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Last modified by Ilinca Rentea on 2023/04/11 12:25
From version 4.1
edited by Varun Singh
on 2023/04/04 18:07
Change comment: There is no comment for this version
To version 2.1
edited by Varun Singh
on 2023/03/22 13:44
Change comment: There is no comment for this version

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7 -(% style="color:#000000; font-family:Arial; font-size:11pt; font-style:normal; font-variant:normal; font-weight:400; text-decoration:none; white-space:pre-wrap" %)The aim of our project was to provide support for people with dementia in their hobby of painting. This was done to bring some joy and comfort into their lives, especially if they previously enjoyed doing it. This could be done with a human caretaker but having a humanoid robot like Pepper has certain advantages in the overall painting activity.
7 +(% style="font-size: 11pt; font-variant: normal; white-space: pre-wrap; font-family: Arial; color: rgb(0, 0, 0); font-weight: 400; font-style: normal; text-decoration: none" %)The aim of our project was to provide support for people with dementia in their hobby of painting. This was done to bring some joy and comfort into their lives, especially if they previously enjoyed doing it. This could be done with a human caretaker but having a humanoid robot like Pepper has certain advantages in the overall painting activity.
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10 -(% style="color:#000000; font-family:Arial; font-size:11pt; font-style:normal; font-variant:normal; font-weight:400; text-decoration:none; white-space:pre-wrap" %)Pepper can [[improve and continue the engagement of PwDs>>doc:2\. Specification.Claims.E1.WebHome]] towards painting. This would be done by gently triggering the PwD to paint and then providing support during the activity. Pepper will also as a result of the painting activity [[improve the quality and life of the PwD>>doc:2\. Specification.Claims.E4.WebHome]]. This can be done by supporting them during painting and also playing some calming, ambient music. The painting activity would also [[bring together the PwD and their family>>doc:2\. Specification.Claims.E3.WebHome]] since during the painting activity personalised recommendations could be given to the PwD to paint and once the painting is done, a picture could be taken and sent to the family. This should provide a much better connectedness and relatedness between the PwD and their family. Pepper would not do the painting activity for the PwD instead it will just guide them so it should also provide a much [[better sense of autonomy towards the task>>doc:2\. Specification.Claims.E2.WebHome]].
10 +(% style="font-size: 11pt; font-variant: normal; white-space: pre-wrap; font-family: Arial; color: rgb(0, 0, 0); font-weight: 400; font-style: normal; text-decoration: none" %)Pepper can [[improve and continue the engagement of PwDs>>doc:2\. Specification.Claims.E1.WebHome]] towards painting. This would be done by gently triggering the PwD to paint and then providing support during the activity. Pepper will also as a result of the painting activity [[improve the quality and life of the PwD>>doc:2\. Specification.Claims.E4.WebHome]]. This can be done by supporting them during painting and also playing some calming, ambient music. The painting activity would also [[bring together the PwD and their family>>doc:2\. Specification.Claims.E3.WebHome]] since during the painting activity personalised recommendations could be given to the PwD to paint and once the painting is done, a picture could be taken and sent to the family. This should provide a much better connectedness and relatedness between the PwD and their family. Pepper would not do the painting activity for the PwD instead it will just guide them so it should also provide a much [[better sense of autonomy towards the task>>doc:2\. Specification.Claims.E2.WebHome]].
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13 -(% style="color:#000000; font-family:Arial; font-size:11pt; font-style:normal; font-variant:normal; font-weight:400; text-decoration:none; white-space:pre-wrap" %)For all of these effects, we plan on using different questionnaires geared towards capturing the required measure to effectively evaluate our claims.
13 +(% style="font-size: 11pt; font-variant: normal; white-space: pre-wrap; font-family: Arial; color: rgb(0, 0, 0); font-weight: 400; font-style: normal; text-decoration: none" %)For all of these effects, we plan on using different questionnaires geared towards capturing the required measure to effectively evaluate our claims.
14 14  
15 15  = 2. Method =
16 16  
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18 -(% style="color:#000000; font-family:Arial; font-size:11pt; font-style:normal; font-variant:normal; font-weight:400; text-decoration:none; white-space:pre-wrap" %)The prototype was evaluated with an in-person experiment with multiple participants in a between-subject study.
