Cellulo

Tangible and haptic robots for education and rehabilitation

Cellulo is a tangible robot system capable of providing haptic feedback.

It has two primary application domains:

Assistance and rehabilitation

Upper arm rehabilitation for stroke patients (Ozgur et al., 2022). We invesitagted the effect of gamification (Guneysu Ozgur et al., 2020) (Guneysu Ozgur et al., 2020)
Collaborative task assistance for the visually impaired, including a gaming environment (Chibaudel et al., 2020) , and educational activities like teaching shapes and letters (Neto et al., 2020)

Education

Assessing learner behavior via eye-tracking analysis (Olsen et al., 2022)
Understanding how students collaborate while learning mathematical concepts(Khodr et al., 2020) (Johal et al., 2020)
Exploring orchestration of tangible interfaces (Johal et al., 2010)

References

2022

The effect of gamified robot-enhanced training on motor performance in chronic stroke survivors

Arzu Guneysu Ozgur , Maximilian J. Wessel , Jennifer K. Olsen , Andéol Geoffroy Cadic-Melchior , Valérie Zufferey , Wafa Johal, Giulia Dominijanni , Jean-Luc Turlan , and 5 more authors

Heliyon, 2022

Abs Bib

Task-specific training constitutes a core element for evidence-based rehabilitation strategies targeted at improving upper extremity activity after stroke. Its combination with additional treatment strategies and neurotechnology-based solutions could further improve patients’ outcomes. Here, we studied the effect of gamified robot-assisted upper limb motor training on motor performance, skill learning, and transfer with respect to a non-gamified control condition with a group of chronic stroke survivors. The results suggest that a gamified training strategy results in more controlled motor performance during the training phase, which is characterized by a higher accuracy (lower deviance), higher smoothness (lower jerk), but slower speed. The responder analyses indicated that mildly impaired patients benefited most from the gamification approach. In conclusion, gamified robot-assisted motor training, which is personalized to the individual capabilities of a patient, constitutes a promising investigational strategy for further improving motor performance after a stroke.
@article{ozgur2022effect, title = {The effect of gamified robot-enhanced training on motor performance in chronic stroke survivors}, journal = {Heliyon}, volume = {8}, number = {11}, pages = {e11764}, year = {2022}, issn = {2405-8440}, doi = {https://doi.org/10.1016/j.heliyon.2022.e11764}, url = {https://www.sciencedirect.com/science/article/pii/S2405844022030523}, author = {Ozgur, Arzu Guneysu and Wessel, Maximilian J. and Olsen, Jennifer K. and Cadic-Melchior, Andéol Geoffroy and Zufferey, Valérie and Johal, Wafa and Dominijanni, Giulia and Turlan, Jean-Luc and Mühl, Andreas and Bruno, Barbara and Vuadens, Philippe and Dillenbourg, Pierre and Hummel, Friedhelm C.}, keywords = {Gamification, Robotics, Stroke, Motor rehabilitation, Robot-assisted training, Personalization} }

Leveraging eye tracking to understand children’s attention during game-based, tangible robotics activities

Jennifer K Olsen , Arzu Guneysu Ozgur , Kshitij Sharma , and Wafa Johal

International Journal of Child-Computer Interaction, 2022

Bib PDF

@article{olsen2022leveraging,
  title = {Leveraging eye tracking to understand children’s attention during game-based, tangible robotics activities},
  author = {Olsen, Jennifer K and Ozgur, Arzu Guneysu and Sharma, Kshitij and Johal, Wafa},
  journal = {International Journal of Child-Computer Interaction},
  volume = {31},
  pages = {100447},
  year = {2022},
  publisher = {Elsevier}
}

2020

Gamified motor training with tangible robots in older adults: a feasibility study and comparison with the young

Arzu Guneysu Ozgur , Maximilian J Wessel , Jennifer K Olsen , Wafa Johal, Ayberk Ozgur , Friedhelm C Hummel , and Pierre Dillenbourg

Frontiers in aging neuroscience, 2020

Bib

@article{guneysu2020gamified,
  title = {Gamified motor training with tangible robots in older adults: a feasibility study and comparison with the young},
  author = {Guneysu Ozgur, Arzu and Wessel, Maximilian J and Olsen, Jennifer K and Johal, Wafa and Ozgur, Ayberk and Hummel, Friedhelm C and Dillenbourg, Pierre},
  journal = {Frontiers in aging neuroscience},
  volume = {12},
  pages = {59},
  year = {2020},
  publisher = {Frontiers Media SA}
}

Iterative design and evaluation of a tangible robot-assisted handwriting activity for special education

Arzu Guneysu Ozgur , Ayberk Özgür , Thibault Asselborn , Wafa Johal, Elmira Yadollahi , Barbara Bruno , Melissa Skweres , and Pierre Dillenbourg

Frontiers in Robotics and AI, 2020

Bib

@article{guneysu2020iterative,
  title = {Iterative design and evaluation of a tangible robot-assisted handwriting activity for special education},
  author = {Guneysu Ozgur, Arzu and {\"O}zg{\"u}r, Ayberk and Asselborn, Thibault and Johal, Wafa and Yadollahi, Elmira and Bruno, Barbara and Skweres, Melissa and Dillenbourg, Pierre},
  journal = {Frontiers in Robotics and AI},
  volume = {7},
  pages = {29},
  year = {2020},
  publisher = {Frontiers Media SA}
}

