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Personal Robotics is widely recognized as a major challenge for current Robotics Research. Robots assisting humans and closely interacting with them have to meet acceptability requirements which in turn leads one to reconsider the concept of autonomy in robotics. This paper presents an abstract analysis of possible levels of semi-autonomy in Personal Robots and illustrates a case-study in which adaptable semi-autonomy is implemented and experimentally validated. Explanation modules, for human-robot communication in the planning phase, and user modeling techniques, that allow the system to adapt to its user's needs and preferences, are proposed as ways to achieve adaptive semi-autonomy

The COVID-19 pandemic is forcing a rethink in robotics. In the form it is known today, robotics has been the prerogative of a broad community of insiders. But now, in the wreckage left behind by COVID-19, a new era is beginning. What does it hold? During the pandemic, increasing numbers of people had manifested the hope that robotics might bring novel solutions. And this interest has emerged beyond the usual boundaries of the experts or technology enthusiasts. This provides an opportunity to reinforce the community of people involved in the process of innovation. By involving citizens, the community becomes more comprehensive (that is, plural and diverse). This broadening will involve more practical knowledge and therefore produce better robots of many shapes and functions. If progress is possible in the industry, why not in the hospitals, shopping malls, restaurants, hotels, and schools? What is more, the approach endorsed by the Italian robotics community during the lockdown has established a new cooperation among those who labor with robots, and the professionals who work in hospitals, which is bound to last a long time. As a major impact, this experience will enable an improvement on science's relationship with and for society. This may entail a further shift: to value more scientific knowledge and scientific literacy.

Objectives: To confirm the data reported in our previous studies on the analysis of the variability of the electroglottographic signal in the pathological voice; to evaluate possible differences in variability between organic and functional pathologies; to identify any distinctive/typical EGG patterns for these pathologies. Methods: One hundred twenty-five subjects were enrolled (36 euphonic and 89 pathological: 24 functional dysphonia, 21 bilateral vocal nodules, 23 unilateral polyps and 21 unilateral cysts). All subjects were studied with videolaryngostroboscopy, spectrographic analysis of voice and electroglottography (EGG). The EGG signal variability was then investigated using amplitude-speed combined analysis, by means of a proprietary software algorithm. Amplitude and Speed variation were expressed as a new parameter, the Variability Index (VI), calculated both for the whole EGG signal recorded (VI-tot) and in each phase of the glottic cycle (VI-Q, absolute value; VI-Q%, percentage value). Results: In the comparison of VI values between pathological and normal groups, VI-tot and VI-Q2% (which corresponds to the final phase of vocal fold contact) were significantly greater in pathological subjects (P= 0.002). The comparison of VI values among subgroups of the various pathologies showed a difference for VI-tot (P< 0.0001) and VI-Q2% (P= 0.001); this difference was more marked in the cysts than in the functional dysphonia. The cut-off values of VI-tot and VI-Q2% were 0.191 and 18.17%, respectively (sensitivity and specificity 65.2% and 66.7% for VI-tot and 84.3% and 77.8% for VI-Q2%). Conclusions: The variability of the EGG signal investigated through the combined analysis of the amplitude and the speed of vibration using a proprietary algorithm software has proved useful not only to distinguish the normal voice from the pathological voice, but also to characterize which phases are more altered in the various voice pathologies studied, both functional and organic. Furthermore, the analysis of the VI parameter allowed to propose cut-off values characterized by a good sensitivity and specificity to discriminate dysphonia from the euphonic voice. Larger groups of patients will be needed to confirm these results.

The present study aimed to assess the validity of using a robotic platform (RODDI) to increase and enhance communicative exchanges between educators and children with Autism Spectrum Disorder (ASD) and intellectual disability. Nine children with ASD and intellectual disability and their educators took part in the study. Their communicative exchanges were assessed in two different settings: a normal play session and a RODDI play session. RODDI platform did not appear to enhance communicative exchanges in children with ASD. They produced a significantly lower number of vocal productions to the educators in the RODDI play sessions than in the normal ones. Even the educators’ vocal production was significantly lower in quantitative and qualitative terms in the RODDI play sessions. However, analysing children’s gaze direction, RODDI appeared to enhance children’s attention on the task. The benefits of using robotic platforms with children with ASD should be further investigated.

