{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,10]],"date-time":"2026-06-10T05:31:50Z","timestamp":1781069510101,"version":"3.54.1"},"reference-count":65,"publisher":"Walter de Gruyter GmbH","issue":"1","license":[{"start":{"date-parts":[[2020,12,12]],"date-time":"2020-12-12T00:00:00Z","timestamp":1607731200000},"content-version":"unspecified","delay-in-days":0,"URL":"http:\/\/creativecommons.org\/licenses\/by\/4.0"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2020,12,12]]},"abstract":"<jats:title>Abstract<\/jats:title>\n               <jats:p>Children with autism need innovative solutions that help them learn to master everyday experiences and cope with stressful situations. We propose that socially assistive robot companions could better understand and react to a child\u2019s needs if they utilized tactile sensing. We examined the existing relevant literature to create an initial set of six tactile-perception requirements, and we then evaluated these requirements through interviews with 11 experienced autism specialists from a variety of backgrounds. Thematic analysis of the comments shared by the specialists revealed three overarching themes: the touch-seeking and touch-avoiding behavior of autistic children, their individual differences and customization needs, and the roles that a touch-perceiving robot could play in such interactions. Using the interview study feedback, we refined our initial list into seven qualitative requirements that describe <jats:italic>\n                     <jats:bold>robustness and maintainability<\/jats:bold>\n                  <\/jats:italic>, <jats:italic>\n                     <jats:bold>sensing range<\/jats:bold>\n                  <\/jats:italic>, <jats:italic>\n                     <jats:bold>feel<\/jats:bold>\n                  <\/jats:italic>, <jats:italic>\n                     <jats:bold>gesture identification<\/jats:bold>\n                  <\/jats:italic>, <jats:italic>\n                     <jats:bold>spatial<\/jats:bold>\n                  <\/jats:italic>, <jats:italic>\n                     <jats:bold>temporal<\/jats:bold>\n                  <\/jats:italic>, and <jats:italic>\n                     <jats:bold>adaptation<\/jats:bold>\n                  <\/jats:italic> attributes for the touch-perception system of a robot companion for children with autism. Finally, by utilizing the literature and current best practices in tactile sensor development and signal processing, we transformed these qualitative requirements into quantitative specifications. We discuss the implications of these requirements for future human\u2013robot interaction research in the sensing, computing, and user research communities.<\/jats:p>","DOI":"10.1515\/pjbr-2021-0010","type":"journal-article","created":{"date-parts":[[2020,12,22]],"date-time":"2020-12-22T13:11:28Z","timestamp":1608642688000},"page":"115-135","source":"Crossref","is-referenced-by-count":28,"title":["Getting in touch with children with autism: Specialist guidelines for a touch-perceiving robot"],"prefix":"10.1515","volume":"12","author":[{"given":"Rachael Bevill","family":"Burns","sequence":"first","affiliation":[{"name":"Haptic Intelligence Department, Max Planck Institute for Intelligent Systems , 70569 Stuttgart , Germany"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Hasti","family":"Seifi","sequence":"additional","affiliation":[{"name":"Haptic Intelligence Department, Max Planck Institute