{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,14]],"date-time":"2025-10-14T07:14:29Z","timestamp":1760426069345,"version":"3.37.3"},"reference-count":48,"publisher":"Springer Science and Business Media LLC","issue":"7","license":[{"start":{"date-parts":[[2022,8,4]],"date-time":"2022-08-04T00:00:00Z","timestamp":1659571200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0"},{"start":{"date-parts":[[2022,8,4]],"date-time":"2022-08-04T00:00:00Z","timestamp":1659571200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0"}],"funder":[{"DOI":"10.13039\/100010665","name":"H2020 Marie Sklodowska-Curie Actions","doi-asserted-by":"publisher","award":["777720"],"award-info":[{"award-number":["777720"]}],"id":[{"id":"10.13039\/100010665","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Int J of Soc Robotics"],"published-print":{"date-parts":[[2022,9]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>The paper presents an initial step towards employing the advantages of educational theatre and implementing them into social robotics in order to enhance the emotional skills of a child and at the same time to augment robots with actors\u2019 emotional talent. Emotional child-robot interaction helps to catch quickly a child\u2019s attention and enhance information perception during learning and verbalization in children with communication disorders. An innovative approach for learning through art by transferring actors\u2019 emotional and social talents to socially assistive robots is presented and the technical and artistic challenges of tracking and translating movements expressing emotions from an actor to a robot are considered. The goal is to augment the robot intervention in order to enhance a child\u2019s learning skills by stimulating attention, improving timing of understanding emotions, establishing emotional contact and teamwork. The paper introduces a novel approach to capture movements and expressions of a human head, to process data from brain and inertial tracking devices and to transfer them into a socially assistive robot.<\/jats:p>","DOI":"10.1007\/s12369-022-00910-0","type":"journal-article","created":{"date-parts":[[2022,8,4]],"date-time":"2022-08-04T18:02:37Z","timestamp":1659636157000},"page":"1749-1766","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":6,"title":["Implementation of Actors\u2019 Emotional Talent into Social Robots Through Capture of Human Head\u2019s Motion and Basic Expression"],"prefix":"10.1007","volume":"14","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-8076-0928","authenticated-orcid":false,"given":"Tanio K.","family":"Tanev","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9012-4714","authenticated-orcid":false,"given":"Anna","family":"Lekova","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2022,8,4]]},"reference":[{"key":"910_CR1","first-page":"689","volume-title":"Advances in service and industrial robotics, RAAD 2018, mechanisms and machine science","author":"T Pachidis","year":"2019","unstructured":"Pachidis T, Vrochidou E, Kaburlasos VG, Kostova S, Bonkovi\u0107 M, Papi\u0107 V (2019) Social robotics in education: state-of-the-Art and directions. In: Aspragathos N, Koustoumpardis P, Moulianitis V (eds) Advances in service and industrial robotics, RAAD 2018, mechanisms and machine science, vol 67. Springer, Cham, pp 689\u2013700"},{"key":"910_CR2","doi-asserted-by":"crossref","unstructured":"Virnes M (2008) Robotics in special needs education. In Proceedings of the 7th international conference on Interaction design and children (IDC \u201908), ACM, New York, NY, USA, pp 29-32","DOI":"10.1145\/1463689.1463710"},{"key":"910_CR3","doi-asserted-by":"publisher","first-page":"1819","DOI":"10.3389\/fpsyg.2016.01819","volume":"7","author":"MC Johnson-Glenberg","year":"2016","unstructured":"Johnson-Glenberg MC, Megowan-Romanowicz C, Birchfield