IEEE Robotics & Automation Magazine - June 2019 - 52

Therapist
systemGUI
Child Behavior Assessment

Robot Behavior Controller

accessChildEngagement

selfMonitoringSystem

accessChildPerformance

deliberativeSystem

scriptManager

indentifyVoice

sensoryAnalysis

attentionReactionSystem

actuationSystem

cameraSelection

kinectSource

sandtrayServer

robotInterface

usbCameraSource

userModel

Sensory System

Child

Robot

Figure 3. A DREAM system architecture. The arrows represent communication between components.

(a)

(b)

(c)

Figure 4. The advanced sensing system performances: (a) gaze
estimation, (b) action recognition, and (c) object tracking.

52

*

IEEE ROBOTICS & AUTOMATION MAGAZINE

*

JUNE 2019

expressions [15], achieving a recognition rate of 63.71% under
real-life conditions. We found it very difficult to achieve a clear
partition of emotions because children tend to exhibit a combination of emotions. However, we obtained better results than
other state-of-the-art algorithms.
Object tracking helps to observe the child's behavior
regarding the toys (e.g., a plane, flower, and cup) on the intervention table. A blob-based Otsu object-detection method is
first employed to detect the objects. Then, a Gaussian mixture
probability hypothesis density tracker is used to effectively
detect and track objects in real time, even when being occluded by hands [Figure 4(c)] [16].
Audio processing provides information for the robot to
perform social attention tasks and evaluate the child's verbal
response. Speech recognition and sound direction are based
on Kinect's Software Development Kit. Voices from the
therapist and the child are labeled by classifiers such as the
Gaussian mixture model, and vector quantification in combination with mel-frequency cepstrum coefficients, and linear predictive coding features [17].



IEEE Robotics & Automation Magazine - June 2019

Table of Contents for the Digital Edition of IEEE Robotics & Automation Magazine - June 2019