for Intelligent Systems , 70569 Stuttgart , Germany"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Hyosang","family":"Lee","sequence":"additional","affiliation":[{"name":"Haptic Intelligence Department, Max Planck Institute for Intelligent Systems , 70569 Stuttgart , Germany"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Katherine J.","family":"Kuchenbecker","sequence":"additional","affiliation":[{"name":"Haptic Intelligence Department, Max Planck Institute for Intelligent Systems , 70569 Stuttgart , Germany"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"374","published-online":{"date-parts":[[2020,12,12]]},"reference":[{"key":"2022020408211304043_j_pjbr-2021-0010_ref_001","doi-asserted-by":"crossref","unstructured":"J. Ashburner, J. Ziviani, and S. Rodger, \u201cSensory processing and classroom emotional, behavioral, and educational outcomes in children with autism spectrum disorder,\u201d Amer. J. Occup. Ther., vol. 62, no. 5, pp. 564\u2013573, 2008.","DOI":"10.5014\/ajot.62.5.564"},{"key":"2022020408211304043_j_pjbr-2021-0010_ref_002","doi-asserted-by":"crossref","unstructured":"C. J. Cascio, E. J. Moana-Filho, S. Guest, M. B. Nebel, J. Weisner, G. T. Baranek, and G. K. Essick, \u201cPerceptual and neural response to affective tactile texture stimulation in adults with autism spectrum disorders,\u201d Autism Res., vol. 5, no. 4, pp. 231\u2013244, 2012.","DOI":"10.1002\/aur.1224"},{"key":"2022020408211304043_j_pjbr-2021-0010_ref_003","doi-asserted-by":"crossref","unstructured":"E. J. Marco, L. B. Hinkley, S. S. Hill, and S. S. Nagarajan, \u201cSensory processing in autism: A review of neurophysiologic findings,\u201d Pediatric Res., vol. 69, no. 8, pp. 48\u201354, 2011.","DOI":"10.1203\/PDR.0b013e3182130c54"},{"key":"2022020408211304043_j_pjbr-2021-0010_ref_004","doi-asserted-by":"crossref","unstructured":"L. Bestbier and T. I. Williams, \u201cThe immediate effects of deep pressure on young people with autism and severe intellectual difficulties: Demonstrating individual differences,\u201d Occup. Ther. Int., vol. 2017, 2017.","DOI":"10.1155\/2017\/7534972"},{"key":"2022020408211304043_j_pjbr-2021-0010_ref_005","unstructured":"Centers for Disease Control and Prevention, \u201cData & statistics on autism spectrum disorder,\u201d 2020. https:\/\/www.cdc.gov\/ncbddd\/autism\/data.html."},{"key":"2022020408211304043_j_pjbr-2021-0010_ref_006","doi-asserted-by":"crossref","unstructured":"M. Begum, R. W. Serna, and H. A. Yanco, \u201cAre robots ready to deliver autism interventions? A comprehensive review,\u201d Int. J. Soc. Robot., vol. 8, no. 2, pp. 157\u2013181, 2016.","DOI":"10.1007\/s12369-016-0346-y"},{"key":"2022020408211304043_j_pjbr-2021-0010_ref_007","doi-asserted-by":"crossref","unstructured":"J.-J. Cabibihan, H. Javed, M. Ang, and S. M. Aljunied, \u201cWhy robots? A survey on the roles and benefits of social robots in the therapy of children with autism,\u201d Int. J. Soc. Robot., vol. 5, no. 4, pp. 593\u2013618, 2013.","DOI":"10.1007\/s12369-013-0202-2"},{"key":"2022020408211304043_j_pjbr-2021-0010_ref_008","doi-asserted-by":"crossref","unstructured":"M. Losinski, S. A. Sanders, and N. M. Wiseman, \u201cExamining the use of deep touch pressure to improve the educational performance of students with disabilities: A meta-analysis,\u201d Res. Pract. Pers. Severe Disabil., vol. 41, no. 1, pp. 3\u201318, 