DA, Savio-Ramos C (2016) Effects of embodied learning and digital platform on the retention of physics content: centripetal force. Front Psychol 7:1819. https:\/\/doi.org\/10.3389\/fpsyg.2016.01819","journal-title":"Front Psychol"},{"issue":"4","key":"910_CR4","first-page":"189","volume":"8","author":"G Kempermann","year":"2010","unstructured":"Kempermann G et al (2010) Why and how physical activity promotes experience-induced brain plasticity. Front Neurosci 8(4):189","journal-title":"Front Neurosci"},{"key":"910_CR5","doi-asserted-by":"publisher","first-page":"107","DOI":"10.1007\/978-3-319-03904-6_5","volume-title":"Controls and art: inquiries at the intersection of the subjective and the objective","author":"E Jochum","year":"2014","unstructured":"Jochum E, Schultz J, Johnson E, Murphey TD (2014) Robotic puppets and the engineering of autonomous theater. In: Laviers A, Egerstedt M (eds) Controls and art: inquiries at the intersection of the subjective and the objective. Springer, New York, pp 107\u2013128"},{"key":"910_CR6","doi-asserted-by":"publisher","first-page":"457","DOI":"10.1007\/s12369-016-0370-y","volume":"8","author":"E Jochum","year":"2016","unstructured":"Jochum E, Vlachos E, Chistoffersen A, Nielsen S, Hameed I, Tan Z (2016) Using theatre to study interaction with care robots. Int J Soc Rob 8:457\u2013470","journal-title":"Int J Soc Rob"},{"key":"910_CR7","unstructured":"H2020 Project CybSPEED. https:\/\/cordis.europa.eu\/project\/id\/777720 Accessed 11 August 2021"},{"key":"910_CR8","unstructured":"Educational Theater Tsvete. http:\/\/theatretsvete.eu Accessed 11 August 2021"},{"key":"910_CR9","first-page":"3","volume-title":"Handbook of emotion regulation","author":"J Gross","year":"2007","unstructured":"Gross J, Thompson R (2007) Emotion regulation: conceptual foundations. In: Gross JJ (ed) Handbook of emotion regulation. Guilford Press, New York, pp 3\u201324"},{"key":"910_CR10","doi-asserted-by":"publisher","first-page":"1","DOI":"10.3389\/fpsyg.2017.01454","volume":"8","author":"C Tyng","year":"2017","unstructured":"Tyng C et al (2017) The influences of emotion on learning and memory. Front Psychol 8:1\u201322","journal-title":"Front Psychol"},{"issue":"15","key":"910_CR11","doi-asserted-by":"publisher","first-page":"5338","DOI":"10.1523\/JNEUROSCI.4793-11.2012","volume":"32","author":"B Zikopoulos","year":"2012","unstructured":"Zikopoulos B, Barbas H (2012) Pathways for emotions and attention converge on the thalamic reticular nucleus in primates. J Neurosci 32(15):5338\u20135350","journal-title":"J Neurosci"},{"issue":"3","key":"910_CR12","doi-asserted-by":"publisher","first-page":"365","DOI":"10.1037\/emo0000106","volume":"16","author":"SR Livingstone","year":"2016","unstructured":"Livingstone SR, Palmer C (2016) Head movements encode emotions during speech and song. Emotion 16(3):365\u2013380","journal-title":"Emotion"},{"issue":"3","key":"910_CR13","doi-asserted-by":"publisher","first-page":"1699","DOI":"10.1016\/j.eswa.2014.10.006","volume":"42","author":"A Rodr\u00edguez","year":"2015","unstructured":"Rodr\u00edguez A, Rey B, Clemente M, Wrzesien M, Alca\u00f1iz M (2015) Assessing brain activations associated with emotional regulation during virtual reality mood induction procedures. Expert Syst Appl 42(3):1699\u20131709. https:\/\/doi.org\/10.1016\/j.eswa.2014.10.006","journal-title":"Expert Syst Appl"},{"key":"910_CR14","doi-asserted-by":"crossref","unstructured":"Dachkinov P, Tanev T, Lekova A, Batbaatar D, Wagatsuma H (2018) Design and motion capabilities of an emotion-expressive robot EmoSan. In: joint 10th international conference on soft computing and intelligent systems and 19th international symposium on advanced intelligent systems SCIS &ISIS2018, pp 1332-1338, 5-8 December, 2018, Toyama, Japan","DOI":"10.1109\/SCIS-ISIS.2018.00207"},{"key":"910_CR15","unstructured":"EMOTIV