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Abstract The visual attentional deficits in delirium are poorly characterized. Studies have highlighted neuro-anatomical abnormalities in the visual processing stream but fail at quantifying these abnormalities at a functional level. To identify these deficits, we undertook a multi-center eye-tracking study where we recorded 210 sessions from 42 patients using a novel eye-tracking system that was made specifically for free-viewing in the (ICU); each session lasted 10 min and was labeled with the delirium status of the patient using the Confusion Assessment Method in ICU (CAM-ICU). To analyze this data, we formulate the task of visual attention as a hierarchical generative process that yields a probabilistic distribution of the location of the next fixation. This distribution can then be compared to the measured patient fixation producing a correctness score which is tallied compared across delirium status. This analysis demonstrated that the visual processing system of patients suffering from delirium is functionally restricted to a statistically significant degree. This is the first study to explore the potential mechanisms underpinning visual inattention in delirium and suggests a new target of future research into a disease process that affects one in four hospitalized patients with severe short and long-term consequences.

Objective: Delirium, an acute confusional state, affects 20-80% of patients in Intensive Care Units (ICUs), one in three medically hospitalized patients, and up to 50% of all patients who have had surgery. Its development is associated with short- and long-term morbidity, and increased risk of death. Yet, we lack any rapid, objective, and automated method to diagnose delirium. Here, we detail the prospective deployment of a novel dual-camera contextual eye-tracking platform. We then use the data from this platform to contemporaneously classify delirium.Results: We recruited 42 patients, resulting in 210 (114 with delirium, 96 without) recordings of hospitalized patients in ICU across two centers, as part of a prospective multi-center feasibility pilot study. All recordings made with our platform were usable for analysis. We divided the collected data into training and validation cohorts based on the data originating center. We trained two Temporal Convolutional Network (TCN) models that can classify delirium using a pre-existing manual scoring system (Confusion Assessment Method in ICU (CAM-ICU)) as the training target. The first model uses eye movements only which achieves an Area Under the Receiver Operator Curve (AUROC) of 0.67 and a mean Average Precision (mAP) of 0.68. The second model uses the point of regard, the part of the scene the patient is looking at, and increases the AUROC to 0.76 and the mAP to 0.81. These models are the first to classify delirium using continuous non-invasive eye-tracking but will require further clinical prospective validation prior to use as a decision-support tool.Clinical impact: Eye-tracking is a biological signal that can be used to identify delirium in patients in ICU. The platform, alongside the trained neural networks, can automatically, objectively, and continuously classify delirium aiding in the early detection of the deteriorating patient. Future work is aimed at prospective evaluation and clinical translation.

The ear is well positioned to accommodate both brain and vital signs monitoring, via so-called hearable devices. Consequently, ear-based electroencephalography has recently garnered great interest. However, despite the considerable potential of hearable based cardiac monitoring, the biophysics and characteristic cardiac rhythm of ear-based electrocardiography (ECG) are not yet well understood. To this end, we map the cardiac potential on the ear through volume conductor modelling and measurements on multiple subjects. In addition, in order to demonstrate real-world feasibility of in-ear ECG, measurements are conducted throughout a long-time simulated driving task. As a means of evaluation, the correspondence between the cardiac rhythms obtained via the ear-based and standard Lead I measurements, with respect to the shape and timing of the cardiac rhythm, is verified through three measures of similarity: the Pearson correlation, and measures of amplitude and timing deviations. A high correspondence between the cardiac rhythms obtained via the ear-based and Lead I measurements is rigorously confirmed through agreement between simulation and measurement, while the real-world feasibility was conclusively demonstrated through efficacious cardiac rhythm monitoring during prolonged driving. This work opens new avenues for seamless, hearable-based cardiac monitoring that extends beyond heart rate detection to offer cardiac rhythm examination in the community.

This study implemented a Delphi Method; a systematic technique which relies on a panel of experts to achieve consensus, to evaluate which questionnaire items would be the most relevant for developing a new Propensity to Trust scale. Following an initial research team moderation phase, two surveys were administered to academic lecturers, professors and Ph.D. candidates specialising in the fields of either individual differences, human-robot interaction, or occupational psychology. Results from 28 experts produced 33 final questionnaire items that were deemed relevant for evaluating trust. We discuss the importance of content validity when implementing scales, while emphasising the need for more documented scale development processes in psychology. Furthermore, we propose that the Delphi technique could be utilised as an effective and economical method for achieving content validity, while also providing greater scale creation transparency.

