chair
Ge, Shuzhi Sam National University of Singapore, Singapore

Program Chairs
Fiorini, Laura Università degli studi di Firenze, Italy
Liu, Xiaorui Qingdao University, China
Matsumoto, Yoshio National Institute of Advanced Industrial Science
and Technology, Japan

Workshop Chairs
Sorrentino, Alessandra University of Florence, Italy

Local Arrangement Chairs

La Viola, Carlo University of Florence, Italy
Mancioppi, Gianmaria Scuola Superiore Sant’Anna, Italy

Competition Chair
Kumar Pandey, Amit beingAI Limited, Hong Kong, China; Socients AI
and Robotics, Paris, France

Publication Chair
He, Hongsheng Wichita State University, USA
Rovini, Erika University of Florence, Italy
viii Organization

Publicity Chairs
Trovato, Gabriele Shibaura Institute of Technology, Tokyo, Japan
Zhao, Xiaopeng University of Tennessee, USA

Standing Committee
Ge, Shuzhi Sam National University of Singapore, Singapore

International Program Committee

Alhaddad, Ahmad Yaser Qatar University, Qatar
Belpaeme, Tony Ghent University, Belgium
Borghese, N. Alberto University of Milan, Italy
Cangelosi, Angelo University of Manchester, UK
Chi, Wenzheng Soochow University, China
Cortellessa, Gabriella ISTC-CNR, Italy
D’Onofrio, Grazia IRCSS Ospedale Casa Sollievo della Sofferenza,
Italy
De Oliveira, Ewerton Universidade Federal da Paraiba, Brazil
Esposito, Anna University of Campania, Italy
Fortunati, Leopoldina University of Udine, Italy
Greco, Claudia University of Campania, Italy
Greer, Julienne University of Texas at Arlington, USA
Hu, Yue University of Waterloo, Canada
Jiang, Wanyue Qingdao University, China
Katsanis, Ilias University of the Aegean, Greece
Li, Dongyu Beihang University, China
Liu, Xiaorui Qingdao University, China
Louie, Wing-Yue (Geoffrey) Oakland University, USA
Luperto, Matteo Università degli Studi di Milano, Milano, Italy
Mastrogiovanni, Fulvio University of Genoa, Italy
Menezes, Paulo University of Coimbra, Portugal
Perugia, Giulia Eindhoven University of Technology,
The Netherlands
Rossi, Alessandra University of Naples Federico II, Italy
Rossi, Silvia University of Naples Federico II, Italy
Sciutti, Alessandra Italian Institute of Technology, Italy
Trigili, Emilio Scuola Superiore Sant’Anna, The BioRobotics
Institute, Pontedera, Italy
Wang, Wei Beihang University, China
Wing Chee So, Catherine Chinese University of Hong Kong, China