Confronto dell’indice di variabilità EGG nella voce eufonica e patologica.In un recente lavoro abbiamo presentato un nuovo approccio allo studio del tracciato elettroglottografico; il metodo di studio si basava sulla valutazione della variazione del segnale EGG e della sua derivata prima, mediante un nuovo software ideato dalla scuola foniatrica pisana. Tale software permette di ottenere indici quantitativi relativi alle fasi di contatto e decontatto delle corde vocali durante la fonazione, mediante lo studio della variabilità combinata dell’ampiezza e della velocità di vibrazione (derivata prima del segnale EGG). La voce patologica presenta un segnale EGG più variabile rispetto alla voce normale: la vibrazione cordale è resa irregolare dalla presenza di patologia del piano glottico. Al fine di dimostrare differenze tra voce normale e patologica relative alla variabilità combinata tra ampiezza e velocità di vibrazione, abbiamo introdotto un nuovo parametro quantitativo denominato “variability index, VI”. Abbiamo studiato 95 soggetti (35 normali e 60 con voce patologica); tra i patologici, 15 mostravano disfonia disfunzionale e 45 disfonia organica. I soggetti affetti da disfonia organica presentavano: 15 noduli vocali bilaterali, 15 polipi unilaterali e 15 cisti unilaterali. Tutti i soggetti venivano studiati con videolaringostroboscopia, i parametri elettroacustici della voce venivano analizzati attraverso il sistema KayPENTAX CSL (Model 4500). L’esame EGG veniva effettuato attraverso il KAY Model 6103 collegato al sistema CSL. Il nuovo software di analisi del segnale EGG permette non solo di ottenere un VI totale (VI-total) relativo alla variabilità durante tutta la registrazione, ma anche VI parziali relativi alle varie fasi del ciclo glottico. Applicando la variazione di ampiezza e della derivata prima su un grafico di Lissajous, è possibile dividere l’intero ciclo glottico in 4 fasi (rappresentate da 4 quadranti nel grafico): la fase iniziale di contatto delle corde vocali (VI-Q1), la fase finale di contatto delle corde vocali (VI-Q2), la fase iniziale di de-contatto delle corde vocali (VI-Q3) e la fase finale, fino al completo de-contatto delle corde vocali (VI-Q4). Per ciascun quadrante, inoltre, è possibile calcolare l’indice di variabilità percentuale. Comparando gli indici di variabilità nei gruppi normali e patologici, abbiamo ottenuto i seguenti risultati: il VI totale era significativamente maggiore nel gruppo di soggetti patologici (0,25 vs 0,18; p = 0,01); il valore assoluto di VI in 3 quadranti era maggiore nei patologici anche se non in maniera statisticamente significativa (VI-Q2, 0,041 vs 0,029; VI-Q3, 0,065 vs 0,058; VI-Q4, 0,054 vs 0,052). La variabilità percentuale del quadrante Q2 (VI-Q2%), era significativamente più elevata nei soggetti patologici rispetto ai normali (0,22 vs 0,16) (p = 0,01). I risultati di questo studio hanno confermato che il nostro nuovo software di analisi del tracciato EGG permette di distinguere la voce normale da quella patologica sulla base di un nuovo parametro quantitativo, il VI. Lo studio mette in evidenza come la fase che più caratterizza la differenza tra voce normale e patologica è quella relativa alla fase finale di contatto delle corde vocali, che presenta una maggiore variabilità di ampiezza e velocità di vibrazione. Ulteriori studi, con un numero maggiore di soggetti, saranno necessari per confermare questi risultati e per dimostrare eventuali differenze di variabilità del segnale EGG nelle diverse patologie delle corde vocali.In a recent study we introduced a new approach for analysis of the electroglottographic (ECG) signal. This method is based on the evaluation of variation of the EGG signal and its first derivative, through new software developed by the Pisan phoniatric school. This software is designed to extract quantitative indices related to the contacting and decontacting phases of the vocal folds during phonation. The software allows us to study the combined variability of vibration amplitude and velocity (i.e. the first derivative of the EGG signal). Pathological voices show a much more variable EGG signal compared to normal voices, since cordal vibration is made irregular due to the presence of glottis plane pathologies. With the aim of demonstrating the differences between normal and pathological voices relevant to combined vibration amplitude and velocity variability, we have introduced a new quantitative parameter named “variability index, VI”. We studied 95 subjects (35 normal and 60 with pathological voice); among pathologic subjects, 15 showed functional dysphonia and 45 showed organic dysphonia. Subjects affected by organic dysphonia presented: 15 bilateral vocal nodules, 15 unilateral polyps and 15 unilateral cysts. All subjects were studied with videolaryngostroboscopy; electro-acoustic parameters of the voice were analysed with the KayPENTAX CSL (Model 4500) system. The EGG signal was recorded using KAY Model 6103 connected to the CSL system. The new software for the analysis of the EGG signal allows us to obtain not only a VI total value relevant to variability during all the recording, but also partial VI values relevant to the different glottis cycle phases. In fact, plotting the amplitude variation and its first derivative on a Lissajous graph, it is possible to divide the whole glottis cycle into four phases (each represented by four quadrants on the graph): the initial vocal folds contacting activity (VI-Q1), the last phase of vocal folds contacting (VI-Q2), the first phase of vocal folds decontacting (VI-Q3) and the last phase, up to the complete decontacting of vocal folds (VI-Q4). For each quadrant, it is also possible to work out the percent variability index. By comparing the variability indices in the normal and pathological groups, we obtained the following results: the total VI was significantly higher in the pathological subjects (0.25 vs 0.18; p = 0.01); the absolute value of VI was higher in pathological subjects, although the difference was not significant (VI-Q2, 0.041 vs 0.029; VI-Q3, 0.065 vs 0.058; VI-Q4, 0.054 vs 0.052). The percent variability in the Q2 quadrant (VI-Q2%) was significantly higher in pathological subjects compared to normal subjects (0.22 vs 0.16) (p = 0.01). The results of this study confirm that our new software for analysis of EGG signal can distinguish normal voice from pathological voice based on the new quantitative parameter VI. Moreover, this study emphasises that the final contact phase of vocal folds is the most representative of the difference between the normal and pathological voice and shows a wider variability in terms of amplitude and vibration velocity. Further studies on larger groups of subjects will be required to confirm these results and assess differences in the EGG signal among the various vocal fold pathologies.

