research-article

Open access

Working with a Social Robot in School: A Long-Term Real-World Unsupervised Deployment

Authors:

Daniel P. Davison,

Frances M. Wijnen,

Jan van der Meij,

Dennis ReidsmaAuthors Info & Claims

HRI '20: Proceedings of the 2020 ACM/IEEE International Conference on Human-Robot Interaction

Pages 63 - 72

https://doi.org/10.1145/3319502.3374803

Published: 09 March 2020 Publication History

Abstract

Interactive learning technologies, such as robots, increasingly find their way into schools. However, more research is needed to see how children might work with such systems in the future. This paper presents the unsupervised, four month deployment of a Robot-Extended Computer Assisted Learning (RECAL) system with 61 children working in their own classroom. Using automatically collected quantitative data we discuss how their usage patterns and self-regulated learning process developed throughout the study.

Supplementary Material

MP4 File (p63-davison.mp4)

Download
25.52 MB

References

[1]

P. Baxter, T. Belpaeme, L. Canamero, P. Cosi, Y. Demiris, and V. Enescu. 2011. Long-term human-robot interaction with young users . IEEE/ACM Human-Robot Interaction 2011 Conference (Robots with Children Workshop), 1--4 (2011).

[2]

Tony Belpaeme, James Kennedy, Aditi Ramachandran, Brian Scassellati, and Fumihide Tanaka. 2018. Social robots for education: A review . Science Robotics, Vol. 3, 21 (aug 2018). https://doi.org/10.1126/scirobotics.aat5954

[3]

BML. accessed 9 Dec. 2019. Behaviour Markup Language Specification v1.0. http://www.mindmakers.org/projects/bml-1-0/wiki

[4]

Cynthia Breazeal. 2003. Emotion and sociable humanoid robots . International Journal of Human-Computer Studies, Vol. 59, 1 (2003), 119--155.

Digital Library

[5]

Shruti Chandra, Raul Paradeda, Hang Yin, Pierre Dillenbourg, Rui Prada, and Ana Paiva. 2018. Do Children Perceive Whether a Robotic Peer is Learning or Not?. In Proceedings of the 2018 ACM/IEEE International Conference on Human-Robot Interaction - HRI '18 . ACM Press, New York, New York, USA, 41--49. https://doi.org/10.1145/3171221.3171274

Digital Library

[6]

Vasiliki Charisi, Daniel Patrick Davison, Dennis Reidsma, and Vanessa Evers. 2016. Evaluation Methods for User-Centered Child-Robot Interaction. In Proceedings of the 25th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN 2016 (Proceedings IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN). IEEE ROBOTICS AND AUTOMATION SOCIETY, MoA3.4. https://doi.org/10.1109/ROMAN.2016.7745171

[7]

Alexandre Coninx, Paul Baxter, Elettra Oleari, Sara Bellini, Bert Bierman, Olivier Blanson Henkemans, Lola Ca n amero, Piero Cosi, Valentin Enescu, Raquel Ros Espinoza, Antoine Hiolle, Ré mi Humbert, Bernd Kiefer, Ivana Kruijff-Korbayovà, Rosmarijn Looije, Marco Mosconi, Mark Neerincx, Giulio Paci, Georgios Patsis, Clara Pozzi, Francesca Sacchitelli, Hichem Sahli, Alberto Sanna, Giacomo Sommavilla, Fabio Tesser, Yiannis Demiris, and Tony Belpaeme. 2015. Towards Long-Term Social Child-Robot Interaction: Using Multi-Activity Switching to Engage Young Users . Journal of Human-Robot Interaction, Vol. 5, 1 (aug 2015), 32. https://doi.org/10.5898/JHRI.5.1.Coninx

Digital Library

[8]

Daniel Patrick Davison, Vasiliki Charisi, Frances Martine Wijnen, Andrea Papenmeier, Jan van der Meij, Dennis Reidsma, and Vanessa Evers. 2016. Design challenges for long-term interaction with a robot in a science classroom. In Proceedings of the RO-MAN2016 Workshop on Long-term Child-robot Interaction . IEEE ROBOTICS AND AUTOMATION SOCIETY.

