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However, when developing new robotics technologies, it must be considered that this condition often causes increased anxiety in unfamiliar settings. Indeed, children with ASD have difficulties accepting changes like introducing multiple new technological devices in their routines, therefore, embedded solutions should be preferred. Also, in this context, robots should be small as children find the bigger ones scary. This leads to limited computing resources onboard as small batteries power them. This article presents a study on gesture recognition using video recorded only by the camera embedded in a NAO robot, while it was leading a clinical procedure. The video is 2D and low quality because of the limits of the NAO-embedded computing resources. The recognition is made more challenging by robot movements, which alter the vision by moving the camera and sometimes by obstructing it with the robot\u2019s arms for short periods. Despite these challenging real-world conditions, in our experiments, we have tuned and improved state-of-the-art algorithms to yield an accuracy higher than <jats:inline-formula><jats:alternatives><jats:tex-math>$$90\\%$$<\/jats:tex-math><mml:math xmlns:mml=\"http:\/\/www.w3.org\/1998\/Math\/MathML\">\n                    <mml:mrow>\n                      <mml:mn>90<\/mml:mn>\n                      <mml:mo>%<\/mml:mo>\n                    <\/mml:mrow>\n                  <\/mml:math><\/jats:alternatives><\/jats:inline-formula> in the gesture classification, with the best accuracy being <jats:inline-formula><jats:alternatives><jats:tex-math>$$94\\%$$<\/jats:tex-math><mml:math xmlns:mml=\"http:\/\/www.w3.org\/1998\/Math\/MathML\">\n                    <mml:mrow>\n                      <mml:mn>94<\/mml:mn>\n                      <mml:mo>%<\/mml:mo>\n                    <\/mml:mrow>\n                  <\/mml:math><\/jats:alternatives><\/jats:inline-formula>. This level of accuracy is suitable for evaluating the children\u2019s performance and providing information for the diagnosis and continuous assessment of the therapy. We have also considered the performance improvement of using a low-power GPU-AI accelerator embedded system, which could be included in future robots, to enable gesture analysis during the therapy, which could be adapted to the child\u2019s performance.<\/jats:p>\n              <\/jats:sec><jats:sec>\n                <jats:title>Graphical abstract<\/jats:title>\n                \n              <\/jats:sec>","DOI":"10.1007\/s10489-024-05477-z","type":"journal-article","created":{"date-parts":[[2024,5,20]],"date-time":"2024-05-20T06:01:37Z","timestamp":1716184897000},"page":"6579-6591","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":5,"title":["Gesture recognition with a 2D low-resolution embedded camera to minimise intrusion in robot-led training of children with autism spectrum disorder"],"prefix":"10.1007","volume":"54","author":[{"given":"Giovanni","family":"Ercolano","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Silvia","family":"Rossi","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Daniela","family":"Conti","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2677-2650","authenticated-orcid":false,"given":"Alessandro","family":"Di\u00a0Nuovo","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2024,5,20]]},"reference":[{"key":"5477_CR1","doi-asserted-by":"crossref","unstructured":"Provoost S, Lau HM, Ruwaard J, Riper H (2017) Embodied conversational agents in clinical psychology: a scoping review. 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All the parents signed consent forms that allowed us to collect data during the study and use it only for research purposes.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Compliance with Ethical Standards"}},{"value":"The authors declare no conflict of interest for the study reported in this article.","order":3,"name":"Ethics","group":{"name":"EthicsHeading","label":"Conflict of interest"}}]}}