EPOC+. https:\/\/www.emotiv.com\/epoc\/  Accessed 11 August 2021"},{"key":"910_CR16","unstructured":"Cassidy AJ (2018) Emotiv facial expression detections. https:\/\/www.emotiv.com\/knowledge-base\/facial-expression-detections\/ Accessed 16 February 2022"},{"issue":"7\u20138","key":"910_CR17","doi-asserted-by":"publisher","first-page":"325","DOI":"10.1080\/01691864.2019.1589570","volume":"33","author":"AS Ghazali","year":"2019","unstructured":"Ghazali AS, Ham J, Barakova E, Markopoulos P (2019) Assessing the effect of persuasive robots interactive social cues on users psychological reactance, liking, trusting beliefs and compliance. Adv Robot 33(7\u20138):325\u2013337","journal-title":"Adv Robot"},{"key":"910_CR18","doi-asserted-by":"crossref","unstructured":"Churamani N, Barros P, Strahl E, Wermter S (2018) Learning empathy-driven emotion expressions using affective modulations. In: international joint conference neural network (IJCNN) 2018, pp. 1\u20138","DOI":"10.1109\/IJCNN.2018.8489158"},{"key":"910_CR19","doi-asserted-by":"publisher","DOI":"10.1007\/s12369-021-00851-0","author":"S Rasouli","year":"2022","unstructured":"Rasouli S, Gupta G, Nilsen E et al (2022) Potential applications of social robots in robot-assisted interventions for social anxiety. Int J Soc Rob. https:\/\/doi.org\/10.1007\/s12369-021-00851-0","journal-title":"Int J Soc Rob"},{"key":"910_CR20","doi-asserted-by":"publisher","first-page":"251","DOI":"10.1007\/s12369-020-00635-y","volume":"13","author":"O Engwall","year":"2021","unstructured":"Engwall O, Lopes J, \u00c5hlund A (2021) Robot interaction styles for conversation practice in second language learning. Int J Soc Rob 13:251\u2013276","journal-title":"Int J Soc Rob"},{"key":"910_CR21","doi-asserted-by":"publisher","first-page":"441","DOI":"10.1007\/s12369-019-00570-7","volume":"13","author":"H Striepe","year":"2021","unstructured":"Striepe H, Donnermann M, Lein M et al (2021) Modeling and evaluating emotion, contextual head movement and voices for a social robot storyteller. Int J Soc Rob 13:441\u2013457","journal-title":"Int J Soc Rob"},{"key":"910_CR22","unstructured":"IBM NodeRED Flow-based programming for the Internet of Things. https:\/\/nodered.org\/ Accessed 11 August 2021"},{"key":"910_CR23","unstructured":"EmotivBCI Node-RED toolbox. https:\/\/emotiv.gitbook.io\/emotivbci-node-red-toolbox\/node-descriptions-and-use Accessed 11 August 2021"},{"key":"910_CR24","doi-asserted-by":"crossref","unstructured":"Ranatunga I, Rajruangrabin J, Popa D O, Makedon F, (2011) Enhanced therapeutic interactivity using social robot Zeno. In: proceedings PETRA \u201911 proceedings of the 4th international conference on pervasive technologies related to assistive environments, Heraklion, Crete, Greece\u2013May 25 - 27, 2011","DOI":"10.1145\/2141622.2141690"},{"key":"910_CR25","doi-asserted-by":"publisher","unstructured":"Beira R et al. (2006) Design of the robot-cub (iCub) head. In: proceedings 2006 IEEE international conference on robotics and automation. ICRA 2006. pp 94-100, https:\/\/doi.org\/10.1109\/ROBOT.2006.1641167","DOI":"10.1109\/ROBOT.2006.1641167"},{"key":"910_CR26","doi-asserted-by":"publisher","DOI":"10.1142\/S0219843612500272","author":"A Parmiggiani","year":"2012","unstructured":"Parmiggiani A et al (2012) The design of the iCub humanoid robot. Int J Human Robot. https:\/\/doi.org\/10.1142\/S0219843612500272","journal-title":"Int J Human Robot"},{"issue":"34","key":"910_CR27","doi-asserted-by":"publisher","first-page":"369","DOI":"10.1155\/2009\/708594","volume":"6","author":"K Dautenhahn","year":"2009","unstructured":"Dautenhahn K et al (2009) Blow, KASPAR-a minimally expressive humanoid robot for human-robot interaction research. Appl Bionics Biomech 6(34):369\u2013397","journal-title":"Appl Bionics Biomech"},{"key":"910_CR28","unstructured":"The next revolution in