[9]

Daniel Patrick Davison, Frances Martine Wijnen, Jan van der Meij, Dennis Reidsma, and Vanessa Evers. 2019. Designing a Social Robot to Support Children's Inquiry Learning: A Contextual Analysis of Children Working Together at School . International Journal of Social Robotics, Vol. 11, 3 (2019). https://doi.org/10.1007/s12369-019-00555--6

[10]

Maartje M.A. de Graaf, Somaya Ben Allouch, and Jan A.G.M. van Dijk. 2016. Long-term evaluation of a social robot in real homes . Interaction Studies. Social Behaviour and Communication in Biological and Artificial Systems, Vol. 17, 3 (dec 2016), 461--490. https://doi.org/10.1075/is.17.3.08deg

[11]

Ylva Fernaeus, Maria Håkansson, Mattias Jacobsson, and Sara Ljungblad. 2010. How do you play with a robotic toy animal? A long-term study of Pleo . Proceedings of the 9th International Conference on Interaction Design and Children - IDC '10 (2010), 39--48. https://doi.org/10.1145/1810543.1810549

Digital Library

[12]

Goren Gordon, Samuel Spaulding, Jacqueline Kory Westlund, Jin Joo Lee, Luke Plummer, Marayna Martinez, Madhurima Das, and Cynthia Breazeal. 2016. Affective Personalization of a Social Robot Tutor for Children's Second Language Skills . Thirtieth AAAI Conference on Artificial Intelligence (mar 2016), 3951--3967.

Digital Library

[13]

Carmel Houston-Price and Satsuki Nakai. 2004. Distinguishing novelty and familiarity effects in infant preference procedures . Infant and Child Development, Vol. 13, 4 (dec 2004), 341--348. https://doi.org/10.1002/icd.364

[14]

Alexis Jacq, Sé verin Lemaignan, Fernando Garcia, Pierre Dillenbourg, and Ana Paiva. 2016. Building successful long child-robot interactions in a learning context. In ACM/IEEE International Conference on Human-Robot Interaction, Vol. 2016-April. IEEE, 239--246. https://doi.org/10.1109/HRI.2016.7451758

[15]

Malte Jung and Pamela Hinds. 2018. Robots in the Wild: A Time for More Robust Theories of Human-Robot Interaction. ACM Trans. Hum.-Robot Interact., Vol. 7, 1, Article 2 (May 2018), bibinfonumpages5 pages. https://doi.org/10.1145/3208975

Digital Library

[16]

Takayuki Kanda, Takayuki Hirano, Daniel Eaton, and Hiroshi Ishiguro. 2004. Interactive Robots as Social Partners and Peer Tutors for Children: A Field Trial . Human-Computer Interaction, Vol. 19, 1 (jun 2004), 61--84.

[17]

T. Kanda, R. Sato, N. Saiwaki, and H. Ishiguro. 2007. A Two-Month Field Trial in an Elementary School for Long-Term Human--Robot Interaction . IEEE Transactions on Robotics, Vol. 23, 5 (oct 2007), 962--971. https://doi.org/10.1109/TRO.2007.904904

Digital Library

[18]

James Kennedy, Paul Baxter, and Tony Belpaeme. 2015. The Robot Who Tried Too Hard. In Proceedings of the Tenth Annual ACM/IEEE International Conference on Human-Robot Interaction - HRI '15 . ACM Press, New York, New York, USA, 67--74. https://doi.org/10.1145/2696454.2696457

Digital Library

[19]

David Klahr. 2000. Exploring Science: The Cognition and Development of Discovery Processes. The MIT Press, Cambridge.

[20]

David Klahr and Kevin Dunbar. 1988. Dual Space Search During Scientific Reasoning . Cognitive Science, Vol. 12, 1 (jan 1988), 1--48.