2016.","DOI":"10.1177\/1540796915624889"},{"key":"2022020408211304043_j_pjbr-2021-0010_ref_009","doi-asserted-by":"crossref","unstructured":"M. E. O\u2019Haire, \u201cAnimal-assisted intervention for autism spectrum disorder: A systematic literature review,\u201d J. Autism Dev. Disord., vol. 43, no. 7, pp. 1606\u20131622, 2013.","DOI":"10.1007\/s10803-012-1707-5"},{"key":"2022020408211304043_j_pjbr-2021-0010_ref_010","doi-asserted-by":"crossref","unstructured":"V. Braun and V. Clarke, \u201cThematic analysis,\u201d in APA Handbook of Research Methods in Psychology, Vol. 2: Research Designs: Quantitative, Qualitative, Neuropsychological, and Biological, Washington, DC, USA: American Psychological Association, 2012, pp. 57\u201371.","DOI":"10.1037\/13620-004"},{"key":"2022020408211304043_j_pjbr-2021-0010_ref_011","doi-asserted-by":"crossref","unstructured":"C. J. Cascio, D. Moore, and F. McGlone, \u201cSocial touch and human development,\u201d Dev. Cogn. Neurosci., vol. 35, pp. 5\u201311, 2019.","DOI":"10.1016\/j.dcn.2018.04.009"},{"key":"2022020408211304043_j_pjbr-2021-0010_ref_012","doi-asserted-by":"crossref","unstructured":"K. J. Kuchenbecker, \u201cHaptics and haptic interfaces,\u201d in Encyclopedia of Robotics, Berlin, Germany: Springer, 2018.","DOI":"10.1007\/978-3-642-41610-1_19-1"},{"key":"2022020408211304043_j_pjbr-2021-0010_ref_013","doi-asserted-by":"crossref","unstructured":"J. Neal, L. Bigby, and R. Nicholson, \u201cOccupational therapy, physical therapy, and orientation and mobility services in public schools,\u201d Interv. Sch. Clin., vol. 39, no. 4, pp. 218\u2013222, 2004.","DOI":"10.1177\/10534512040390040301"},{"key":"2022020408211304043_j_pjbr-2021-0010_ref_014","doi-asserted-by":"crossref","unstructured":"L. Peranich, K. B. Reynolds, S. O\u2019Brien, J. Bosch, and T. Cranfill, \u201cThe roles of occupational therapy, physical therapy, and speech\/language pathology in primary care,\u201d J. Nurse Practitioners, vol. 6, no. 1, pp. 36\u201343, 2010.","DOI":"10.1016\/j.nurpra.2009.08.021"},{"key":"2022020408211304043_j_pjbr-2021-0010_ref_015","unstructured":"Legal Information Institute, \u201c20 U.S. Code \u00a7 1401. Definitions\u201d https:\/\/www.law.cornell.edu\/uscode\/text\/20\/1401."},{"key":"2022020408211304043_j_pjbr-2021-0010_ref_016","doi-asserted-by":"crossref","unstructured":"M. E. O\u2019Haire, S. J. McKenzie, S. McCune, and V. Slaughter, \u201cEffects of classroom animal-assisted activities on social functioning in children with autism spectrum disorder,\u201d J. Alt. Complementary Med., vol. 20, no. 3, pp. 162\u2013168, 2014.","DOI":"10.1089\/acm.2013.0165"},{"key":"2022020408211304043_j_pjbr-2021-0010_ref_017","unstructured":"S. C. Mey, \u201cAnimal assisted therapy for children with autism,\u201d Int. J. Child. Dev. Ment. Health., vol. 5, no. 1, pp. 29\u201342, 2017."},{"key":"2022020408211304043_j_pjbr-2021-0010_ref_018","doi-asserted-by":"crossref","unstructured":"M. M. Bass, C. A. Duchowny, and M. M. Llabre, \u201cThe effect of therapeutic horseback riding on social functioning in children with autism,\u201d J. Autism Dev. Disord., vol. 39, no. 9, pp. 1261\u20131267, 2009.","DOI":"10.1007\/s10803-009-0734-3"},{"key":"2022020408211304043_j_pjbr-2021-0010_ref_019","unstructured":"D. Feil-Seifer and M. J. Mataric, \u201cDefining socially assistive robotics,\u201d in Proc. IEEE Int. Conf. Rehabil. Robot. (ICORR), 2005, pp. 465\u2013468."