Wykowska, Agnieszka
Xu, Jin
Associate Editors
Cavallo, Filippo
Fiorini, Laura
He, Hongsheng
Rovini, Erika
Sorrentino, Alessandra
Reviewers
Abbasi, Nida Itrat
Alban, Ahmad
Alhaddad, Ahmad Yaser
Amorese, Terry
Andriella, Antonio
Angelopoulos, Georgios
Arnelid, Maria
Avelino, João
Banfi, Jacopo
Beraldo, Gloria
Cabibihan, John-John
Carreno-Medrano, Pamela
Chen, Shengkang
Chi, Wenzheng
Cortellessa, Gabriella
Cumbal, Ronald
De Oliveira, Ewerton
Del Duchetto, Francesco
Di Nuovo, Alessandro
Esposito, Anna
Faridghasemnia, Mohamadreza
Fiorini, Laura
Forgas-Coll, Santiago
Fortunati, Leopoldina
Fracasso, Francesca
Friebe, Kassandra
Gaballa, Aya
Galofaro, Elisa
Gamboa-Montero, Juan José
Getson, Cristina
Goldsmith, Clarissa
Organization ix
Istituto Italiano di Tecnologia, Genoa, Italy
Ohio State University, USA
University of Florence, Italy
Università degli studi di Firenze, Italy
Wichita State University, USA
University of Florence, Italy
University of Florence, Italy
Gonge, Sudhanshu
Grazi, Lorenzo
Greco, Claudia
Haring, Kerstin
He, Hongsheng
Hellou, Mehdi
Higgins, Angela
Hu, Yue
Ivanova, Ekaterina
Jiang, Wanyue
Just, Fabian
Kashyap, Anwesha
Katsanis, Ilias
Khubchandani, Dr. Payal
Kim, Hyungil
Kong, Yuqi
Kshirsagar, Alap
La Viola, Carlo
Lacroix, Dimitri
Lastrico, Linda
Lauretti, Clemente
Li, Yan
Li, Dongyu
Limongelli, Rocco
Lisy, Dominika
Liu, Ziming
Longatelli, Valeria
Lotti, Nicola
Louie, Wing-Yue (Geoffrey)
Luperto, Matteo
Mancioppi, Gianmaria
x Organization
Marques-Villarroya, Sara
Marra, Alessandra
Mentasti, Simone
Morillo-Mendez, Lucas
Morreale, Luca
Ning, Mang
Oddi, Angelo
Orlandini, Andrea
Perugia, Giulia
Pipino, Vanessa
Proietti, Tommaso
Ragab, Abdelrahman Mohamed
Raimo, Gennaro
Rawal, Niyati
Rezaei Khavas, Zahra
Riches, Lewis
Rodriguez Leon, Jhon Freddy
Rogers, Kantwon
Romeo, Marta
Rossi, Silvia
Rossi, Alessandra
Rovini, Erika
Santos Assunção, Gustavo
Miguel
Saveriano, Matteo
Scotto di Luzio, Francesco
Semeraro, Francesco
Shahverdi, Pourya
Shangguan, Zhegong
Sharma, Vinay Krishna
Shatwell, David
Sorrentino, Alessandra
Sun, Zhirui
Tang, Zhihao
 Contents – Part I

Social Robot Navigation and Interaction Capabilities (Voice, Tactile)

Socially-Aware Mobile Robot Trajectories for Face-to-Face Interactions . . . . . . . 3

Yalun Wen, Xingwei Wu, Katsu Yamane, and Soshi Iba

Vehicle-To-Pedestrian Communication Feedback Module: A Study

on Increasing Legibility, Public Acceptance and Trust . . . . . . . . . . . . . . . . . . . . . . 14
Melanie Schmidt-Wolf and David Feil-Seifer

Let’s Run an Online Proxemics Study! But, How Do Results Compare

to In-Person? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Siya Kunde, Nathan Simms, Gerson Uriarte, and Brittany Duncan

AR Point&Click: An Interface for Setting Robot Navigation Goals . . . . . . . . . . . 38

Morris Gu, Elizabeth Croft, and Akansel Cosgun

Human-Aware Subgoal Generation in Crowded Indoor Environments . . . . . . . . . 50

Nick Ah Sen, Pamela Carreno-Medrano, and Dana Kulić

Speech-Driven Robot Face Action Generation with Deep Generative

Model for Social Robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
Chuang Yu, Heng Zhang, Zhegong Shangguan, Xiaoxuan Hei,
Angelo Cangelosi, and Adriana Tapus

Design of a Social Media Voice Assistant for Older Adults . . . . . . . . . . . . . . . . . . 75

Jamy Li, Noah Zijie Qu, and Karen Penaranda Valdivia

Migratable AI: Personalizing Dialog Conversations with Migration Context . . . . 89

Ravi Tejwani, Boris Katz, and Cynthia Breazeal

Generating Natural Language Responses in Robot-Mediated Referential

Communication Tasks to Simulate Theory of Mind . . . . . . . . . . . . . . . . . . . . . . . . . 100
Ziming Liu, Yigang Qin, Huiqi Zou, Eun Jin Paek, Devin Casenhiser,
Wenjun Zhou, and Xiaopeng Zhao

Towards a Framework for Social Robot Co-speech Gesture Generation

with Semantic Expression . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110
Heng Zhang, Chuang Yu, and Adriana Tapus

Tactile Interaction with a Robot Leads to Increased Risk-Taking . . . . . . . . . . . . . . 120

Qiaoqiao Ren and Tony Belpaeme
xii Contents – Part I

Affect Display Recognition Through Tactile and Visual Stimuli

in a Social Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130
Sara Marques-Villarroya, Juan Jose Gamboa-Montero,
Cristina Jumela-Yedra, Jose Carlos Castillo, and Miguel Angel Salichs

Social Robot Perception and Control Capabilities

Path-Constrained Admittance Control of Human-Robot Interaction

for Upper Limb Rehabilitation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143
Dario Onfiani, Marco Caramaschi, Luigi Biagiotti, and Fabio Pini