[21]

Stefan Kopp, Brigitte Krenn, Stacy Marsella, Andrew N. Marshall, Catherine Pelachaud, Hannes Pirker, Kristinn R. Thó risson, and Hannes Vilhjá lmsson. 2006. Towards a Common Framework for Multimodal Generation: The Behavior Markup Language. In International Conference on Intelligent Virtual Agents, IVA 2006, Vol. 4133. Springer, Berlin, Heidelberg, 205--217. https://doi.org/10.1007/11821830

Digital Library

[22]

Hideki Kozima, Marek P. Michalowski, and Cocoro Nakagawa. 2009. Keepon: A playful robot for research, therapy, and entertainment . International Journal of Social Robotics, Vol. 1, 1 (jan 2009), 3--18. https://doi.org/10.1007/s12369-008-0009--8

[23]

Iolanda Leite, Ginevra Castellano, André Pereira, Carlos Martinho, and Ana Paiva. 2014. Empathic Robots for Long-term Interaction: Evaluating Social Presence, Engagement and Perceived Support in Children . International Journal of Social Robotics, Vol. 6, 3 (aug 2014), 329--341. https://doi.org/10.1007/s12369-014-0227--1

[24]

Iolanda Leite, Carlos Martinho, and Ana Paiva. 2013. Social Robots for Long-Term Interaction: A Survey . International Journal of Social Robotics, Vol. 5, 2 (jan 2013), 291--308. https://doi.org/10.1007/s12369-013-0178-y

[25]

Iolanda Leite, Carlos Martinho, Andre Pereira, and Ana Paiva. 2009. As Time goes by: Long-term evaluation of social presence in robotic companions. In RO-MAN 2009 - The 18th IEEE International Symposium on Robot and Human Interactive Communication. IEEE, 669--674. https://doi.org/10.1109/ROMAN.2009.5326256

[26]

Daniel Leyzberg, Samuel Spaulding, Mariya Toneva, and Brian Scassellati. 2012. The Physical Presence of a Robot Tutor Increases Cognitive Learning Gains. In Proceedings of the Annual Meeting of the Cognitive Science Society, Vol. 34.

[27]

Ter Mark Maat and Dirk Heylen. 2011. Flipper: An Information State Component for Spoken Dialogue Systems. In Intelligent Virtual Agents. Springer Verlag, Reykjavik, 470--472.

[28]

Aaron Powers, Adam D.I. Kramer, Shirlene Lim, Jean Kuo, Sau Lai Lee, and Sara Kiesler. 2005. Eliciting information from people with a gendered humanoid robot. In Proceedings - IEEE International Workshop on Robot and Human Interactive Communication, Vol. 2005. IEEE, 158--163. https://doi.org/10.1109/ROMAN.2005.1513773

[29]

Aditi Ramachandran, Chien-Ming Huang, Edward Gartland, and Brian Scassellati. 2018. Thinking Aloud with a Tutoring Robot to Enhance Learning. In Proceedings of the 2018 ACM/IEEE International Conference on Human-Robot Interaction - HRI '18 . ACM Press, New York, New York, USA, 59--68. https://doi.org/10.1145/3171221.3171250

Digital Library

[30]

Dennis Reidsma, Vicky Charisi, Daniel Patrick Davison, Frances Martine Wijnen, Jan van der Meij, Vanessa Evers, David Cameron, Samuel Fernando, Roger Moore, Tony Prescott, Daniele Mazzei, Michael Pieroni, Lorenzo Cominelli, Roberto Garofalo, Danilo de Rossi, Vasiliki Vouloutsi, Riccardo Zucca, Klaudia Grechuta, Maria Blancas, and Paul Verschure. 2016. The EASEL project: Towards educational human-robot symbiotic interaction. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), Vol. 9793. Springer, Cham, 297--306. https://doi.org/1

[31]

Dennis Reidsma and Herwin van Welbergen. 2013. AsapRealizer in practice - A modular and extensible architecture for a BML Realizer . Entertainment Computing, Vol. 4, 3 (aug 2013), 157--169. https://doi.org/10.1016/j.entcom.2013.05.001

[32]