18 +(% style="font-size: 11pt; font-variant: normal; white-space: pre-wrap; font-family: Arial; color: rgb(0, 0, 0); font-weight: 400; font-style: normal; text-decoration: none" %)The prototype was evaluated with an in-person experiment with multiple participants in a between-subject study.
19 19  
20 20  == 2.1 Participants
21 -(% style="color:#000000; font-family:Arial; font-size:11pt; font-style:normal; font-variant:normal; font-weight:400; text-decoration:none; white-space:pre-wrap" %)Our colleagues from the course CS4235 SCE since the scope of the course does not allow us to evaluate our robot with actual PwDs.(%%) ==
21 +(% style="font-size: 11pt; font-variant: normal; white-space: pre-wrap; font-family: Arial; color: rgb(0, 0, 0); font-weight: 400; font-style: normal; text-decoration: none" %)Our colleagues from the course CS4235 SCE since the scope of the course does not allow us to evaluate our robot with actual PwDs.(%%) ==
22 22  
23 23  == 2.2 Experimental Design ==
24 24  
25 -For the experiment, we used a within-subject design, as we did not have enough participants to do a statistically significant between-subject study. To mitigate the transfer effects caused by doing the same activity twice, we had half of the participants starting with the control condition, and half of the participants starting with the test condition.
25 +For the experiment, we used a between-subject design. Two control groups were set up and this allowed us to properly proceed ahead with the evaluation of our research question. The first control group did not interact with the robot at all whereas the second group did. This helped us to avoid bias within our results.
26 26  
27 27  == 2.3 Tasks ==
28 28  
29 -(% style="color:#000000; font-family:Arial; font-size:11pt; font-style:normal; font-variant:normal; font-weight:400; text-decoration:none; white-space:pre-wrap" %)We set up two tasks. One for the control condition and one for the test condition.
29 +(% style="font-size: 11pt; font-variant: normal; white-space: pre-wrap; font-family: Arial; color: rgb(0, 0, 0); font-weight: 400; font-style: normal; text-decoration: none" %)We set up two tasks. One for the control group and one for the test group.
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32 -(% style="color:#000000; font-family:Arial; font-size:11pt; font-style:normal; font-variant:normal; font-weight:400; text-decoration:none; white-space:pre-wrap" %)For the test condition, we first provided the participant with painting and drawing utensils and a canvas. Then, we started up the robot to guide the activity. The robot was controlled through a Wizard of Oz system.
32 +(% style="font-size: 11pt; font-variant: normal; white-space: pre-wrap; font-family: Arial; color: rgb(0, 0, 0); font-weight: 400; font-style: normal; text-decoration: none" %)For the control group, we put each participant in front of a canvas and provided them with pencils and watercolors and asked them to paint whatever they wanted to.
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35 35  (% style="line-height:1.38" %)
36 -(% style="color:#000000; font-family:Arial; font-size:14.6667px; white-space:pre-wrap" %)For the control condition, we provided the participant with art supplies as well, but here the robot was not involved. Instead they received an activity sheet which guided the participants in the same flow as the robot would do. The only main guidance that couldn't be given on paper was the search function for a suitable topic or personal picture to draw/paint.
35 +(% style="font-size: 11pt; font-variant: normal; white-space: pre-wrap; font-family: Arial; color: rgb(0, 0, 0); font-weight: 400; font-style: normal; text-decoration: none" %)For the test group, we provided them with the painting and drawing utensils and the canvas as well, but we had our robot guiding the activity. The robot was controlled through a Wizard of Oz system.
37 37  
38 38  == 2.4 Measures ==
39 39  
40 -(% style="color:#000000; font-family:Arial; font-size:11pt; font-style:normal; font-variant:normal; font-weight:400; text-decoration:none; white-space:pre-wrap" %)We solely used qualitative measures for our experiment, as painting is a highly subjective experience.
39 +(% style="font-size: 11pt; font-variant: normal; white-space: pre-wrap; font-family: Arial; color: rgb(0, 0, 0); font-weight: 400; font-style: normal; text-decoration: none" %)We solely used qualitative measures for our experiment, as painting is a highly subjective experience.
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43 -(% style="color:#000000; font-family:Arial; font-size:11pt; font-style:normal; font-variant:normal; font-weight:400; text-decoration:none; white-space:pre-wrap" %)We gave each participant a questionnaire before and after the session.