Causal Discovery of Dynamic Models for Predicting Human Spatial

Interactions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154
Luca Castri, Sariah Mghames, Marc Hanheide, and Nicola Bellotto

Learning User Habits to Enhance Robotic Daily-Living Assistance . . . . . . . . . . . 165

Matteo Pantaleoni, Amedeo Cesta, Alessandro Umbrico,
and Andrea Orlandini

Multi-modal Data Fusion for People Perception in the Social Robot Haru . . . . . . 174
Ricardo Ragel, Rafael Rey, Álvaro Páez, Javier Ponce,
Keisuke Nakamura, Fernando Caballero, Luis Merino, and Randy Gómez

Adaptive Behavior Generation of Social Robots Based on User Behavior

Recognition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188
Woo-Ri Ko, Minsu Jang, Jaeyeon Lee, and Jaehong Kim

A Transformer-Based Approach for Choosing Actions in Social Robotics . . . . . . 198

Riccardo De Benedictis, Gloria Beraldo, Gabriella Cortellessa,
Francesca Fracasso, and Amedeo Cesta

Deep Reinforcement Learning for the Autonomous Adaptive Behavior

of Social Robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 208
Marcos Maroto-Gómez, María Malfaz, Álvaro Castro-González,
and Miguel Ángel Salichs

Share with Me: A Study on a Social Robot Collecting Mental Health Data . . . . . 218
Raida Karim, Edgar Lopez, Katelynn Oleson, Tony Li, Elin A. Björling,
and Maya Cakmak

Classification of Personal Data Used by Personalised Robot Companions

Based on Concern of Exposure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 228
Lewis Riches, Kheng Lee Koay, and Patrick Holthaus
 Contents – Part I xiii

Investigating Non Verbal Interaction with Social Robots

Affective Human-Robot Interaction with Multimodal Explanations . . . . . . . . . . . 241

Hongbo Zhu, Chuang Yu, and Angelo Cangelosi

When to Help? A Multimodal Architecture for Recognizing When a User

Needs Help from a Social Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 253
Jason R. Wilson, Phyo Thuta Aung, and Isabelle Boucher

If You Are Careful, So Am I! How Robot Communicative Motions Can

Influence Human Approach in a Joint Task . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 267
Linda Lastrico, Nuno Ferreira Duarte, Alessandro Carfí,
Francesco Rea, Fulvio Mastrogiovanni, Alessandra Sciutti,
and José Santos-Victor

Exploring Non-verbal Strategies for Initiating an HRI . . . . . . . . . . . . . . . . . . . . . . . 280

Francesco Vigni and Silvia Rossi

On the Emotional Transparency of a Non-humanoid Social Robot . . . . . . . . . . . . 290

Francesco Vigni, Alessandra Rossi, Linda Miccio, and Silvia Rossi

Transparent Interactive Reinforcement Learning Using Emotional

Behaviours . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 300
Georgios Angelopoulos, Alessandra Rossi, Gianluca L’Arco,
and Silvia Rossi

What Do I Look Like? A Conditional GAN Based Robot Facial

Self-Awareness Approach . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 312
Shangguan Zhegong, Chuang Yu, Wenjie Huang, Zexuan Sun,
and Adriana Tapus

Modeling and Evaluation of Human Motor Learning by Finger

Manipulandum . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 325
Amr Okasha, Sabahat Şengezer, Ozancan Özdemir, Ceylan Yozgatlıgil,
Ali E. Turgut, and Kutluk B. Arıkan

Motor Interference of Incongruent Hand Motions in HRI Depends

on Movement Velocity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 335
Mertcan Kaya and Kolja Kühnlenz
xiv Contents – Part I

Foster Attention and Engagement Strategies in Social Robots

Attributing Intentionality to Artificial Agents: Exposure Versus Interactive

Scenarios . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 347
Lorenzo Parenti, Serena Marchesi, Marwen Belkaid,
and Agnieszka Wykowska

Does Embodiment and Interaction Affect the Adoption of the Intentional

Stance Towards a Humanoid Robot? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 357
Ziggy O’Reilly, Uma Prashant Navare, Serena Marchesi,
and Agnieszka Wykowska