Sofia Serholt. 2018. Breakdowns in children's interactions with a robotic tutor: A longitudinal study . Computers in Human Behavior, Vol. 81 (apr 2018), 250--264. https://doi.org/10.1016/j.chb.2017.12.030

[33]

Sofia Serholt and Wolmet Barendregt. 2016. Robots Tutoring Children: Longitudinal Evaluation of Social Engagement in Child-Robot Interaction. In Proceedings of the 9th Nordic Conference on Human-Computer Interaction - NordiCHI '16. ACM Press, New York, New York, USA, 1--10. https://doi.org/10.1145/2971485.2971536

Digital Library

[34]

D. Silvera-Tawil and C. R. Yates. 2018. Socially-Assistive Robots to Enhance Learning for Secondary Students with Intellectual Disabilities and Autism. In 2018 27th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN). 838--843. https://doi.org/10.1109/ROMAN.2018.8525743

[35]

JaYoung Sung, Henrik I. Christensen, and Rebecca E. Grinter. 2009. Robots in the wild: understanding long-term use . In Proceedings of the 4th ACM/IEEE international conference on Human robot interaction - HRI '09. ACM Press, New York, New York, USA, 45--52. https://doi.org/10.1145/1514095.1514106

[36]

Ja Young Sung, Rebecca E. Grinter, and Henrik I. Christensen. 2010. Domestic robot ecology: An initial framework to unpack long-term acceptance of robots at home . International Journal of Social Robotics, Vol. 2, 4 (dec 2010), 417--429. https://doi.org/10.1007/s12369-010-0065--8

[37]

Fumihide Tanaka, Aaron Cicourel, and Javier R Movellan. 2007. Socialization between toddlers and robots at an early childhood education center. Proceedings of the National Academy of Sciences of the United States of America, Vol. 104, 46 (nov 2007), 17954--8. https://doi.org/10.1073/pnas.0707769104

[38]

F. Tanaka and J.R. Movellan. 2006. Behavior Analysis of Children's Touch on a Small Humanoid Robot: Long-term Observation at a Daily Classroom over Three Months. In ROMAN 2006 - The 15th IEEE International Symposium on Robot and Human Interactive Communication . IEEE, 753--756. https://doi.org/10.1109/ROMAN.2006.314491

[39]

Fumihide Tanaka, Javier R. Movellan, Bret Fortenberry, and Kazuki Aisaka. 2006. Daily HRI evaluation at a classroom environment . In Proceeding of the 1st ACM SIGCHI/SIGART conference on Human-robot interaction - HRI '06. ACM Press, New York, New York, USA, 3--9. https://doi.org/10.1145/1121241.1121245

Digital Library

[40]

Jelte van Waterschoot, Merijn Bruijnes, Jan Flokstra, Dennis Reidsma, Daniel Davison, Marië t Theune, and Dirk Heylen. 2018. Flipper 2.0: A pragmatic dialogue engine for embodied conversational agents. In Proceedings of the 18th International Conference on Intelligent Virtual Agents . ACM Press, Sydney, Australia, 43--50.

Digital Library

[41]

W3C. accessed 9 Dec. 2019. W3C Wiki Entry Concerning Graceful Degradation and Progressive Enhancement. https://www.w3.org/wiki/Graceful_degradation_versus_progressive_enhancement

[42]

Frances Martine Wijnen, Daniel Patrick Davison, Dennis Reidsma, Jan van der Meij, Vicky Charisi, and Vanessa Evers. In press. Now we're talking: Learning by explaining your reasoning to a social robot . ACM Transactions on Human Robot Interaction ( In press).

[43]

Cristina Zaga, Roelof AJ de Vries, Jamy Li, Khiet P Truong, and Vanessa Evers. 2017. A Simple Nod of the Head: The Effect of Minimal Robot Movements on Children's Perception of a Low-Anthropomorphic Robot. In Proceedings of the 2017 CHI Conference on Human Factors in Computing Systems. ACM, 336--341.

