A Lightweight Artificial Cognition Model for Socio-Affective Human-Robot Interaction

The software submission presents a fully working artificial cognition model, which controls a NAO social robot. The model was specifically designed to control a socio-affective companion robot for use in a medical setting. It was deployed using embedded hardware: a Raspberry Pi 4B and a Jetson Nano Board, and an external RGB-D camera. Based on the ROS operating system, this software package includes components for social signal processing, behaviour selection, affective behaviour rendering, and a web-based user interface. The robot's behaviours are selected by a planning system, which generates the robot's behaviours based on the state of the interaction, the progress of the medical procedure, and the user's affective state. The system has been tested in simulated environments and is currently being used in two clinics to perform a usability test and will subsequently be used to carry out a series of clinical trials

该软件提交了一个完全可行的人工认知模型，它可控制一个NAO社交机器人。该模型是专门为控制在医疗环境中使用的社会情感陪伴机器人而设计的。它是使用嵌入式硬件（树莓派4B和英伟达Jetson Nano开发板以及一个外部RGB - D摄像头）进行部署的。基于ROS操作系统，这个软件包包含用于社会信号处理、行为选择、情感行为呈现以及一个基于网络的用户界面的组件。机器人的行为由一个规划系统选择，该系统根据交互状态、医疗程序的进展以及用户的情感状态来生成机器人的行为。该系统已经在模拟环境中进行了测试，目前正在两家诊所进行可用性测试，并随后将用于开展一系列临床试验。