A Case for the Design of Attention and Gesture Systems for Social Robots . . . . 367
Romain Maure, Erik A. Wengle, Utku Norman,
Daniel Carnieto Tozadore, and Barbara Bruno

Introducing Psychology Strategies to Increase Engagement on Social

Robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 378
Fernando Alonso-Martin, Sara Carrasco-Martínez,
Juan José Gamboa-Montero, Enrique Fernández-Rodicio,
and Miguel Ángel Salichs

Hey, Robot! An Investigation of Getting Robot’s Attention Through Touch . . . . 388

Hagen Lehmann, Adam Rojik, Kassandra Friebe, and Matej Hoffmann

Gaze Cueing and the Role of Presence in Human-Robot Interaction . . . . . . . . . . . 402

Kassandra Friebe, Sabína Samporová, Kristína Malinovská,
and Matej Hoffmann

Special Session 1: Social Robotics Driven by Intelligent Perception

and Endogenous Emotion-Motivation Core

An Efficient Medicine Identification and Delivery System Based

on Mobile Manipulation Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 417
Meiyuan Zou, Qingchuan Xu, Jianfeng Bian, Dingfeng Chen,
Wenzheng Chi, and Lining Sun

A Generative Adversarial Network Based Motion Planning Framework

for Mobile Robots in Dynamic Human-Robot Integration Environments . . . . . . . 427
Yuqi Kong, Yao Wang, Yang Hong, Rongguang Ye, Wenzheng Chi,
and Lining Sun

Research on 3D Face Reconstruction Based on Weakly Supervised Learning . . . 440

Zewei Su, Lanfang Dong, Xuejie Ji, Guoming Li, and Xierong Zhu
 Contents – Part I xv

Robot Differential Behavioral Expression in Different Scenarios . . . . . . . . . . . . . 451

Zhonghao Zhang, Wanyue Jiang, Rui Zhang, Yuhan Zheng,
and Shuzhi Sam Ge

Building an Affective Model for Social Robots with Customizable

Personality . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 463
Ziyan Zhang, Wenjing Yang, and Wei Wang

A Multimodal Perception and Cognition Framework and Its Application

for Social Robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 475
Lanfang Dong, PuZhao Hu, Xiao Xiao, YingChao Tang, Meng Mao,
and Guoming Li

Indoor Mobile Robot Socially Concomitant Navigation System . . . . . . . . . . . . . . 485

Rui Zhang, Wanyue Jiang, Zhonghao Zhang, Yuhan Zheng,
and Shuzhi Sam Ge

NRTIRL Based NN-RRT* Path Planner in Human-Robot Interaction

Environment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 496
Yao Wang, Yuqi Kong, Zhiyu Ding, Wenzheng Chi, and Lining Sun

Special Session 2: Adaptive Behavioral Models of Robotic Systems

Based on Brain-Inspired AI Cognitive Architectures

Can I Feel You? Recognizing Human’s Emotions During Human-Robot

Interaction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 511
Laura Fiorini, Federica G. C. Loizzo, Grazia D’Onofrio,
Alessandra Sorrentino, Filomena Ciccone, Sergio Russo,
Francesco Giuliani, Daniele Sancarlo, and Filippo Cavallo

A Reinforcement Learning Framework to Foster Affective Empathy

in Social Robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 522
Alessandra Sorrentino, Gustavo Assunção, Filippo Cavallo,
Laura Fiorini, and Paulo Menezes

Robotics Technology for Pain Treatment and Management: A Review . . . . . . . . . 534

Angela Higgins, Alison Llewellyn, Emma Dures,
and Praminda Caleb-Solly

Implications of Robot Backchannelling in Cognitive Therapy . . . . . . . . . . . . . . . . 546

Antonio Andriella, Carme Torras, and Guillem Alenyà

Prototyping an Architecture of Affective Robotic Systems Based

on the Theory of Constructed Emotion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 558
Kuldar Taveter and Alar Kirikal
xvi Contents – Part I

A Named Entity Recognition Model for Manufacturing Process Based

on the BERT Language Model Scheme . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 576
Manu Shrivastava, Kota Seri, and Hiroaki Wagatsuma

Author Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 589

 Contents – Part II

Advanced HRI Capabilities for Interacting with Children

A Model Child? Behavior Models for Simulated Infant-Robot Interaction . . . . . 3

