The use of humanoid robots within a therapeutic role, that is, helping individuals with social disorders, is an emerging field, but it remains unexplored in terms of concentration training. To seamlessly integrate humanoid robots into concentration games, an investigation into the impacts of human robot interactive proxemics on concentration-training games is particularly important. In the case of an epidemic diffusion especially—for example, during the COVID-19 pandemic—HRI games may help in the therapeutic phase, significantly reducing the risk of contagion. In this paper, concentration games were designed by action imitation involving 120 participants to verify the hypothesis. Action-imitation accuracy, the assessment of emotional expression, and a questionnaire were compared with analysis of variance (ANOVA). Experimental results showed that a 2 m distance and left-front orientation for a human and a robot are optimal for human robot interactive concentration training. In addition, females worked better than males did in HRI imitation games. This work supports some valuable suggestions for the development of HRI concentration-training technology, involving the designs of friendlier and more useful robots, and HRI game scenarios.
Hierarchical learning approach for one-shot action imitation in humanoid robots