},{"key":"2022020408211304043_j_pjbr-2021-0010_ref_020","doi-asserted-by":"crossref","unstructured":"T. Shibata and K. Wada, \u201cRobot therapy: A new approach for mental healthcare of the elderly \u2013 a mini-review,\u201d Gerontology, vol. 57, no. 4, pp. 378\u2013386, 2011.","DOI":"10.1159\/000319015"},{"key":"2022020408211304043_j_pjbr-2021-0010_ref_021","doi-asserted-by":"crossref","unstructured":"S. Jeong, K. D. Santos, S. Graca, B. O\u2019Connell, L. Anderson, N. Stenquist, et al., \u201cDesigning a socially assistive robot for pediatric care,\u201d in Proc. Int. Conf. Interact. Design and Children, 2015, pp. 387\u2013390.","DOI":"10.1145\/2771839.2771923"},{"key":"2022020408211304043_j_pjbr-2021-0010_ref_022","doi-asserted-by":"crossref","unstructured":"Y. S. Sefidgar, K. E. MacLean, S. Yohanan, H. M. Van der Loos, E. A. Croft, and E. J. Garland, \u201cDesign and evaluation of a touch-centered calming interaction with a social robot,\u201d IEEE Trans. Affect. Comput., vol. 7, no. 2, pp. 108\u2013121, 2015.","DOI":"10.1109\/TAFFC.2015.2457893"},{"key":"2022020408211304043_j_pjbr-2021-0010_ref_023","doi-asserted-by":"crossref","unstructured":"C. L. Bethel, Z. Henkel, S. Darrow, and K. Baugus, \u201cTherabot\u2009\u2013\u2009an adaptive therapeutic support robot,\u201d in Proc. IEEE World Symp. Digit. Intell. Syst. and Mach. (DISA), 2018, pp. 23\u201330.","DOI":"10.1109\/DISA.2018.8490642"},{"key":"2022020408211304043_j_pjbr-2021-0010_ref_024","doi-asserted-by":"crossref","unstructured":"A. Peca, R. Simut, S. Pintea, C. Costescu, and B. Vanderborght, \u201cHow do typically developing children and children with autism perceive different social robots?\u201d Comput. Hum. Behav., vol. 41, pp. 268\u2013277, 2014.","DOI":"10.1016\/j.chb.2014.09.035"},{"key":"2022020408211304043_j_pjbr-2021-0010_ref_025","doi-asserted-by":"crossref","unstructured":"B. Robins, N. Otero, E. Ferrari, and K. Dautenhahn, \u201cEliciting requirements for a robotic toy for children with autism\u2009\u2013\u2009results from user panels,\u201d in Proc. IEEE Int. Symp. Robot and Human Interact. Commun. (RO-MAN), 2007, pp. 101\u2013106.","DOI":"10.1109\/ROMAN.2007.4415061"},{"key":"2022020408211304043_j_pjbr-2021-0010_ref_026","doi-asserted-by":"crossref","unstructured":"E. Ferrari, B. Robins, and K. Dautenhahn, \u201cTherapeutic and educational objectives in robot assisted play for children with autism,\u201d in Proc. IEEE Int. Symp. Robot and Human Interact. Commun. (RO-MAN), 2009, pp. 108\u2013114.","DOI":"10.1109\/ROMAN.2009.5326251"},{"key":"2022020408211304043_j_pjbr-2021-0010_ref_027","doi-asserted-by":"crossref","unstructured":"R. Suzuki and J. Lee, \u201cRobot-play therapy for improving prosocial behaviours in children with autism spectrum disorders,\u201d in Proc. IEEE Int. Symp. Micro-NanoMechatron. and Human Sci. (MHS), 2016, pp. 1\u20135.","DOI":"10.1109\/MHS.2016.7824238"},{"key":"2022020408211304043_j_pjbr-2021-0010_ref_028","doi-asserted-by":"crossref","unstructured":"E. S. Kim, L. D. Berkovits, E. P. Bernier, D. Leyzberg, F. Shic, R. Paul, and B. Scassellati, \u201cSocial robots as embedded reinforcers of social behavior in children with autism,\u201d J. Autism Dev. Disord., vol. 43, no. 5, pp. 1038\u20131049, 2013.","DOI":"10.1007\/s10803-012-1645-2"},{"key":"2022020408211304043_j_pjbr-2021-0010_ref_029","doi-asserted-by":"crossref","unstructured":"A. Duquette, F. Michaud, and H. Mercier, \u201cExploring the use of a mobile robot as an imitation agent with children with low-functioning autism,\u201d Auton. Robot., vol. 