Ameer Helmi, Kristen M. Koenig, and Naomi T. Fitter

Children Perceived Perception of a Mini-Humanoid Social Robot Based

on a Psychometric Scale: A Pilot Study in Greece . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Ilias Katsanis, Ahmad Yaser Alhaddad, John-John Cabibihan,
and Vassilis Moulianitis

Computational Audio Modelling for Robot-Assisted Assessment

of Children’s Mental Wellbeing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Nida Itrat Abbasi, Micol Spitale, Joanna Anderson, Tamsin Ford,
Peter B. Jones, and Hatice Gunes

The Sound of Actuators in Children with ASD, Beneficial or Disruptive? . . . . . . 36

Melanie Jouaiti, Eloise Zehnder, and François Charpillet

Evaluating Robot Acceptance in Children with ASD and Their Parents . . . . . . . . 45

Eloise Zehnder, Melanie Jouaiti, and François Charpillet

Living with Haru4Kids: Child and Parent Perceptions of a Co-Habitation

Robot for Children . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
Leigh Levinson, Gonzalo A. Garcia, Guillermo Perez,
Gloria Alvarez-Benito, J. Gabriel Amores, Mario Castaño-Ocaña,
Manuel Castro-Malet, Randy Gomez, and Selma Šabanović

Towards Developing Adaptive Robot Controllers for Children with Upper

Limb Impairments - Initial Data Collection and Analysis . . . . . . . . . . . . . . . . . . . . 64
Melanie Jouaiti, Negin Azizi, Steven Lawrence, and Kerstin Dautenhahn

A Framework for Assistive Social Robots for Detecting Aggression

in Children . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
Ahmad Yaser Alhaddad, Abdulaziz Al-Ali, Amit Kumar Pandey,
and John-John Cabibihan

Kaspar Causally Explains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85

Hugo Araujo, Patrick Holthaus, Marina Sarda Gou, Gabriella Lakatos,
Giulia Galizia, Luke Wood, Ben Robins, Mohammad Reza Mousavi,
and Farshid Amirabdollahian
xviii Contents – Part II

Social Robots as Advanced Educational Tool

Training School Teachers to Use Robots as an Educational Tool: The

Impact on Robotics Perception . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
Giulia Pusceddu, Francesca Cocchella, Michela Bogliolo,
Giulia Belgiovine, Linda Lastrico, Maura Casadio, Francesco Rea,
and Alessandra Sciutti

Moveable Älıpbi: The Montessori Method for Robot-Assisted Alphabet

Learning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114
Aida Zhanatkyzy, Zhansaule Telisheva, Aida Amirova,
Nurziya Oralbayeva, Arna Aimysheva, and Anara Sandygulova

Social Robots in Learning Scenarios: Useful Tools to Improve Students’

Attention or Potential Sources of Distraction? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124
Samantha Charpentier, Mohamed Chetouani, Isis Truck, David Cohen,
and Salvatore M. Anzalone

Are You Paying Attention? The Effect of Embodied Interaction

with an Adaptive Robot Tutor on User Engagement and Learning
Performance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135
Anita Vrins, Ethel Pruss, Jos Prinsen, Caterina Ceccato,
and Maryam Alimardani

User Evaluation of Social Robots as a Tool in One-to-One Instructional

Settings for Students with Learning Disabilities . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146
Negin Azizi, Shruti Chandra, Mike Gray, Jennifer Fane, Melissa Sager,
and Kerstin Dautenhahn

Kinesthetic Teaching of a Robot over Multiple Sessions: Impacts on Speed

and Success . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 160
Pourya Aliasghari, Moojan Ghafurian, Chrystopher L. Nehaniv,
and Kerstin Dautenhahn

Expanding the Use of Robotics in ASD Programs in a Real Educational

Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171
Selene Caro-Via, Marc Espuña, and Raquel Ros

An Overview of Socially Assistive Robotics for Special Education . . . . . . . . . . . 183

Shyamli Suneesh and Virginia Ruiz Garate

Preliminary Investigation of the Acceptance of a Teleoperated Interactive

Robot Participating in a Classroom by 5th Grade Students . . . . . . . . . . . . . . . . . . . 194
Megumi Kawata, Masashi Maeda, Yuichiro Yoshikawa,
Hirokazu Kumazaki, Hiroko Kamide, Jun Baba, Naomi Matsuura,
and Hiroshi Ishiguro
 Contents – Part II xix