human-computer interaction. https:\/\/furhatrobotics.com\/furhat-robot\/ Accessed 12 February 2022"},{"key":"910_CR29","unstructured":"Socibot. https:\/\/robotsoflondon.co.uk\/socibot Accessed 12 February 2022"},{"key":"910_CR30","doi-asserted-by":"publisher","unstructured":"Hegel F, Eyssel F, Wrede B (2010) The social robot \u201cFlobi\u201d: Key concepts of industrial design. In: 19th international symposium in robot and human interactive communication, 2010, pp 107-112, https:\/\/doi.org\/10.1109\/ROMAN.2010.5598691","DOI":"10.1109\/ROMAN.2010.5598691"},{"key":"910_CR31","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2021.103834","author":"JA Rojas-Quintero","year":"2021","unstructured":"Rojas-Quintero JA, Rodr\u00edguez-Li\u00f1\u00e1n MC (2021) A literature review of sensor heads for humanoid robots. Rob Auto Syst. https:\/\/doi.org\/10.1016\/j.robot.2021.103834","journal-title":"Rob Auto Syst"},{"key":"910_CR32","volume-title":"New foundations for classical mechanics","author":"D Hestenes","year":"1999","unstructured":"Hestenes D (1999) New foundations for classical mechanics, 2nd edn. Kluwer Academic Publishers, Dordrecht, The Netherlands","edition":"2"},{"key":"910_CR33","volume-title":"Geometric algebra for physicists","author":"C Doran","year":"2007","unstructured":"Doran C, Lasenby A (2007) Geometric algebra for physicists. Cambridge University Press, Cambridge"},{"key":"910_CR34","volume-title":"Geometric algebra for computer science. An object oriented approach to geometry","author":"L Dorst","year":"2007","unstructured":"Dorst L, Fontijne D, Mann S (2007) Geometric algebra for computer science. An object oriented approach to geometry. Morgan Kaufmann Publishers, Burlington"},{"key":"910_CR35","doi-asserted-by":"crossref","unstructured":"Tanev TK (2008) Geometric algebra approach to singularity of parallel manipulators with limited mobility. In: Advances in robot kinematics, analysis and design, Lenar\u010di\u010d J. and Wenger P. (Eds), Springer-Verlag, pp 39\u201348","DOI":"10.1007\/978-1-4020-8600-7_5"},{"key":"910_CR36","doi-asserted-by":"crossref","unstructured":"Tanev TK (2016) Singularity analysis of a novel minimally-invasive-surgery hybrid robot using geometric algebra. In: P Wenger et al (Eds) New trends in medical and service robots, Springer: Cham , pp 15-29","DOI":"10.1007\/978-3-319-30674-2_2"},{"key":"910_CR37","doi-asserted-by":"publisher","first-page":"431","DOI":"10.1007\/978-3-319-56802-7_45","volume-title":"Advances in robot Kinematics 2016, Springer proceedings in advanced robotics","author":"TK Tanev","year":"2018","unstructured":"Tanev TK (2018) Geometric algebra based kinematics model and singularity of a hybrid surgical robot. In: Lenar\u010di\u010d J, Merlet JP (eds) Advances in robot Kinematics 2016, Springer proceedings in advanced robotics, vol 4. Springer, Cham, pp 431\u2013440"},{"key":"910_CR38","doi-asserted-by":"publisher","first-page":"105","DOI":"10.1007\/978-0-85729-811-9_6","volume-title":"Guide to geometric algebra in practice","author":"L Candy","year":"2011","unstructured":"Candy L, Lasenby J (2011) Attitude and position tracking. In: Dorst L, Lasenby J (eds) Guide to geometric algebra in practice. Springer, Cham, pp 105\u2013125"},{"key":"910_CR39","doi-asserted-by":"crossref","unstructured":"Madgwick SOH, Harrison AJL, Vaidyanathan A (2011) Estimation of IMU and MARG orientation using a gradient descent algorithm. In: proceedings of the IEEE international conference on rehabilitation robotics, pp 1\u20137, 29 June-1 July 2011, Zurich, Switzerland","DOI":"10.1109\/ICORR.2011.5975346"},{"key":"910_CR40","doi-asserted-by":"publisher","first-page":"19302","DOI":"10.3390\/s150819302","volume":"15","author":"RG Valenti","year":"2015","unstructured":"Valenti RG, Dryanovski I, Xiao J (2015) Keeping a good attitude: a quaternion-based orientation filter for IMUs