Implementation of interactive arm playback behaviors of social robot Zeno for autism spectrum disorder therapy

Abstract

In this paper, we describe control algorithms accomplishing human-robot interaction through mimicking behaviors between the humanoid robot Zeno and humans. Specifically, arm and torso motions of the robot follow closely those of the human, this mimicking behavior, can be used for clinical treatment and diagnosis during robot therapy of subjects suffering from Autism Spectrum Disorders (ASD). In this paper, we describe algorithms and results of implementing simple position control schemes on Zeno via visual feedback from Kinect data. The behavior can be used by therapists to achieve desired poses of the robot that may be beneficial to children with ASD by enhancing their motor skills as well as social interaction. Results show that in this case, simple actuators, sensors and control schemes can generate smooth and responsive robot trajectories.