{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,9]],"date-time":"2026-01-09T14:47:01Z","timestamp":1767970021694,"version":"3.49.0"},"reference-count":79,"publisher":"Association for Computing Machinery (ACM)","issue":"3","license":[{"start":{"date-parts":[[2022,7,13]],"date-time":"2022-07-13T00:00:00Z","timestamp":1657670400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.acm.org\/publications\/policies\/copyright_policy#Background"}],"content-domain":{"domain":["dl.acm.org"],"crossmark-restriction":true},"short-container-title":["J. Hum.-Robot Interact."],"published-print":{"date-parts":[[2022,9,30]]},"abstract":"<jats:p>In order to give assertive support, robots need to understand the cognitive and emotional characteristics of learners while in the learning process. Also, if the task involves handling capacity, robots must have similar skills. Three concepts were explored to control the cognitive and emotional robot\u2019s behavior: the psychological flow theory, the scaffolding pedagogic strategy, and the multiagents-software paradigm. Based on these concepts, the Human-Robot Scaffolding architecture was designed. It is divided into five blocks. First, the sensory block recognizes body gestures, speech, and task state. Second, the beliefs block estimates the skills and emotional state of learners. Third, the desires block validates the goals the robot can reach; the goals are grouped in skills development, emotional control, cognitive control, challenge control, life signals, and immediate support. Fourth, the intentions block, based on the goals competition strategy, selects the goal that the robot will perform. Finally, the action-planner block regulates the robot\u2019s movements according to the robot\u2019s emotions. The validation procedure was done with 53 learners ranging between 10 and 13 years old who study in public and private schools. Based on the research achievements, the robot fosters learning the Mean-Ends Analysis strategy and the solution of a problem. A video fragment that summarizes the research process is available in<jats:ext-link xmlns:xlink=\"http:\/\/www.w3.org\/1999\/xlink\" ext-link-type=\"url\" xlink:href=\"https:\/\/youtu.be\/qbohCjBIwYc\">https:\/\/youtu.be\/qbohCjBIwYc<\/jats:ext-link>.<\/jats:p>","DOI":"10.1145\/3526109","type":"journal-article","created":{"date-parts":[[2022,3,26]],"date-time":"2022-03-26T11:19:37Z","timestamp":1648293577000},"page":"1-17","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":9,"title":["Human-Robot Scaffolding: An Architecture to Foster Problem-solving Skills"],"prefix":"10.1145","volume":"11","author":[{"given":"John","family":"P\u00e1ez","sequence":"first","affiliation":[{"name":"Universidad Distrital Francisco, Jos\u00e9 de Caldas, Bogot\u00e1, Colombia"}]},{"given":"Enrique","family":"Gonz\u00e1lez","sequence":"additional","affiliation":[{"name":"Pontificia Universidad Javeriana, Bogot\u00e1, Colombia"}]}],"member":"320","published-online":{"date-parts":[[2022,7,13]]},"reference":[{"key":"e_1_3_1_2_2","doi-asserted-by":"publisher","DOI":"10.1016\/0167-4048(95)97025-6"},{"key":"e_1_3_1_3_2","volume-title":"Reconocimiento Multimodal Del Estado Emocional De un nio en un Contexto Educativo","author":"Alcal\u00e1 Javier","year":"2017","unstructured":"Javier Alcal\u00e1. 2017. Reconocimiento Multimodal Del Estado Emocional De un nio en un Contexto Educativo. Thesis. Pontificia Universidad Javeriana."