Assistive robots in home environments are steadily increasing in popularity. Due to significant variabilities in human behaviour, as well as physical characteristics and individual preferences, personalising assistance poses a challenging problem. In this paper, we focus on an assistive dressing task that involves physical contact with a human's upper body, in which the goal is to improve the comfort level of the individual. Two aspects are considered to be significant in improving a user's comfort level: having more natural postures and exerting less effort. However, a dressing path that fulfils these two criteria may not be found at one time. Therefore, we propose a user modelling method that combines vision and force data to enable the robot to search for an optimised dressing path for each user and improve as the human-robot interaction progresses. We compare the proposed method against two single-modality state-of-the-art user modelling methods designed for personalised assistive dressing by user studies (31 subjects). Experimental results show that the proposed method provides personalised assistance that results in more natural postures and less effort for human users.

Social or humanoid robots do hardly show up in “the wild,” aiming at pervasive and enduring human benefits such as child health. This paper presents a socio-cognitive engineering (SCE) methodology that guides the ongoing research & development for an evolving, longer-lasting human-robot partnership in practice. The SCE methodology has been applied in a large European project to develop a robotic partner that supports the daily diabetes management processes of children, aged between 7 and 14 years (i.e., Personal Assistant for a healthy Lifestyle, PAL). Four partnership functions were identified and worked out (joint objectives, agreements, experience sharing, and feedback & explanation) together with a common knowledge-base and interaction design for child's prolonged disease self-management. In an iterative refinement process of three cycles, these functions, knowledge base and interactions were built, integrated, tested, refined, and extended so that the PAL robot could more and more act as an effective partner for diabetes management. The SCE methodology helped to integrate into the human-agent/robot system: (a) theories, models, and methods from different scientific disciplines, (b) technologies from different fields, (c) varying diabetes management practices, and (d) last but not least, the diverse individual and context-dependent needs of the patients and caregivers. The resulting robotic partner proved to support the children on the three basic needs of the Self-Determination Theory: autonomy, competence, and relatedness. This paper presents the R&D methodology and the human-robot partnership framework for prolonged “blended” care of children with a chronic disease (children could use it up to 6 months; the robot in the hospitals and diabetes camps, and its avatar at home). It represents a new type of human-agent/robot systems with an evolving collective intelligence. The underlying ontology and design rationale can be used as foundation for further developments of long-duration human-robot partnerships “in the wild.”

Generating complex, human-like behavior in a humanoid robot like the iCub requires the integration of a wide range of open source components and a scalable cognitive architecture. Hence, we present the iCub-HRI library which provides convenience wrappers for components related to perception (object recognition, agent tracking, speech recognition, and touch detection), object manipulation (basic and complex motor actions), and social interaction (speech synthesis and joint attention) exposed as a C++ library with bindings for Java (allowing to use iCub-HRI within Matlab) and Python. In addition to previously integrated components, the library allows for simple extension to new components and rapid prototyping by adapting to changes in interfaces between components. We also provide a set of modules which make use of the library, such as a high-level knowledge acquisition module and an action recognition module. The proposed architecture has been successfully employed for a complex human–robot interaction scenario involving the acquisition of language capabilities, execution of goal-oriented behavior and expression of a verbal narrative of the robot’s experience in the world. Accompanying this paper is a tutorial which allows a subset of this interaction to be reproduced. The architecture is aimed at researchers familiarizing themselves with the iCub ecosystem, as well as expert users, and we expect the library to be widely used in the iCub community.

Robots that operate in social environments need to be able to recognise and understand the actions of other robots, and humans, in order to facilitate learning through imitation and collaboration. The success of the simulation theory approach to action recognition and imitation relies on the ability to take the perspective of other people, so as to generate simulated actions from their point of view. In this paper, simulation of visual perception is used to recreate the visual egocentric sensory space and egocentric behaviour space of an observed agent, and through this increase the accuracy of action recognition. To demonstrate the approach, experiments are performed with a robot attributing perceptions to and recognising the actions of a second robot.

Robots that operate in social environments need to be able to recognise and understand the actions of other robots, and humans, in order to facilitate learning through imitation and collaboration. The success of the simulation theory approach to action recognition and imitation relies on the ability to take the perspective of other people, so as to generate simulated actions from their point of view. In this paper, simulation of visual perception is used to re-create the visual egocentric sensory space and egocentric behaviour space of an observed agent, and through this increase the accuracy of action recognition. To demonstrate the approach, experiments are performed with a robot attributing perceptions to and recognising the actions of a second robot.