and MARGs. Sensors 15:19302\u201319330","journal-title":"Sensors"},{"key":"910_CR41","unstructured":"Doran CJL (1994) Geometric algebra and its application to mathematical physics. PhD Thesis, University of Cambridge"},{"key":"910_CR42","doi-asserted-by":"crossref","unstructured":"Zhang Z et al. (2016) Enhanced semi-supervised learning for multimodal emotion recognition. In: 2016 IEEE international conference on acoustics, speech and signal processing (ICASSP), March 2016, pp 5185\u20135189","DOI":"10.1109\/ICASSP.2016.7472666"},{"issue":"5","key":"910_CR43","doi-asserted-by":"publisher","first-page":"373","DOI":"10.1177\/1059712316664017","volume":"24","author":"P Barros","year":"2016","unstructured":"Barros P, Wermter S (2016) Developing crossmodal expression recognition based on a deep neural model. Adapt Behav 24(5):373\u2013396","journal-title":"Adapt Behav"},{"issue":"2","key":"910_CR44","doi-asserted-by":"publisher","first-page":"615","DOI":"10.1007\/s10803-015-2606-3","volume":"46","author":"J Walsh","year":"2016","unstructured":"Walsh J, Creighton S, Rutherford M (2016) Emotion perception or social cognitive complexity\u202f: what drives face processing deficits in autism spectrum disorder? J Autism Dev Disord 46(2):615-623","journal-title":"J Autism Dev Disord"},{"key":"910_CR45","unstructured":"Smyrnaiou Z, Sotiriou M, Georgakopoulou E, Papadopoulou O (2016) Connecting Embodied Learning in educationl practice to the realisation of science educational scenarios through performing arts. In Proc. of Int. Conf. \u201cInspiring Science Education\u201d, Athens 04, 2016, pp 37-45"},{"issue":"2","key":"910_CR46","doi-asserted-by":"publisher","first-page":"307","DOI":"10.1901\/jeab.1994.61-307","volume":"61","author":"F Strumwasser","year":"1994","unstructured":"Strumwasser F (1994) The relations between neuroscience and human behavioral science. J Exp Anal Behav 61(2):307\u2013317. https:\/\/doi.org\/10.1901\/jeab.1994.61-307","journal-title":"J Exp Anal Behav"},{"issue":"1","key":"910_CR47","doi-asserted-by":"publisher","first-page":"4567","DOI":"10.4249\/scholarpedia.4567","volume":"4","author":"L Pessoa","year":"2009","unstructured":"Pessoa L (2009) Cognition and emotion. Scholarpedia 4(1):4567","journal-title":"Scholarpedia"},{"key":"910_CR48","doi-asserted-by":"publisher","first-page":"303","DOI":"10.1093\/scan\/nsm029","volume":"2","author":"S Banks","year":"2007","unstructured":"Banks S, Eddy K, Angstadt M, Nathan P, Phan K (2007) Amygdala-frontal connectivity during emotion regulation. Soc Cogn Aff Neurosci 2:303\u2013312","journal-title":"Soc Cogn Aff Neurosci"}],"container-title":["International Journal of Social Robotics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s12369-022-00910-0.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s12369-022-00910-0\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s12369-022-00910-0.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,9,26]],"date-time":"2022-09-26T19:18:39Z","timestamp":1664219919000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s12369-022-00910-0"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,8,4]]},"references-count":48,"journal-issue":{"issue":"7","published-print":{"date-parts":[[2022,9]]}},"alternative-id":["910"],"URL":"https:\/\/doi.org\/10.1007\/s12369-022-00910-0","relation":{},"ISSN":["1875-4791","1875-4805"],"issn-type":[{"type":"print","value":"1875-4791"},{"type":"electronic","value":"1875-4805"}],"subject":[],"published":{"date-parts":[[2022,8,4]]},"assertion":[{"value":"15 July 2022","order":1,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"4 August 2022","order":2,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"The authors have no conflict of interest to declare that are relevant to the content of this article.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Conflict of interest"}}]}}