},{"key":"e_1_3_1_4_2","doi-asserted-by":"publisher","DOI":"10.1109\/ROMAN.2014.6926361"},{"key":"e_1_3_1_5_2","doi-asserted-by":"publisher","DOI":"10.1007\/s12369-010-0082-7"},{"key":"e_1_3_1_6_2","doi-asserted-by":"publisher","DOI":"10.1371\/journal.pone.0178126"},{"key":"e_1_3_1_7_2","doi-asserted-by":"publisher","DOI":"10.4324\/9781410600127"},{"key":"e_1_3_1_8_2","doi-asserted-by":"publisher","DOI":"10.1111\/j.1751-9004.2010.00334.x"},{"key":"e_1_3_1_9_2","volume-title":"Intention, Plans, and Practical Reason","author":"Bratman Michael","year":"1987","unstructured":"Michael Bratman. 1987. Intention, Plans, and Practical Reason. Vol. 10. Harvard University Press, Cambridge."},{"key":"e_1_3_1_10_2","first-page":"162","volume-title":"EdMedia+ Innovate Learning","author":"Bravo Flor Angela","year":"2019","unstructured":"Flor Angela Bravo, Enrique Gonzalez, Nicoletta Di Blas, and Andrea Bonarini. 2019. Robots at school: Supporting humanities teaching through robots-based storytelling. In EdMedia+ Innovate Learning. Association for the Advancement of Computing in Education (AACE\u201919), 162\u2013175."},{"key":"e_1_3_1_11_2","doi-asserted-by":"publisher","DOI":"10.1007\/s12369-009-0030-6"},{"key":"e_1_3_1_12_2","unstructured":"Paola Cardenas. 2017. Una exploracion de la incidencia de los patrones corporales en la determinacion de estados de aprendizaje matemtico con el juego La Escalera."},{"key":"e_1_3_1_13_2","volume-title":"Psicologia del Pensamiento, Teoria y Pr\u00e1ctica","author":"Carretero Mario","year":"2008","unstructured":"Mario Carretero. 2008. Psicologia del Pensamiento, Teoria y Pr\u00e1ctica. Alianza Editorial."},{"issue":"1","key":"e_1_3_1_14_2","doi-asserted-by":"crossref","first-page":"182","DOI":"10.1080\/01411926.2011.617437","article-title":"The model of interpersonal teacher behaviour: A qualitative cross-cultural validation within the Greek elementary education context","volume":"39","author":"Charalampous Kyriakos","year":"2013","unstructured":"Kyriakos Charalampous and Constantinos M. Kokkinos. 2013. The model of interpersonal teacher behaviour: A qualitative cross-cultural validation within the Greek elementary education context. British Educational Research Journal 39, 1 (2013), 182\u2013205.","journal-title":"British Educational Research Journal"},{"key":"e_1_3_1_15_2","doi-asserted-by":"publisher","DOI":"10.1109\/HRI.2019.8673082"},{"key":"e_1_3_1_16_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.compedu.2020.103836"},{"key":"e_1_3_1_17_2","doi-asserted-by":"publisher","DOI":"10.1145\/57167.57203"},{"key":"e_1_3_1_18_2","article-title":"iCub: learning emotion expressions using human reward","author":"Churamani Nikhil","year":"2020","unstructured":"Nikhil Churamani, Francisco Cruz, Sascha Griffiths, and Pablo Barros. 2020. iCub: learning emotion expressions using human reward. arXiv preprint arXiv:2003.13483 (2020).","journal-title":"arXiv preprint arXiv:2003.13483"},{"key":"e_1_3_1_19_2","doi-asserted-by":"publisher","DOI":"10.1075\/is.18024.con"},{"key":"e_1_3_1_20_2","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4419-0564-2_14"},{"key":"e_1_3_1_21_2","article-title":"Flow and the Psychology of Discovery and Invention","author":"Csikszentmihalyi Mihaly","year":"1996","unstructured":"Mihaly Csikszentmihalyi. 1996. Flow and the Psychology of Discovery and Invention. New York: Harper Collins (1996).","journal-title":"New York: Harper Collins"},{"key":"e_1_3_1_22_2","doi-asserted-by":"publisher","DOI":"10.2307\/249008"},{"key":"e_1_3_1_23_2","volume-title":"Guided Instruction: How to Develop Confident and Successful Learners","author":"Fisher Douglas","year":"2010","unstructured":"Douglas Fisher and Nancy Frey. 2010. Guided Instruction: How to Develop Confident and Successful Learners. ASCD."