24, no. 2, pp. 147\u2013157, 2008.","DOI":"10.1007\/s10514-007-9056-5"},{"key":"2022020408211304043_j_pjbr-2021-0010_ref_030","doi-asserted-by":"crossref","unstructured":"H. Javed and C. H. Park, \u201cInteractions with an empathetic agent: Regulating emotions and improving engagement in autism,\u201d IEEE Robot. Autom. Mag., vol. 26, no. 2, pp. 40\u201348, 2019.","DOI":"10.1109\/MRA.2019.2904638"},{"key":"2022020408211304043_j_pjbr-2021-0010_ref_031","doi-asserted-by":"crossref","unstructured":"C. M. Stanton, P. H. Kahn, R. L. Severson, J. H. Ruckert, and B. T. Gill, \u201cRobotic animals might aid in the social development of children with autism,\u201d in Proc. ACM\/IEEE Int. Conf. Human-Robot Interact. (HRI), 2008, pp. 271\u2013278.","DOI":"10.1145\/1349822.1349858"},{"key":"2022020408211304043_j_pjbr-2021-0010_ref_032","doi-asserted-by":"crossref","unstructured":"B. Scassellati, L. Boccanfuso, C.-M. Huang, M. Mademtzi, M. Qin, N. Salomons, et al., \u201cImproving social skills in children with ASD using a long-term, in-home social robot,\u201d Sci. Robot., vol. 3, no. 21, art. eaat7544, 2018.","DOI":"10.1126\/scirobotics.aat7544"},{"key":"2022020408211304043_j_pjbr-2021-0010_ref_033","doi-asserted-by":"crossref","unstructured":"R. Pakkar, C. Clabaugh, R. Lee, E. Deng, and M. J. Matari\u0107, \u201cDesigning a socially assistive robot for long-term in-home use for children with autism spectrum disorders,\u201d in Proc. IEEE Int. Symp. Robot and Human Interact. Commun. (RO-MAN), 2019, pp. 1\u20137.","DOI":"10.3389\/frobt.2019.00110"},{"key":"2022020408211304043_j_pjbr-2021-0010_ref_034","doi-asserted-by":"crossref","unstructured":"J. M. K. Westlund, H. W. Park, R. Williams, and C. Breazeal, \u201cMeasuring young children\u2019s long-term relationships with social robots,\u201d in Proc. ACM Conf. Interact. Design and Children (IDC), 2018, pp. 207\u2013218.","DOI":"10.1145\/3202185.3202732"},{"key":"2022020408211304043_j_pjbr-2021-0010_ref_035","doi-asserted-by":"crossref","unstructured":"H. Javed, R. Burns, M. Jeon, A. M. Howard, and C. H. Park, \u201cA robotic framework to facilitate sensory experiences for children with autism spectrum disorder: A preliminary study,\u201d ACM Trans. Human-Robot Interact. (THRI), vol. 9, no. 1, pp. 1\u201326, 2019.","DOI":"10.1145\/3359613"},{"key":"2022020408211304043_j_pjbr-2021-0010_ref_036","doi-asserted-by":"crossref","unstructured":"S. Shamsuddin, H. Yussof, L. Ismail, F. A. Hanapiah, S. Mohamed, H. A. Piah, and N. I. Zahari, \u201cInitial response of autistic children in human-robot interaction therapy with humanoid robot NAO,\u201d in Proc. IEEE Int. Colloq. Signal Process. and its Applications, 2012, pp. 188\u2013193.","DOI":"10.1109\/CSPA.2012.6194716"},{"key":"2022020408211304043_j_pjbr-2021-0010_ref_037","doi-asserted-by":"crossref","unstructured":"B. Robins and K. Dautenhahn, \u201cTactile interactions with a humanoid robot: Novel play scenario implementations with children with autism,\u201d Int. J. Soc. Robot., vol. 6, no. 3, pp. 397\u2013415, 2014.","DOI":"10.1007\/s12369-014-0228-0"},{"key":"2022020408211304043_j_pjbr-2021-0010_ref_038","doi-asserted-by":"crossref","unstructured":"J. Chang, K. MacLean, and S. Yohanan, \u201cGesture recognition in the haptic creature,\u201d in Haptics: Generating and Perceiving Tangible Sensations, Proc. EuroHaptics, Part I, Lecture Notes in Comp. Sci., Berlin, Germany: Springer, 2010, pp. 