42 +(% style="font-size: 11pt; font-variant: normal; white-space: pre-wrap; font-family: Arial; color: rgb(0, 0, 0); font-weight: 400; font-style: normal; text-decoration: none" %)We gave each participant a questionnaire before and after the session. In both the before and after questionnaires we measured their mood and satisfaction to derive the change that the session brought to their mental status.
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46 -(% style="color:#000000; font-family:Arial; font-size:11pt; font-style:normal; font-variant:normal; font-weight:400; text-decoration:none; white-space:pre-wrap" %)In the before questionnaire, we asked them about their mood, painting experience and general attitude to robots. This was done to later check if those variables have interaction effects with the main results. See [[here >>https://forms.office.com/Pages/ResponsePage.aspx?id=TVJuCSlpMECM04q0LeCIewsut64TrQ5KmT3QxEFJ2z1URElCMFZGWFFOM085MFVMOExXNVdLRjRSNC4u]]the before questionnaire.
45 +(% style="font-size: 11pt; font-variant: normal; white-space: pre-wrap; font-family: Arial; color: rgb(0, 0, 0); font-weight: 400; font-style: normal; text-decoration: none" %)We also asked them for more specific feedback on different functions of the robot so we could find areas to improve, as this was the first prototype.
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49 -(% style="color:#000000; font-family:Arial; font-size:11pt; font-style:normal; font-variant:normal; font-weight:400; text-decoration:none; white-space:pre-wrap" %)In the after questionnaire, we measured their experience of the activity, using an adapted version of the PACE questionnaire used in [1]. We also asked two extra questions to gauge their likelihood of long-term engagement, and perceived self competence. See [[here >>https://forms.office.com/Pages/ResponsePage.aspx?id=TVJuCSlpMECM04q0LeCIewsut64TrQ5KmT3QxEFJ2z1UN1M0T1pLU1hTN1NIRkw5MjhSWldPRzJUWC4u]]the after questionnaire.
48 +(% style="font-size: 11pt; font-variant: normal; white-space: pre-wrap; font-family: Arial; color: rgb(0, 0, 0); font-weight: 400; font-style: normal; text-decoration: none" %)Lastly, we also measured their previous experience with painting, to see if the robot has a different impact on experienced and inexperienced painters.
50 50  
51 51  == 2.5 Procedure ==
52 52  
53 53  (% style="line-height:1.38; background-color:#ffffff; margin-bottom:11px" %)
54 -(% style="color:#333333; font-family:Arial; font-size:10.5pt; font-style:normal; font-variant:normal; font-weight:400; text-decoration:none; white-space:pre-wrap" %)The procedure was conducted as follows:
53 +(% style="font-size: 10.5pt; font-variant: normal; white-space: pre-wrap; font-family: Arial; color: rgb(51, 51, 51); font-weight: 400; font-style: normal; text-decoration: none" %)The procedure was conducted as follows:
55 55  
56 -1. (% style="color:#333333; font-family:Arial; font-size:10.5pt; font-style:normal; font-variant:normal; font-weight:400; text-decoration:none; white-space:pre-wrap" %)Welcome participants and explain what they are going to be doing.
57 -1. (% style="color:#333333; font-family:Arial; font-size:10.5pt; font-style:normal; font-variant:normal; font-weight:400; text-decoration:none; white-space:pre-wrap" %)Have them sign the consent form.
58 -1. (% style="color:#333333; font-family:Arial; font-size:10.5pt; font-style:normal; font-variant:normal; font-weight:400; text-decoration:none; white-space:pre-wrap" %)Complete questionnaire 1 regarding:
59 -11. (% style="color:#333333; font-family:Arial; font-size:10.5pt; font-style:normal; font-variant:normal; font-weight:400; text-decoration:none; white-space:pre-wrap" %)Their current mood
60 -11. (% style="color:#333333; font-family:Arial; font-size:10.5pt; font-style:normal; font-variant:normal; font-weight:400; text-decoration:none; white-space:pre-wrap" %)Their previous painting/drawing experience
61 -1. (% style="color:#333333; font-family:Arial; font-size:10.5pt; font-style:normal; font-variant:normal; font-weight:400; text-decoration:none; white-space:pre-wrap" %)Have them do the painting session, either with the robot or not, depending which group they belonged to.