},{"key":"e_1_3_1_24_2","doi-asserted-by":"publisher","DOI":"10.1145\/1180995.1181009"},{"key":"e_1_3_1_25_2","doi-asserted-by":"publisher","DOI":"10.1145\/1349822.1349861"},{"key":"e_1_3_1_26_2","doi-asserted-by":"publisher","DOI":"10.1145\/1180995.1181009"},{"key":"e_1_3_1_27_2","doi-asserted-by":"publisher","DOI":"10.1007\/s12369-013-0194-y"},{"key":"e_1_3_1_28_2","volume-title":"Desarrollo de Aplicaciones Basadas en Sistemas Multiagentes","author":"Gonz\u00e1lez Enrique","year":"2007","unstructured":"Enrique Gonz\u00e1lez and C\u00e9sar Bustacara. 2007. Desarrollo de Aplicaciones Basadas en Sistemas Multiagentes. Editorial Pontificia Universidad Javeriana."},{"key":"e_1_3_1_29_2","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-016-9598-5"},{"key":"e_1_3_1_30_2","doi-asserted-by":"publisher","DOI":"10.1111\/bjet.13006"},{"key":"e_1_3_1_31_2","first-page":"9","article-title":"Challenges in shared-environment human-robot collaboration","volume":"8","author":"Hayes Bradley","year":"2013","unstructured":"Bradley Hayes and Brian Scassellati. 2013. Challenges in shared-environment human-robot collaboration. Learning 8 (2013), 9.","journal-title":"Learning"},{"key":"e_1_3_1_32_2","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2014.6943191"},{"key":"e_1_3_1_33_2","doi-asserted-by":"publisher","DOI":"10.1007\/s12369-010-0068-5"},{"key":"e_1_3_1_34_2","first-page":"1","article-title":"Research trends in social robots for learning","author":"Johal Wafa","year":"2020","unstructured":"Wafa Johal. 2020. Research trends in social robots for learning. Current Robotics Reports (2020), 1\u20139.","journal-title":"Current Robotics Reports"},{"key":"e_1_3_1_35_2","doi-asserted-by":"publisher","DOI":"10.1080\/01691864.2013.751159"},{"key":"e_1_3_1_36_2","doi-asserted-by":"publisher","DOI":"10.1207\/s15327051hci1901&2_4"},{"key":"e_1_3_1_37_2","doi-asserted-by":"publisher","DOI":"10.1109\/HRI.2016.7451757"},{"key":"e_1_3_1_38_2","doi-asserted-by":"publisher","DOI":"10.1075\/pbns.114.13kno"},{"key":"e_1_3_1_39_2","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1997.620146"},{"key":"e_1_3_1_40_2","first-page":"1","article-title":"Use of robots in education","author":"Konijn Elly A.","year":"2020","unstructured":"Elly A. Konijn, Matthijs Smakman, and Rianne van den Berghe. 2020. Use of robots in education. The International Encyclopedia of Media Psychology (2020), 1\u20138.","journal-title":"The International Encyclopedia of Media Psychology"},{"key":"e_1_3_1_41_2","doi-asserted-by":"publisher","DOI":"10.1109\/ROMAN.2013.6628441"},{"key":"e_1_3_1_42_2","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4614-1954-9"},{"key":"e_1_3_1_43_2","doi-asserted-by":"publisher","DOI":"10.1145\/3029798.3034814"},{"key":"e_1_3_1_44_2","first-page":"2","article-title":"Measuring presence: A literature-based approach to the development of a standardized paper-and-pencil instrument","volume":"240","author":"Lombard Matthew","year":"2000","unstructured":"Matthew Lombard, Theresa B. Ditton, Daliza Crane, Bill Davis, Gisela Gil-Egui, Karl Horvath, Jessica Rossman, and S. Park. 2000. Measuring presence: A literature-based approach to the development of a standardized paper-and-pencil instrument. In Proceedings of the 3rd International Workshop on Presence, Delft, the Netherlands, Vol. 240. 