We designed an fMRI experiment comparing perception of human faces and robotic faces producing emotional expressions. The purpose of our experiment was to investigate engagement of different parts of the social brain by viewing these animate and inanimate agents. Both human and robotic face expressions evoked activity in face-responsive regions in the fusiform gyrus and STS and in the putative human mirror neuron system. These results suggest that these areas mediate perception of agency, independently of whether the agents are living or not. By contrast, the human faces evoked stronger activity than did robotic faces in the medial pFC and the anterior temporal cortex—areas associated with the representation of others' mental states (theory of mind), whereas robotic faces evoked stronger activity in areas associated with perception of objects and mechanical movements. Our data demonstrate that the representation of the distinction between animate and inanimate agents involves areas that participate in attribution of mental stance.

Research on hybrid bionic systems (HBSs) is still in its infancy but promising results have already been achieved in laboratories. Experiments on humans and animals show that artificial devices can be controlled by neural signals. These results suggest that HBS technologies can be employed to restore sensorimotor functionalities in disabled and elderly people. At the same time, HBS research raises ethical concerns related to possible exogenous and endogenous limitations to human autonomy and freedom. The analysis of these concerns requires reflecting on the availability of scientific models accounting for key aspects of sensorimotor coordination and plastic adaptation mechanisms in the brain.

The paper proposes an anticipation mechanism to improve the perception-action loop of robots interacting with real-world environments. According to recent neuroscientific findings, sensory anticipation can increase the effectiveness of perception-action loops and reduce the delays in obtaining the sensory information, especially in case of complex sensory modalities like vision, that affect pure feed-back structures. In the proposed scheme, perception crucially involves comparison processes between incoming stimuli and expected perceptions (EPs), built from previous perceptions, current motor commands, and internal models of the robot and the environment. Background knowledge plays here a helpful role, as it reduces the computational burden of perception and motor coordination tasks in partially structured environments. In the work presented here, an EP mechanism has been applied in the visuo-motor coordination of an anthropomorphic 8 d.o.f. robotic manipulator equipped with a vision system, in order to evaluate the conditions of applicability of the proposed strategy, and to validate the viability and effectiveness of the initial hypothesis.

This paper describes an experimental work conducted in order to estimate the conditions of applicability of expected perception (EP) based on a scheme for robot sensorimotor coordination. The starting hypothesis is that predictions of incoming sensory data can improve sensorymotor coordination respect to pure feedback loops. This implies that the environment presents a level of predictability, as in realistic environments. An implementation of the EP-based scheme has been realized on a platform composed by the Dexter 8-d.o.f. robotic arm and a color camera, for executing a pushing task in a real-world environment. Its performance, where defined as a combination of the error in the trajectory following and the computational effort, has been compared with that of a feedback-based system executing the same task in the same environmental conditions. The results have been put in relation with the degree of environmental predictability, which was controlled in the experimental trials. The experimental results give support and useful insights for analyzing the applicability of the EP-based scheme.

Human–robot interaction represents a critical factor in the design of personal robots as well as in the implementation of robot behavior and control. This work investigates and proposes solutions to the problem of controlling an anthropomorphic robot arm for personal assistance, by dealing with the peculiarities of its design, i.e. the mechanics of its cable-actuated, intrinsically compliant structure, and by emphasizing its potential in applications of physical and functional interaction with the environment and with human users. To satisfy the requirements of increasing the safety in the interaction and the robot functionality in tasks performed in cooperation with humans, three solutions are developed and tested for the considered personal robot. The initial idea is aimed at developing an efficient as well as computational convenient interaction control strategy, i.e. a compliance control scheme in the Cartesian space. The analysis of its limited performance suggests two further control strategies, i.e. a compliance control scheme in the joint space and an impedance–compliance control scheme. Their compared analysis points out that all the three solutions can safely operate in the human environment, but from a functional point of view only the last two schemes can effectively control the personal robot arm in its whole workspace. The paper describes the mechanics of the considered robot arm, with special regard to its anthropomorphism and cable-actuation and presents in details the three control schemes. They are critically evaluated through the experimental results achieved in tasks of physical and functional interaction with the environment and with human users. The impedance–compliance controller emerges as the more appropriate to the addressed application as well as to the peculiar cable-actuated structure.