385\u2013391.","DOI":"10.1007\/978-3-642-14064-8_56"},{"key":"2022020408211304043_j_pjbr-2021-0010_ref_039","doi-asserted-by":"crossref","unstructured":"X. L. Cang, P. Bucci, A. Strang, J. Allen, K. MacLean, and H. S. Liu, \u201cDifferent strokes and different folks: Economical dynamic surface sensing and affect-related touch recognition,\u201d in Proc. ACM Int. Conf. Multimodal Interact., 2015, pp. 147\u2013154.","DOI":"10.1145\/2818346.2820756"},{"key":"2022020408211304043_j_pjbr-2021-0010_ref_040","doi-asserted-by":"crossref","unstructured":"J. L. Krichmar and T.-S. Chou, \u201cA tactile robot for developmental disorder therapy,\u201d in TechMindSociety '18: Proc. Tech., Mind, and Soc., New York, NY, USA: ACM, 2018, pp. 1\u20136.","DOI":"10.1145\/3183654.3183657"},{"key":"2022020408211304043_j_pjbr-2021-0010_ref_041","doi-asserted-by":"crossref","unstructured":"H. Kozima, M. P. Michalowski, and C. Nakagawa, \u201cKeepon,\u201d Int. J. Soc. Robot., vol. 1, no. 1, pp. 3\u201318, 2009.","DOI":"10.1007\/s12369-008-0009-8"},{"key":"2022020408211304043_j_pjbr-2021-0010_ref_042","doi-asserted-by":"crossref","unstructured":"M. Mastrogiuseppe, O. Capirci, S. Cuva, and P. Venuti, \u201cGestural communication in children with autism spectrum disorders during mother\u2013child interaction,\u201d Autism, vol. 19, no. 4, pp. 469\u2013481, 2015.","DOI":"10.1177\/1362361314528390"},{"key":"2022020408211304043_j_pjbr-2021-0010_ref_043","doi-asserted-by":"crossref","unstructured":"S. Yohanan and K. E. MacLean, \u201cThe role of affective touch in human-robot interaction: Human intent and expectations in touching the haptic creature,\u201d Int. J. Soc. Robot., vol. 4, no. 2, pp. 163\u2013180, 2012.","DOI":"10.1007\/s12369-011-0126-7"},{"key":"2022020408211304043_j_pjbr-2021-0010_ref_044","doi-asserted-by":"crossref","unstructured":"B. Robins, F. Amirabdollahian, Z. Ji, and K. Dautenhahn, \u201cTactile interaction with a humanoid robot for children with autism: A case study analysis involving user requirements and results of an initial implementation,\u201d in Proc. IEEE Int. Symp. Robot and Human Interact. Commun. (RO-MAN), 2010, pp. 704\u2013711.","DOI":"10.1109\/ROMAN.2010.5598641"},{"key":"2022020408211304043_j_pjbr-2021-0010_ref_045","unstructured":"Cisco WebEx, \u201cFour key security features of Cisco web conferencing,\u201d 2019. https:\/\/blog.webex.com\/video-conferencing\/four-key-security-features-of-cisco-webex\/."},{"key":"2022020408211304043_j_pjbr-2021-0010_ref_046","doi-asserted-by":"crossref","unstructured":"R. Watling, J. Deitz, E. M. Kanny, and J. F. McLaughlin, \u201cCurrent practice of occupational therapy for children with autism,\u201d Amer. J. Occup. Ther., vol. 53, no. 5, pp. 498\u2013505, 1999.","DOI":"10.5014\/ajot.53.5.498"},{"key":"2022020408211304043_j_pjbr-2021-0010_ref_047","doi-asserted-by":"crossref","unstructured":"N. Miyata, K. Yamaguchi, and Y. Maeda, \u201cMeasuring and modeling active maximum fingertip forces of a human index finger,\u201d in Proc. IEEE\/RSJ Int. Conf. Intell. Robots and Syst. (IROS), 2007, pp. 2156\u20132161.","DOI":"10.1109\/IROS.2007.4399243"},{"key":"2022020408211304043_j_pjbr-2021-0010_ref_048","doi-asserted-by":"crossref","unstructured":"P. Taneja, H. Olausson, M. Trulsson, P. Svensson, and L. Baad-Hansen, \u201cDefining pleasant touch stimuli: A systematic review and meta-analysis,\u201d Psychol. Res., pp. 1\u201316, 