2\u20134.","journal-title":"Proceedings of the 3rd International Workshop on Presence, Delft, the Netherlands"},{"key":"e_1_3_1_45_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.chb.2014.10.029"},{"key":"e_1_3_1_46_2","first-page":"181","volume-title":"Proceedings of the 11th ACM\/IEEE International Conference on Human Robot Interaction","author":"Martelaro Nikolas","year":"2016","unstructured":"Nikolas Martelaro, Victoria C. Nneji, Wendy Ju, and Pamela Hinds. 2016. Tell me more: Designing HRI to encourage more trust, disclosure, and companionship. In Proceedings of the 11th ACM\/IEEE International Conference on Human Robot Interaction. IEEE Press, 181\u2013188."},{"key":"e_1_3_1_47_2","doi-asserted-by":"publisher","DOI":"10.1145\/3029798.3038331"},{"key":"e_1_3_1_48_2","volume-title":"Una Trayectoria Real Del Juego La Escalera Vinculada a hip\u00f3tesis Que Potencian el Aprendizaje de Las Funciones Desde Poblaciones Diversas","author":"Natalia Palom\u00e1","year":"2017","unstructured":"Palom\u00e1 Natalia. 2017. Una Trayectoria Real Del Juego La Escalera Vinculada a hip\u00f3tesis Que Potencian el Aprendizaje de Las Funciones Desde Poblaciones Diversas. Thesis. Universidad Distrital Francisco Jos\u00e9 de Caldas."},{"key":"e_1_3_1_49_2","doi-asserted-by":"publisher","DOI":"10.1007\/s10643-019-00997-7"},{"key":"e_1_3_1_50_2","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2007.914004"},{"key":"e_1_3_1_51_2","doi-asserted-by":"publisher","DOI":"10.1109\/ROMAN.2006.314462"},{"key":"e_1_3_1_52_2","doi-asserted-by":"publisher","DOI":"10.4324\/9781410603715"},{"key":"e_1_3_1_53_2","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-52538-5_13"},{"key":"e_1_3_1_54_2","first-page":"5","article-title":"Validation of the robot social attributes scale (RoSAS) for human-robot interaction through a human-to-robot handover use case","volume":"36","author":"Pan M. K.","year":"2017","unstructured":"M. K. Pan, Elizabeth A. Croft, and G\u00fcnter Niemeyer. 2017. Validation of the robot social attributes scale (RoSAS) for human-robot interaction through a human-to-robot handover use case. Int. J. of Rob. Res. 36 (2017), 5\u20137.","journal-title":"Int. J. of Rob. Res."},{"key":"e_1_3_1_55_2","volume-title":"Simulador Basado en Agentes Inteligentes para el Apoyo a la Toma de Decisiones en Los Planes Operacionales de Negocios en Centros Comerciales","author":"Parada V.","year":"2017","unstructured":"V. Parada and D. Steven. 2017. Simulador Basado en Agentes Inteligentes para el Apoyo a la Toma de Decisiones en Los Planes Operacionales de Negocios en Centros Comerciales. Thesis. Pontificia Universidad Javeriana."},{"key":"e_1_3_1_56_2","doi-asserted-by":"crossref","first-page":"271","DOI":"10.1007\/978-3-319-42975-5_24","volume-title":"Robotics in Education","author":"Pareto Lena","year":"2017","unstructured":"Lena Pareto. 2017. Robot as tutee. In Robotics in Education. Springer, 271\u2013277."},{"key":"e_1_3_1_57_2","doi-asserted-by":"publisher","DOI":"10.1207\/s15327809jls1303_6"},{"issue":"1","key":"e_1_3_1_58_2","first-page":"1","article-title":"Emotions and learning","volume":"24","author":"Pekrun Reinhard","year":"2014","unstructured":"Reinhard Pekrun. 2014. Emotions and learning. Educational Practices Series 24, 1 (2014), 1\u201331.","journal-title":"Educational Practices Series"},{"key":"e_1_3_1_59_2","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-38561-3_14"},{"key":"e_1_3_1_60_2","article-title":"Metodos de Investigacion en HRI, una revision","author":"P\u00e1ez John","year":"2015","unstructured":"John P\u00e1ez and Enr\u00edque Gonz\u00e1lez. 2015. Metodos de Investigacion en HRI, una revision. Ha Aprobado el Proceso Inicial de Revision del Equipo Editorial de la Revista Magis. Base de Datos codigo 1878 (2015).","journal-title":"Ha Aprobado el Proceso Inicial de Revision del Equipo Editorial de la Revista Magis. Base de Datos codigo 1878"},{"key":"e_1_3_1_61_2","doi-asserted-by":"publisher","DOI":"10.2224\/sbp.2005.33.2.201"},{"key":"e_1_3_1_62_2","doi-asserted-by":"publisher","DOI":"10.5555\/1763296.1763408"},{"key":"e_1_3_1_63_2","unstructured":"Sneider Rodriguez and Jennifer Lopez. 