Digital Library

[44]

Abolfazl Zaraki, Daniele Mazzei, Manuel Giuliani, and Danilo De Rossi. 2014. Designing and Evaluating a Social Gaze-Control System for a Humanoid Robot . IEEE Transactions on Human-Machine Systems, Vol. 44, 2 (apr 2014), 157--168. https://doi.org/10.1109/THMS.2014.2303083

Cited By

Law TChita-Tegmark MScheutz M(2024)Trust Transfer in Robots between Task EnvironmentsProceedings of the Second International Symposium on Trustworthy Autonomous Systems10.1145/3686038.3686061(1-9)Online publication date: 16-Sep-2024
https://dl.acm.org/doi/10.1145/3686038.3686061
Vaiani G(2024)Adaptive End-User Development for Social RoboticsProceedings of the 2024 International Conference on Advanced Visual Interfaces10.1145/3656650.3656748(1-3)Online publication date: 3-Jun-2024
https://dl.acm.org/doi/10.1145/3656650.3656748
Ho HHubbard EMutlu B(2024)"It's Not a Replacement:" Enabling Parent-Robot Collaboration to Support In-Home Learning Experiences of Young ChildrenProceedings of the 2024 CHI Conference on Human Factors in Computing Systems10.1145/3613904.3642806(1-18)Online publication date: 11-May-2024
https://dl.acm.org/doi/10.1145/3613904.3642806
Show More Cited By

Index Terms

Working with a Social Robot in School: A Long-Term Real-World Unsupervised Deployment

Recommendations

Luka Luka - Investigating the Interaction of Children and Their Home Reading Companion Robot: A Longitudinal Remote Study
HRI '21 Companion: Companion of the 2021 ACM/IEEE International Conference on Human-Robot Interaction

Social robots increasingly find their way into homes, especially to target families with small children. These commercially available robots are becoming widely accessible, but the research on them was largely confined to a lab or classroom environment, ...
A Social Robot Reading Partner for Explorative Guidance
HRI '23: Proceedings of the 2023 ACM/IEEE International Conference on Human-Robot Interaction

Pedagogical agent research has yielded fruitful results in both academic skill learning and meta-cognitive skill acquisition, often studied in instructional or peer-to-peer paradigms. In the past decades, child-centric pedagogical research, which ...
Do Shy Children Keep more Distance from a Social Robot? Exploring Shy Children’s Proxemics with a Social Robot or a Human
IDC '21: Proceedings of the 20th Annual ACM Interaction Design and Children Conference

Social robots hold potential for implementation in future educational environments by engaging children in motivating and embodied learning settings. However, how children enter into and maintain social interactions is substantially influenced by their ...

Comments

Information & Contributors

Information

Published In

cover image ACM Conferences

HRI '20: Proceedings of the 2020 ACM/IEEE International Conference on Human-Robot Interaction

March 2020

690 pages

ISBN:9781450367462

DOI:10.1145/3319502

General Chairs:
Tony Belpaeme
Ghent University, Belgium
,
James Young
University of Manitoba, Canada
,
Program Chairs:
Hatice Gunes
University of Cambridge, UK
,
Laurel Riek
UC San Diego, USA

Copyright © 2020 Owner/Author.

This work is licensed under a Creative Commons Attribution International 4.0 License.

Sponsors

SIGAI: ACM Special Interest Group on Artificial Intelligence
SIGCHI: ACM Special Interest Group on Computer-Human Interaction
IEEE-RAS: Robotics and Automation

Publisher

Association for Computing Machinery

New York, NY, United States

Publication History

Published: 09 March 2020

Permissions

Request permissions for this article.

Request Permissions

Check for updates

Author Tags

Qualifiers

Research-article

Funding Sources

European Union 7th Framework Program

Conference

HRI '20

Sponsor:

SIGAI
SIGCHI
IEEE-RAS

HRI '20: ACM/IEEE International Conference on Human-Robot Interaction

March 23 - 26, 2020

Cambridge, United Kingdom

Acceptance Rates

Overall Acceptance Rate 268 of 1,124 submissions, 24%

Contributors

Other Metrics

View Article Metrics

Bibliometrics & Citations

Bibliometrics

Article Metrics

38
Total Citations
View Citations
1,366
Total Downloads

Downloads (Last 12 months)220
Downloads (Last 6 weeks)24

Reflects downloads up to 13 Jan 2025

Other Metrics

View Author Metrics

Citations

Cited By

Law TChita-Tegmark MScheutz M(2024)Trust Transfer in Robots between Task EnvironmentsProceedings of the Second International Symposium on Trustworthy Autonomous Systems10.1145/3686038.3686061(1-9)Online publication date: 16-Sep-2024
https://dl.acm.org/doi/10.1145/3686038.3686061
Vaiani G(2024)Adaptive End-User Development for Social RoboticsProceedings of the 2024 International Conference on Advanced Visual Interfaces10.1145/3656650.3656748(1-3)Online publication date: 3-Jun-2024
https://dl.acm.org/doi/10.1145/3656650.3656748
Ho HHubbard EMutlu B(2024)"It's Not a Replacement:" Enabling Parent-Robot Collaboration to Support In-Home Learning Experiences of Young ChildrenProceedings of the 2024 CHI Conference on Human Factors in Computing Systems10.1145/3613904.3642806(1-18)Online publication date: 11-May-2024
https://dl.acm.org/doi/10.1145/3613904.3642806
Ligthart MDe Droog SBossema MElloumi Lde Haas MSmakman MHindriks KBen Allouch SGrollman DBroadbent EJu WSoh HWilliams T(2024)Back to School - Sustaining Recurring Child-Robot Educational Interactions After a Long BreakProceedings of the 2024 ACM/IEEE International Conference on Human-Robot Interaction10.1145/3610977.3635001(433-442)Online publication date: 11-Mar-2024
https://dl.acm.org/doi/10.1145/3610977.3635001
Mohan MNunez CKuchenbecker K(2024)Closing the loop in minimally supervised human–robot interaction: formative and summative feedbackScientific Reports10.1038/s41598-024-60905-x14:1Online publication date: 8-May-2024
https://doi.org/10.1038/s41598-024-60905-x
Song SBaba JOkafuji YNakanishi JYoshikawa YIshiguro H(2024)New Comer in the Bakery Store: A Long-Term Exploratory Study Toward Design of Useful Service Robot ApplicationsInternational Journal of Social Robotics10.1007/s12369-024-01119-z16:9-10(1901-1918)Online publication date: 8-Oct-2024
https://doi.org/10.1007/s12369-024-01119-z
Janssen SSchadenberg B(2024)A Psychological Need-Fulfillment Perspective for Designing Social Robots that Support Well-BeingInternational Journal of Social Robotics10.1007/s12369-024-01102-816:5(857-878)Online publication date: 25-Feb-2024
https://doi.org/10.1007/s12369-024-01102-8
Song HHuang SBarakova EHam JMarkopoulos P(2023)How Social Robots can Influence Motivation as Motivators in Learning: A Scoping ReviewProceedings of the 16th International Conference on PErvasive Technologies Related to Assistive Environments10.1145/3594806.3604591(313-320)Online publication date: 5-Jul-2023
https://dl.acm.org/doi/10.1145/3594806.3604591
Ho HWhite NHubbard EMutlu B(2023)Designing Parent-child-robot Interactions to Facilitate In-Home Parental Math Talk with Young ChildrenProceedings of the 22nd Annual ACM Interaction Design and Children Conference10.1145/3585088.3589358(355-366)Online publication date: 19-Jun-2023
https://dl.acm.org/doi/10.1145/3585088.3589358
Lee JAtrash AGlas DFu H(2023)Developing autonomous behaviors for a consumer robot to be near people in the home2023 32nd IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)10.1109/RO-MAN57019.2023.10309443(197-204)Online publication date: 28-Aug-2023
https://doi.org/10.1109/RO-MAN57019.2023.10309443
Show More Cited By

View Options

View options

PDF

View or Download as a PDF file.

eReader

View online with eReader.

Login options

Check if you have access through your login credentials or your institution to get full access on this article.

Full Access

Get this Publication

Media

Figures

Other

Tables

View Table of Contents