"If You’ve Gone Straight, Now, You Must Turn Left" - Exploring the Use of a Tangible Interface in a Collaborative Treasure Hunt for People with Visual Impairments

Quentin Chibaudel , Wafa Johal, Bernard Oriola , Marc J-M Macé , Pierre Dillenbourg , Valérie Tartas , and Christophe Jouffrais

In The 22nd International ACM SIGACCESS Conference on Computers and Accessibility , Virtual Event, Greece, 2020

Abs Bib

Tangible User Interfaces (TUI) have been found to be relevant tools for collaborative learning by providing a shared workspace and enhancing joint visual attention. Researchers have explored the use of TUIs in a variety of curricular activities and found them particularly interesting for spatial exploration. However, very few studies have explored how TUIs could be used as a collaborative medium for people with visual impairments (VIs). In this study, we investigated the effect of tangible interaction (a small tangible robot) in a spatial collaborative task (a treasure hunt) involving two people with VIs. The aim was to evaluate the impact of the design of the TUI on the collaboration and the strategies used to perform the task. The experiment involved six dyads of people with VIs. The results showed that the collaboration was impacted by the interaction design and open interesting perspectives on the design of collaborative games for people with VIs.
@inproceedings{chibaudel2020, author = {Chibaudel, Quentin and Johal, Wafa and Oriola, Bernard and J-M Mac\'{e}, Marc and Dillenbourg, Pierre and Tartas, Val\'{e}rie and Jouffrais, Christophe}, title = {"If You've Gone Straight, Now, You Must Turn Left" - Exploring the Use of a Tangible Interface in a Collaborative Treasure Hunt for People with Visual Impairments}, year = {2020}, isbn = {9781450371032}, publisher = {Association for Computing Machinery}, address = {New York, NY, USA}, url = {https://doi.org/10.1145/3373625.3417020}, doi = {10.1145/3373625.3417020}, booktitle = {The 22nd International ACM SIGACCESS Conference on Computers and Accessibility}, articleno = {19}, numpages = {10}, keywords = {Spatial cognition, Game, Wayfinding, Robots, Non-visual interaction, Maps, Learning, Haptics, 3D model}, location = {Virtual Event, Greece}, series = {ASSETS '20} }

Using tabletop robots to promote inclusive classroom experiences

Isabel Neto , Wafa Johal, Marta Couto , Hugo Nicolau , Ana Paiva , and Arzu Guneysu

In Proceedings of the interaction design and children conference , 2020

Bib

@inproceedings{neto2020using,
  title = {Using tabletop robots to promote inclusive classroom experiences},
  author = {Neto, Isabel and Johal, Wafa and Couto, Marta and Nicolau, Hugo and Paiva, Ana and Guneysu, Arzu},
  booktitle = {Proceedings of the interaction design and children conference},
  pages = {281--292},
  year = {2020}
}

Allohaptic: Robot-mediated haptic collaboration for learning linear functions

Hala Khodr , Soheil Kianzad , Wafa Johal, Aditi Kothiyal , Barbara Bruno , and Pierre Dillenbourg

In 2020 29th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN) , 2020

Bib

@inproceedings{khodr2020allohaptic,
  title = {Allohaptic: Robot-mediated haptic collaboration for learning linear functions},
  author = {Khodr, Hala and Kianzad, Soheil and Johal, Wafa and Kothiyal, Aditi and Bruno, Barbara and Dillenbourg, Pierre},
  booktitle = {2020 29th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)},
  pages = {27--34},
  year = {2020},
  organization = {IEEE}
}

Learning symmetry with tangible robots

Wafa Johal, Sonia Andersen , Morgane Chevalier , Ayberk Ozgur , Francesco Mondada , and Pierre Dillenbourg

In Robotics in Education: Current Research and Innovations 10 , 2020

Bib

@inproceedings{johal2020learning,
  title = {Learning symmetry with tangible robots},
  author = {Johal, Wafa and Andersen, Sonia and Chevalier, Morgane and Ozgur, Ayberk and Mondada, Francesco and Dillenbourg, Pierre},
  booktitle = {Robotics in Education: Current Research and Innovations 10},
  pages = {270--283},
  year = {2020},
  organization = {Springer}
}

2010

Tip: Tangible e-ink paper manipulatives for classroom orchestration

Wafa Johal, Alex Tran , Hala Khodr , Ayberk Özgür , and Pierre Dillenbourg

In Proceedings of the 31st Australian Conference on Human-Computer-Interaction , 2010

Bib

@inproceedings{johal2019tip,
  title = {Tip: Tangible e-ink paper manipulatives for classroom orchestration},
  author = {Johal, Wafa and Tran, Alex and Khodr, Hala and {\"O}zg{\"u}r, Ayberk and Dillenbourg, Pierre},
  booktitle = {Proceedings of the 31st Australian Conference on Human-Computer-Interaction},
  pages = {595--598},
  year = {2010}
}