2017. El juego la escalera como dispositivo para la formulacion de patrones aritmicos."},{"key":"e_1_3_1_64_2","doi-asserted-by":"publisher","DOI":"10.1145\/1753326.1753567"},{"key":"e_1_3_1_65_2","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4899-7668-0_10"},{"key":"e_1_3_1_66_2","doi-asserted-by":"publisher","DOI":"10.1145\/2971485.2971536"},{"key":"e_1_3_1_67_2","doi-asserted-by":"publisher","DOI":"10.1080\/10494820.2018.1474234"},{"key":"e_1_3_1_68_2","doi-asserted-by":"publisher","DOI":"10.1109\/ROMAN.2014.6926388"},{"key":"e_1_3_1_69_2","doi-asserted-by":"publisher","DOI":"10.4018\/joeuc.2004100102"},{"key":"e_1_3_1_70_2","doi-asserted-by":"publisher","DOI":"10.1016\/B978-0-12-815367-3.00002-5"},{"key":"e_1_3_1_71_2","doi-asserted-by":"publisher","DOI":"10.1145\/3319502.3374808"},{"key":"e_1_3_1_72_2","doi-asserted-by":"publisher","DOI":"10.2307\/1422136"},{"key":"e_1_3_1_73_2","article-title":"The negative attitudes towards robots scale and reactions to robot behaviour in a live human-robot interaction study","author":"Syrdal Dag Sverre","year":"2009","unstructured":"Dag Sverre Syrdal, Kerstin Dautenhahn, Kheng Lee Koay, and Michael L. Walters. 2009. The negative attitudes towards robots scale and reactions to robot behaviour in a live human-robot interaction study. Adaptive and Emergent Behaviour and Complex Systems (2009).","journal-title":"Adaptive and Emergent Behaviour and Complex Systems"},{"key":"e_1_3_1_74_2","doi-asserted-by":"publisher","DOI":"10.1145\/2559636.2559663"},{"key":"e_1_3_1_75_2","doi-asserted-by":"publisher","DOI":"10.1109\/ICALT.2016.129"},{"key":"e_1_3_1_76_2","doi-asserted-by":"publisher","DOI":"10.1037\/0022-3514.54.6.1063"},{"key":"e_1_3_1_77_2","doi-asserted-by":"publisher","DOI":"10.1177\/1745691610369336"},{"key":"e_1_3_1_78_2","doi-asserted-by":"publisher","DOI":"10.1111\/j.1469-7610.1976.tb00381.x"},{"key":"e_1_3_1_79_2","doi-asserted-by":"publisher","DOI":"10.1098\/rstb.2018.0038"},{"key":"e_1_3_1_80_2","doi-asserted-by":"publisher","DOI":"10.1007\/s10209-014-0355-2"}],"container-title":["ACM Transactions on Human-Robot Interaction"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3526109","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/dl.acm.org\/doi\/pdf\/10.1145\/3526109","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,6,18]],"date-time":"2025-06-18T18:43:46Z","timestamp":1750272226000},"score":1,"resource":{"primary":{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3526109"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,7,13]]},"references-count":79,"journal-issue":{"issue":"3","published-print":{"date-parts":[[2022,9,30]]}},"alternative-id":["10.1145\/3526109"],"URL":"https:\/\/doi.org\/10.1145\/3526109","relation":{},"ISSN":["2573-9522","2573-9522"],"issn-type":[{"value":"2573-9522","type":"print"},{"value":"2573-9522","type":"electronic"}],"subject":[],"published":{"date-parts":[[2022,7,13]]},"assertion":[{"value":"2020-08-01","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2021-05-01","order":1,"name":"accepted","label":"Accepted","group":{"name":"publication_history","label":"Publication History"}},{"value":"2022-07-13","order":2,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}]}}