62 -1. (% style="color:#333333; font-family:Arial; font-size:10.5pt; font-style:normal; font-variant:normal; font-weight:400; text-decoration:none; white-space:pre-wrap" %)Complete questionnaire 2 regarding:
63 -11. (% style="color:#333333; font-family:Arial; font-size:10.5pt; font-style:normal; font-variant:normal; font-weight:400; text-decoration:none; white-space:pre-wrap" %)Their current mood
64 -11. (% style="color:#333333; font-family:Arial; font-size:10.5pt; font-style:normal; font-variant:normal; font-weight:400; text-decoration:none; white-space:pre-wrap" %)Their satisfaction with the activity
65 -11. (% style="color:#333333; font-family:Arial; font-size:10.5pt; font-style:normal; font-variant:normal; font-weight:400; text-decoration:none; white-space:pre-wrap" %)Whether they would like to paint more because of the activity
66 -11. (% style="color:#333333; font-family:Arial; font-size:10.5pt; font-style:normal; font-variant:normal; font-weight:400; text-decoration:none; white-space:pre-wrap" %)Other feedback
55 +1. (% style="font-size: 10.5pt; font-variant: normal; white-space: pre-wrap; font-family: Arial; color: rgb(51, 51, 51); font-weight: 400; font-style: normal; text-decoration: none" %)Welcome participants and explain what they are going to be doing.
56 +1. (% style="font-size: 10.5pt; font-variant: normal; white-space: pre-wrap; font-family: Arial; color: rgb(51, 51, 51); font-weight: 400; font-style: normal; text-decoration: none" %)Have them sign the consent form.
57 +1. (% style="font-size: 10.5pt; font-variant: normal; white-space: pre-wrap; font-family: Arial; color: rgb(51, 51, 51); font-weight: 400; font-style: normal; text-decoration: none" %)Complete questionnaire 1 regarding:
58 +11. (% style="font-size: 10.5pt; font-variant: normal; white-space: pre-wrap; font-family: Arial; color: rgb(51, 51, 51); font-weight: 400; font-style: normal; text-decoration: none" %)Their current mood
59 +11. (% style="font-size: 10.5pt; font-variant: normal; white-space: pre-wrap; font-family: Arial; color: rgb(51, 51, 51); font-weight: 400; font-style: normal; text-decoration: none" %)Their previous painting/drawing experience
60 +1. (% style="font-size: 10.5pt; font-variant: normal; white-space: pre-wrap; font-family: Arial; color: rgb(51, 51, 51); font-weight: 400; font-style: normal; text-decoration: none" %)Have them do the painting session, either with the robot or not, depending which group they belonged to.
61 +1. (% style="font-size: 10.5pt; font-variant: normal; white-space: pre-wrap; font-family: Arial; color: rgb(51, 51, 51); font-weight: 400; font-style: normal; text-decoration: none" %)Complete questionnaire 2 regarding:
62 +11. (% style="font-size: 10.5pt; font-variant: normal; white-space: pre-wrap; font-family: Arial; color: rgb(51, 51, 51); font-weight: 400; font-style: normal; text-decoration: none" %)Their current mood
63 +11. (% style="font-size: 10.5pt; font-variant: normal; white-space: pre-wrap; font-family: Arial; color: rgb(51, 51, 51); font-weight: 400; font-style: normal; text-decoration: none" %)Their satisfaction with the activity
64 +11. (% style="font-size: 10.5pt; font-variant: normal; white-space: pre-wrap; font-family: Arial; color: rgb(51, 51, 51); font-weight: 400; font-style: normal; text-decoration: none" %)Whether they would like to paint more because of the activity
65 +11. (% style="font-size: 10.5pt; font-variant: normal; white-space: pre-wrap; font-family: Arial; color: rgb(51, 51, 51); font-weight: 400; font-style: normal; text-decoration: none" %)Other feedback
67 67  
68 68  == 2.6 Material ==
69 69  
70 -1. (% style="color:#000000; font-family:Arial; font-size:11pt; font-style:normal; font-variant:normal; font-weight:400; text-decoration:none; white-space:pre-wrap" %)Consent form. To protect the privacy of participants and ensure that they accept that their data was analyzed by researchers, we had each participant fill in a consent form. This consent form and experiment was approved by the Ethics Commission of the TU Delft.