2019.","DOI":"10.1007\/s00426-019-01253-8"},{"key":"2022020408211304043_j_pjbr-2021-0010_ref_049","doi-asserted-by":"crossref","unstructured":"M. Melia, M. Schmidt, B. Geissler, J. K\u00f6nig, U. Krahn, H. J. Ottersbach, et al., \u201cMeasuring mechanical pain: The refinement and standardization of pressure pain threshold measurements,\u201d Behav. Res. Methods, vol. 47, no. 1, pp. 216\u2013227, 2015.","DOI":"10.3758\/s13428-014-0453-3"},{"key":"2022020408211304043_j_pjbr-2021-0010_ref_050","unstructured":"D. A. Armbruster and T. Pry, \u201cLimit of blank, limit of detection and limit of quantitation,\u201d Clin. Biochem. Rev., vol. 29, no. Suppl 1, p. S49\u201352, 2008."},{"key":"2022020408211304043_j_pjbr-2021-0010_ref_051","doi-asserted-by":"crossref","unstructured":"P. D. Neilson, \u201cSpeed of response or bandwidth of voluntary system controlling elbow position in intact man,\u201d Med. Biol. Eng., vol. 10, no. 4, pp. 450\u2013459, 1972.","DOI":"10.1007\/BF02474193"},{"key":"2022020408211304043_j_pjbr-2021-0010_ref_052","unstructured":"P. Fischer, R. Daniel, and K. Siva, \u201cSpecification and design of input devices for teleoperation,\u201d in Proc. IEEE Int. Conf. Robot. and Autom. (ICRA), pp. 540\u2013545, 1990."},{"key":"2022020408211304043_j_pjbr-2021-0010_ref_053","unstructured":"E. Foxlin, \u201cMotion tracking requirements and technologies,\u201d Handb. Virtual Env. Tech., vol. 8, pp. 163\u2013210, 2002."},{"key":"2022020408211304043_j_pjbr-2021-0010_ref_054","doi-asserted-by":"crossref","unstructured":"S. Choi and K. J. Kuchenbecker, \u201cVibrotactile display: Perception, technology, and applications,\u201d Proc. IEEE, vol. 101, pp. 2093\u20132104, 2013.","DOI":"10.1109\/JPROC.2012.2221071"},{"key":"2022020408211304043_j_pjbr-2021-0010_ref_055","doi-asserted-by":"crossref","unstructured":"R. Milo, P. Jorgensen, U. Moran, G. Weber, and M. Springer, \u201cBioNumbers\u2009\u2013\u2009the database of key numbers in molecular and cell biology,\u201d Nucleic Acids Res., vol. 38, no. suppl_1, pp. D750\u2013D753, 2010.","DOI":"10.1093\/nar\/gkp889"},{"key":"2022020408211304043_j_pjbr-2021-0010_ref_056","doi-asserted-by":"crossref","unstructured":"C. J. Cascio, J. Lorenzi, and G. T. Baranek, \u201cSelf-reported pleasantness ratings and examiner-coded defensiveness in response to touch in children with ASD Effects of stimulus material and bodily location,\u201d J. Autism Dev. Disord., vol. 46, no. 5, pp. 1528\u20131537, 2016.","DOI":"10.1007\/s10803-013-1961-1"},{"key":"2022020408211304043_j_pjbr-2021-0010_ref_057","doi-asserted-by":"crossref","unstructured":"R. Etzi, C. Spence, and A. Gallace, \u201cTextures that we like to touch: An experimental study of aesthetic preferences for tactile stimuli,\u201d Conscious. Cogn., vol. 29, pp. 178\u2013188, 2014.","DOI":"10.1016\/j.concog.2014.08.011"},{"key":"2022020408211304043_j_pjbr-2021-0010_ref_058","doi-asserted-by":"crossref","unstructured":"A. Tapus, A. Peca, A. Aly, C. Pop, L. Jisa, S. Pintea, et al., \u201cChildren with autism social engagement in interaction with NAO, an imitative robot: A series of single case experiments,\u201d Interact. Stud., vol. 13, no. 3, pp. 315\u2013347, 2012.","DOI":"10.1075\/is.13.3.01tap"},{"key":"2022020408211304043_j_pjbr-2021-0010_ref_059","doi-asserted-by":"crossref","unstructured":"J. Greczek, E. Kaszubski, A. Atrash, and M. Matari\u0107, \u201cGraded cueing feedback in robot-mediated imitation practice for children with autism spectrum disorders,\u201d in Proc. IEEE