Contents
IEEE Robotics & Automation Magazine - June 2019 - Cover1
IEEE Robotics & Automation Magazine - June 2019 - Cover2
IEEE Robotics & Automation Magazine - June 2019 - Contents
IEEE Robotics & Automation Magazine - June 2019 - 2
IEEE Robotics & Automation Magazine - June 2019 - 3
IEEE Robotics & Automation Magazine - June 2019 - 4
IEEE Robotics & Automation Magazine - June 2019 - 5
IEEE Robotics & Automation Magazine - June 2019 - 6
IEEE Robotics & Automation Magazine - June 2019 - 7
IEEE Robotics & Automation Magazine - June 2019 - 8
IEEE Robotics & Automation Magazine - June 2019 - 9
IEEE Robotics & Automation Magazine - June 2019 - 10
IEEE Robotics & Automation Magazine - June 2019 - 11
IEEE Robotics & Automation Magazine - June 2019 - 12
IEEE Robotics & Automation Magazine - June 2019 - 13
IEEE Robotics & Automation Magazine - June 2019 - 14
IEEE Robotics & Automation Magazine - June 2019 - 15
IEEE Robotics & Automation Magazine - June 2019 - 16
IEEE Robotics & Automation Magazine - June 2019 - 17
IEEE Robotics & Automation Magazine - June 2019 - 18
IEEE Robotics & Automation Magazine - June 2019 - 19
IEEE Robotics & Automation Magazine - June 2019 - 20
IEEE Robotics & Automation Magazine - June 2019 - 21
IEEE Robotics & Automation Magazine - June 2019 - 22
IEEE Robotics & Automation Magazine - June 2019 - 23
IEEE Robotics & Automation Magazine - June 2019 - 24
IEEE Robotics & Automation Magazine - June 2019 - 25
IEEE Robotics & Automation Magazine - June 2019 - 26
IEEE Robotics & Automation Magazine - June 2019 - 27
IEEE Robotics & Automation Magazine - June 2019 - 28
IEEE Robotics & Automation Magazine - June 2019 - 29
IEEE Robotics & Automation Magazine - June 2019 - 30
IEEE Robotics & Automation Magazine - June 2019 - 31
IEEE Robotics & Automation Magazine - June 2019 - 32
IEEE Robotics & Automation Magazine - June 2019 - 33
IEEE Robotics & Automation Magazine - June 2019 - 34
IEEE Robotics & Automation Magazine - June 2019 - 35
IEEE Robotics & Automation Magazine - June 2019 - 36
IEEE Robotics & Automation Magazine - June 2019 - 37
IEEE Robotics & Automation Magazine - June 2019 - 38
IEEE Robotics & Automation Magazine - June 2019 - 39
IEEE Robotics & Automation Magazine - June 2019 - 40
IEEE Robotics & Automation Magazine - June 2019 - 41
IEEE Robotics & Automation Magazine - June 2019 - 42
IEEE Robotics & Automation Magazine - June 2019 - 43
IEEE Robotics & Automation Magazine - June 2019 - 44
IEEE Robotics & Automation Magazine - June 2019 - 45
IEEE Robotics & Automation Magazine - June 2019 - 46
IEEE Robotics & Automation Magazine - June 2019 - 47
IEEE Robotics & Automation Magazine - June 2019 - 48
IEEE Robotics & Automation Magazine - June 2019 - 49
IEEE Robotics & Automation Magazine - June 2019 - 50
IEEE Robotics & Automation Magazine - June 2019 - 51
IEEE Robotics & Automation Magazine - June 2019 - 52
IEEE Robotics & Automation Magazine - June 2019 - 53
IEEE Robotics & Automation Magazine - June 2019 - 54
IEEE Robotics & Automation Magazine - June 2019 - 55
IEEE Robotics & Automation Magazine - June 2019 - 56
IEEE Robotics & Automation Magazine - June 2019 - 57
IEEE Robotics & Automation Magazine - June 2019 - 58
IEEE Robotics & Automation Magazine - June 2019 - 59
IEEE Robotics & Automation Magazine - June 2019 - 60
IEEE Robotics & Automation Magazine - June 2019 - 61
IEEE Robotics & Automation Magazine - June 2019 - 62
IEEE Robotics & Automation Magazine - June 2019 - 63
IEEE Robotics & Automation Magazine - June 2019 - 64
IEEE Robotics & Automation Magazine - June 2019 - 65
IEEE Robotics & Automation Magazine - June 2019 - 66
IEEE Robotics & Automation Magazine - June 2019 - 67
IEEE Robotics & Automation Magazine - June 2019 - 68
IEEE Robotics & Automation Magazine - June 2019 - 69
IEEE Robotics & Automation Magazine - June 2019 - 70
IEEE Robotics & Automation Magazine - June 2019 - 71
IEEE Robotics & Automation Magazine - June 2019 - 72
IEEE Robotics & Automation Magazine - June 2019 - 73
IEEE Robotics & Automation Magazine - June 2019 - 74
IEEE Robotics & Automation Magazine - June 2019 - 75
IEEE Robotics & Automation Magazine - June 2019 - 76
IEEE Robotics & Automation Magazine - June 2019 - 77
IEEE Robotics & Automation Magazine - June 2019 - 78
IEEE Robotics & Automation Magazine - June 2019 - 79
IEEE Robotics & Automation Magazine - June 2019 - 80
IEEE Robotics & Automation Magazine - June 2019 - 81
IEEE Robotics & Automation Magazine - June 2019 - 82
IEEE Robotics & Automation Magazine - June 2019 - 83
IEEE Robotics & Automation Magazine - June 2019 - 84
IEEE Robotics & Automation Magazine - June 2019 - 85
IEEE Robotics & Automation Magazine - June 2019 - 86
IEEE Robotics & Automation Magazine - June 2019 - 87
IEEE Robotics & Automation Magazine - June 2019 - 88
IEEE Robotics & Automation Magazine - June 2019 - 89
IEEE Robotics & Automation Magazine - June 2019 - 90
IEEE Robotics & Automation Magazine - June 2019 - 91
IEEE Robotics & Automation Magazine - June 2019 - 92
IEEE Robotics & Automation Magazine - June 2019 - 93
IEEE Robotics & Automation Magazine - June 2019 - 94
IEEE Robotics & Automation Magazine - June 2019 - 95
IEEE Robotics & Automation Magazine - June 2019 - 96
IEEE Robotics & Automation Magazine - June 2019 - 97
IEEE Robotics & Automation Magazine - June 2019 - 98
IEEE Robotics & Automation Magazine - June 2019 - 99
IEEE Robotics & Automation Magazine - June 2019 - 100
IEEE Robotics & Automation Magazine - June 2019 - 101
IEEE Robotics & Automation Magazine - June 2019 - 102
IEEE Robotics & Automation Magazine - June 2019 - 103
IEEE Robotics & Automation Magazine - June 2019 - 104
IEEE Robotics & Automation Magazine - June 2019 - 105
IEEE Robotics & Automation Magazine - June 2019 - 106
IEEE Robotics & Automation Magazine - June 2019 - 107
IEEE Robotics & Automation Magazine - June 2019 - 108
IEEE Robotics & Automation Magazine - June 2019 - 109
IEEE Robotics & Automation Magazine - June 2019 - 110
IEEE Robotics & Automation Magazine - June 2019 - 111
IEEE Robotics & Automation Magazine - June 2019 - 112
IEEE Robotics & Automation Magazine - June 2019 - 113
IEEE Robotics & Automation Magazine - June 2019 - 114
IEEE Robotics & Automation Magazine - June 2019 - 115
IEEE Robotics & Automation Magazine - June 2019 - 116
IEEE Robotics & Automation Magazine - June 2019 - 117
IEEE Robotics & Automation Magazine - June 2019 - 118
IEEE Robotics & Automation Magazine - June 2019 - 119
IEEE Robotics & Automation Magazine - June 2019 - 120
IEEE Robotics & Automation Magazine - June 2019 - Cover3
IEEE Robotics & Automation Magazine - June 2019 - Cover4
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2023
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2023
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2023
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2023
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2022
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2022
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2022
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2022
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2021
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2021
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2021
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2021
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2020
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2020
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2020
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2020
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2019
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2019
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2019
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2019
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2018
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2018
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2018
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2018
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2017
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2017
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2017
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2017
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2016
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2016
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2016
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2016
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2015
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2015
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2015
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2015
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2014
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2014
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2014
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2014
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2013
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2013
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2013
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2013
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2012
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2012
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2012
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2012
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2011
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2011
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2011
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2011
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2010
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2010
https://www.nxtbookmedia.com