Robotic Platform Migration for NAO

Interaction with Super Pop VR during

Upper-Body Rehabilitation Scenarios

Advisor: Dr. Ayanna Howard 2017 SURE Robotics REU

Grad Mentor: Jin Xu Breanna Lee
Louisiana State University
August 2, 2017
.

Human-Automation Systems Lab

School of Electrical and Computer Engineering
Agenda
1 2 3

Motivation Current Practices Recent Work

4 5

Objective & Methodology Results & Conclusion

Neurological disorder any condition that is caused by a
dysfunction in part of the brain or nervous system,
resulting in physical and/or psychological symptoms

Nearly 1 in 6 people worldwide suffer from a

neurological disorder

15% of children in the US aged 3-17 years old are

affected by a neurodevelopment disorder

77.4 % of individuals with a neurological disorder

have a weakness or loss of upper motor control
A common thread amongst neurological
disorders is motor inhibition.

Lou Gehrigs disease Multiple Sclerosis

Cerebral Palsy
 Traditional therapy practices have several
limitations .

Repetitive practice requires presence of physical therapist

Not all populations may be able to afford daily therapy
Qualitatively evaluated
 Robot integration in rehabilitation scenarios
has been shown to enhance therapy.

Add to therapy by providing children with an incentive

Creates a bond with the patient to increase therapy efficacy
Can be customized to meet unique patient needs
HumAns Lab has developed Super Pop VR, a
serious game that increases rehab efficacy.

Feedback

Instructional

Motivational

Corrective
 The 3-Phase study sets to help users meet
performance goals and to assess effects after
robot removal.

Phase 1 Phase 2 Phase 3

Users User plays

User plays with
baseline is without
Darwin
computed Darwin

80% of the users

average threshold
values
 My research objective was to transport code
between two robotic platforms and to assess
the effects.

DARwIN-OP NAO
Morphology Mechanical Anthromorphic
DOF 20 25
Height (in) 17.9 23
Development C++ modules embedded on Choregraphe with
Environment onboard Linux OS NAOqi framework
 Introduction, correct, incorrect, and end
were behaviors programmed onto the NAO.

End Behaviors
 Threshold data was retrieved, participants played
Super Pop with NAO, and the IMI survey was issued.

IMI
Practice Gameplay
Survey

Intrinsic Motivation Inventory

Sub-Scales
Interest/Enjoyment
Perceived Competence
Value/Usefulness
Pressure/Tension
 Threshold data was retrieved, participants played
Super Pop with NAO, and the IMI survey was issued.

Game Settings
Bubble Size, Shape
Game Duration
Game Speed
Point Allocation
Sounds Effects
Bad Bubbles (inactivated)
User intrinsic motivation is equivalent during
NAO gameplay and the non-robot version.
Most participants performed better with the
NAO present during gameplay.
The NAO therapy coach assisted users in
reaching and maintaining performance goals.
The number of trials needed to reach MT goal
is the same across platforms.
Future work entails further testing comparing
robot and human roles and studies with the target
population.
Thank you!
Dr. Ayanna Howard
Jin Xu
HumAnS Lab
Dr. Sergio Garcia-Vegara
Dr. LaVonda Brown
SURE Robotics Program
Special thanks to my newfound
friends!

Pictured front row, left to right: Fudge, Ice, Cream

Pictured in back: Cookie
Prior studies have used Fitts Law to predict
human movement times in virtual reality.
Cerebral palsy, like most neurological
disorders, results in a spectrum of symptoms.
Prior studies have used Fitts Law to predict
human movement times in virtual reality.

MT = movement time
a, b = model parameters
A = distance between start and target virtual points
W = width of target
PL = path length

A
The transferal required source code retrieval,
NAO program creation, and user testing.
The transferal required source code retrieval,
NAO program creation, and user testing.
References
http://www.oxysports.com.au/Conditions/LOKOMAT%20Robotic%20Gai
t%20Assisted%20Walking.htm
http://www.robot-rentals.com/robots-for-rent/humanoid-robot/
http://cliparting.com/free-phone-clipart-6448/
http://www.medicaldaily.com/world-ms-day-multiple-sclerosis-raise-
awareness-being-independent-387686
http://cerebralpalsyscotland.org.uk/about-us/types-of-cerebral-palsy
http://www.physio-matters.org/conditions-treated/cerebral-palsy.php
https://www.cerebralpalsyguidance.com/cerebral-
palsy/treatment/intensive-suit/
https://www.fredericknewspost.com/news/economy_and_business/ser
vices/open-for-business-pediatric-physical-therapy-and-yoga-
llc/article_58661812-1356-58f0-b172-9ccf9d855e9a.html
http://www.israelelwyn.org.il/Data/UploadedFiles/UserFiles/2_Gan%20
-%20OT%20-%20child%20wchair%20-%20resize.JPG