Int. Symp. Robot and Human Interact. Commun. (RO-MAN), 2014, pp. 561\u2013566.","DOI":"10.1109\/ROMAN.2014.6926312"},{"key":"2022020408211304043_j_pjbr-2021-0010_ref_060","doi-asserted-by":"crossref","unstructured":"M. Keenan, K. Dillenburger, H. R. R\u00f6ttgers, K. Dounavi, S. L. J\u00f3nsd\u00f3ttir, P. Moderato, et al., \u201cAutism and ABA: The gulf between North America and Europe,\u201d Rev. J. Autism Dev. Disord., vol. 2, no. 2, pp. 167\u2013183, 2015.","DOI":"10.1007\/s40489-014-0045-2"},{"key":"2022020408211304043_j_pjbr-2021-0010_ref_061","doi-asserted-by":"crossref","unstructured":"G. H. B\u00fcscher, R. K\u00f5iva, C. Sch\u00fcrmann, R. Haschke, and H. J. Ritter, \u201cFlexible and stretchable fabric-based tactile sensor,\u201d Robot. Auton. Syst., vol. 63, pp. 244\u2013252, 2015.","DOI":"10.1016\/j.robot.2014.09.007"},{"key":"2022020408211304043_j_pjbr-2021-0010_ref_062","doi-asserted-by":"crossref","unstructured":"H. Lee, K. Park, J. Kim, and K. J. Kuchenbecker, \u201cInternal array electrodes improve the spatial resolution of soft tactile sensors based on electrical resistance tomography,\u201d in Proc. IEEE Int. Conf. Robot. and Automat. (ICRA), Montreal, Canada, pp. 5411\u20135417, 2019.","DOI":"10.1109\/ICRA.2019.8794276"},{"key":"2022020408211304043_j_pjbr-2021-0010_ref_063","doi-asserted-by":"crossref","unstructured":"T. Yoshikai, H. Fukushima, M. Hayashi, and M. Inaba, \u201cDevelopment of soft stretchable knit sensor for humanoids\u2019 whole-body tactile sensibility,\u201d in Proc. IEEE-RAS Int. Conf. Humanoid Robots, pp. 624\u2013631, 2009.","DOI":"10.1109\/ICHR.2009.5379556"},{"key":"2022020408211304043_j_pjbr-2021-0010_ref_064","doi-asserted-by":"crossref","unstructured":"S. Pyo, J. Lee, W. Kim, E. Jo, and J. Kim, \u201cMulti-layered, hierarchical fabric-based tactile sensors with high sensitivity and linearity in ultrawide pressure range,\u201d Adv. Func. Mater., vol. 29, no. 35, art. 1902484, 2019.","DOI":"10.1002\/adfm.201902484"},{"key":"2022020408211304043_j_pjbr-2021-0010_ref_065","doi-asserted-by":"crossref","unstructured":"Y. Song, W. Huang, C. Mu, X. Chen, Q. Zhang, A. Ran, et al., \u201cCarbon nanotube-modified fabric for wearable smart electronic-skin with exclusive normal-tangential force sensing ability,\u201d Adv. Mater. Technol., vol. 4, no. 5, art. 1800680, 2019.","DOI":"10.1002\/admt.201800680"}],"container-title":["Paladyn, Journal of Behavioral Robotics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.degruyter.com\/view\/journals\/pjbr\/12\/1\/article-p115.xml","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.degruyter.com\/document\/doi\/10.1515\/pjbr-2021-0010\/xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.degruyter.com\/document\/doi\/10.1515\/pjbr-2021-0010\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,2,4]],"date-time":"2022-02-04T08:24:26Z","timestamp":1643963066000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.degruyter.com\/document\/doi\/10.1515\/pjbr-2021-0010\/html"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020,12,12]]},"references-count":65,"journal-issue":{"issue":"1","published-online":{"date-parts":[[2021,2,10]]},"published-print":{"date-parts":[[2021,2,10]]}},"alternative-id":["10.1515\/pjbr-2021-0010"],"URL":"https:\/\/doi.org\/10.1515\/pjbr-2021-0010","relation":{},"ISSN":["2081-4836"],"issn-type":[{"value":"2081-4836","type":"electronic"}],"subject":[],"published":{"date-parts":[[2020,12,12]]}}}