The Effects of Dyadic vs Triadic Interaction on Children’s Cognitive

and Affective Gains in Robot-Assisted Alphabet Learning . . . . . . . . . . . . . . . . . . . 204
Zhansaule Telisheva, Aida Zhanatkyzy, Nurziya Oralbayeva,
Aida Amirova, Arna Aimysheva, and Anara Sandygulova

Social Robot Applications in Clinical and Assistive Scenarios

Deep Learning-Based Multi-modal COVID-19 Screening by Socially

Assistive Robots Using Cough and Breathing Symptoms . . . . . . . . . . . . . . . . . . . . 217
Meysam Effati and Goldie Nejat

Social Robots to Support Assisted Living for Persons with Alzheimer’s

and Related Dementias . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 228
Tyler Morris, Hiroko Dodge, Sylvia Cerel-Suhl, and Xiaopeng Zhao

Assistant Robots in German Hospitals: Measuring Value Drivers

and Willingness to Pay . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 238
Marija Radic, Dubravko Radic, and Agnes Vosen

Loneliness During COVID-19 Influences Mind and Likeability Ratings

in the Uncanny Valley . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 248
Abdulaziz Abubshait, Yicen Xie, Jung-Kuan Lin, Marissa Toma,
and Eva Wiese

Telepresence Robot for Isolated Patients in the COVID-19 Pandemic:

Effects of Socio-relationship and Telecommunication Device Types
on Patients’ Acceptance of Robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 263
Soyeon Shin, Dahyun Kang, and Sonya S. Kwak

Towards the Deployment of a Social Robot at an Elderly Day Care Facility . . . . 277
Sara Cooper and Raquel Ros

Towards a Framework for the Whole-Body Teleoperation of a Humanoid

Robot in Healthcare Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 288
Francesco Porta, Carmine Tommaso Recchiuto, Maura Casadio,
and Antonio Sgorbissa

Social Robots in the Stuttering Clinic: A Human-Centred Exploration

with Speech Language Pathologists . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 299
Shruti Chandra, Torrey Loucks, Gerardo Chavez Castaneda,
and Kerstin Dautenhahn
xx Contents – Part II

Evaluating Human-in-the-Loop Assistive Feeding Robots Under Different

Levels of Autonomy with VR Simulation and Physiological Sensors . . . . . . . . . . 314
Tong Xu, Tianlin Zhao, Jesus G. Cruz-Garza,
Tapomayukh Bhattacharjee, and Saleh Kalantari

On the Way to the Future—Assistant Robots in Hospitals and Care Facilities . . . 328
Marija Radic, Agnes Vosen, and Caroline Michler

Development of Robotic Care for Older Adults with Dementia: Focus

Group and Survey Study . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 338
Fengpei Yuan, Marie Boltz, Betsy Kemeny, Sharon Bowland,
Kristina Wick, and Xiaopeng Zhao

A Mobile Social Hand Disinfection Robot for Use in Hospitals . . . . . . . . . . . . . . 348

Oskar Palinko, Rasmus P. Junge, Daniel G. Holm, and Leon Bodenhagen

Iterative Development of a Service Robot for Laundry Transport

in Nursing Homes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 359
Jonas Frei, Andreas Ziltener, Markus Wüst, Anina Havelka,
and Katrin Lohan

Exploring the Potential of Light-Enhanced HRI to Promote Social

Interactions in People with Dementia . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 371
Femke Knaapen, Kynthia Chamilothori, and Giulia Perugia

Development and Assessment of a Friendly Robot to Ease Dementia . . . . . . . . . . 381

Robert Bray, Luke MacDougall, Cody Blankenship, Kimberly Mitchell,
Fengpei Yuan, Sylvia Cerel-Suhl, and Xiaopeng Zhao

A New Study of Integration Between Social Robotic Systems

and the Metaverse for Dealing with Healthcare in the Post-COVID-19
Situations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 392
Chutisant Kerdvibulvech and Chin-Chen Chang

HapticPalm: A Wearable Robotic Device for Haptics and Rehabilitative

Hand Treatments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 402
Danilo Troisi, Mihai Dragusanu, Alberto Villani,
Domenico Prattichizzo, and Monica Malvezzi

Collaborative Social Robots Through Dynamic Game

Play Dynamics in a Collaborative Game with a Robot as a Play-Mediator . . . . . . 415

Negin Azizi, Kevin Fan, Melanie Jouaiti, and Kerstin Dautenhahn
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