71 -1. (% style="color:#000000; font-family:Arial; font-size:11pt; font-style:normal; font-variant:normal; font-weight:400; text-decoration:none; white-space:pre-wrap" %)Pepper robot. We programmed this robot to interact with the participants as described in our earlier sections.
72 -1. (% style="color:#000000; font-family:Arial; font-size:11pt; font-style:normal; font-variant:normal; font-weight:400; text-decoration:none; white-space:pre-wrap" %)Utensils for painting and drawing: canvas, watercolors and pencils. We offer each participant the choice whether they want to draw or paint.
73 -1. (% style="color:#000000; font-family:Arial; font-size:11pt; font-style:normal; font-variant:normal; font-weight:400; text-decoration:none; white-space:pre-wrap" %)Microsoft forms. All the questionnaires were performed by Microsoft Forms, a GDPR/TU Delft approved tool for gathering data.
69 +1. (% style="font-size: 11pt; font-variant: normal; white-space: pre-wrap; font-family: Arial; color: rgb(0, 0, 0); font-weight: 400; font-style: normal; text-decoration: none" %)Consent form. To protect the privacy of participants and ensure that they accept that their data was analyzed by researchers, we had each participant fill in a consent form. This consent form and experiment was approved by the Ethics Commission of the TU Delft.
70 +1. (% style="font-size: 11pt; font-variant: normal; white-space: pre-wrap; font-family: Arial; color: rgb(0, 0, 0); font-weight: 400; font-style: normal; text-decoration: none" %)Pepper robot. We programmed this robot to interact with the participants as described in our earlier sections.
71 +1. (% style="font-size: 11pt; font-variant: normal; white-space: pre-wrap; font-family: Arial; color: rgb(0, 0, 0); font-weight: 400; font-style: normal; text-decoration: none" %)Utensils for painting and drawing: canvas, watercolors and pencils. We offer each participant the choice whether they want to draw or paint.
72 +1. (% style="font-size: 11pt; font-variant: normal; white-space: pre-wrap; font-family: Arial; color: rgb(0, 0, 0); font-weight: 400; font-style: normal; text-decoration: none" %)Microsoft forms. All the questionnaires were performed by Microsoft Forms, a GDPR/TU Delft approved tool for gathering data.
74 74  
75 75  = 3. Results =
76 76  
77 -== RQ1: ==
78 78  
79 -The result of 1 is : MannwhitneyuResult(statistic=119.0, pvalue=0.16128927639663737)
80 -The result of 2 is : MannwhitneyuResult(statistic=124.5, pvalue=0.23160773305909133)
81 -The result of 3 is : MannwhitneyuResult(statistic=128.0, pvalue=0.2624600220829313)
82 -The result of 4 is : MannwhitneyuResult(statistic=170.0, pvalue=0.8068245764795088)
83 -The result of 5 is : MannwhitneyuResult(statistic=190.0, pvalue=0.37010115387134357)
84 -The result of 6 is : MannwhitneyuResult(statistic=154.5, pvalue=0.8038002705718079)
85 -The result of 7 is : MannwhitneyuResult(statistic=217.0, pvalue=0.07321208012798906)
86 -The result of 8 is : MannwhitneyuResult(statistic=134.0, pvalue=0.3680655063054846)
87 -The result of 9 is : MannwhitneyuResult(statistic=198.5, pvalue=0.23665845074130787)
88 -The result of 10 is : MannwhitneyuResult(statistic=191.0, pvalue=0.3521959055801669)
89 -The result of 11 is : MannwhitneyuResult(statistic=176.0, pvalue=0.6532884156524246)
90 -The result of 12 is : MannwhitneyuResult(statistic=141.5, pvalue=0.5153332738584296)
91 -The result of 13 is : MannwhitneyuResult(statistic=213.5, pvalue=0.09360342686552618)
92 -The result of 14 is : MannwhitneyuResult(statistic=91.0, pvalue=0.022196094647121984)
93 -
94 94  = 4. Discussion =
95 95  
96 96  
97 97  = 5. Conclusions =
98 -
99 -
100 -=== References ===
101 -
102 -1. Mullen, S.P., Olson, E.A., Phillips, S.M. //et al.// Measuring enjoyment of physical activity in older adults: invariance of the physical activity enjoyment scale (paces) across groups and time. //Int J Behav Nutr Phys Act// **8**, 103 (2011). https:~/~/doi.org/10.1186/1479-5868-8-103