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20
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4
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[
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[
2
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I
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I
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C
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,
Vo
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15
,
No
.
5
,
Octo
b
e
r
20
25
:
4
5
3
1
-
4
5
4
1
4532
th
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th
eir
ac
tiv
ities
o
f
d
aily
liv
in
g
[
1
0
]
–
[
1
4
]
,
a
s
ce
n
ar
io
wh
er
e
h
u
m
a
n
m
an
ip
u
latio
n
o
f
th
e
en
v
ir
o
n
m
en
t
is
cr
u
cial
f
o
r
p
atien
ts
'
in
d
ep
e
n
d
en
ce
,
s
elf
-
esteem
an
d
q
u
ality
o
f
life
.
Gr
ad
u
ally
,
b
u
t
with
in
cr
ea
s
in
g
p
r
esen
ce
,
r
o
b
o
tic
ass
is
tiv
e
s
y
s
tem
s
ar
e
b
ec
o
m
in
g
a
co
r
e
tech
n
o
lo
g
y
f
o
r
th
e
s
er
v
ice
s
ec
to
r
,
as th
ey
ar
e
a
b
le
to
h
elp
p
eo
p
le
in
n
ee
d
o
f
ass
is
tan
ce
in
a
wid
e
v
ar
iety
o
f
tas
k
s
[
1
5
]
.
T
h
e
b
en
ef
its
o
f
ass
is
tiv
e
r
o
b
o
tics
f
o
r
s
o
ciety
h
av
e
m
o
tiv
ated
th
e
s
tu
d
y
o
f
s
ev
er
al
a
p
p
r
o
ac
h
es,
d
ev
elo
p
in
g
s
y
s
tem
s
r
an
g
in
g
f
r
o
m
r
ig
id
r
o
b
o
ts
to
s
o
f
t
r
o
b
o
ts
with
s
in
g
le
-
m
o
d
al
an
d
m
u
ltimo
d
al
s
en
s
in
g
,
h
eu
r
is
tics
an
d
m
ac
h
in
e
lear
n
i
n
g
m
eth
o
d
s
,
an
d
f
r
o
m
m
an
u
al
to
au
to
n
o
m
o
u
s
co
n
tr
o
l
f
o
r
u
p
p
er
an
d
lo
wer
lim
b
ass
is
tan
ce
[
1
6
]
.
T
h
er
e
ar
e
b
a
s
ically
two
ap
p
r
o
ac
h
es
to
ass
is
t
eld
er
ly
an
d
d
is
ab
led
p
e
o
p
l
e:
o
n
e
is
b
ased
o
n
m
o
b
ile
ass
is
tan
t
r
o
b
o
ts
;
th
e
o
th
er
is
b
ased
o
n
f
ix
ed
r
o
b
o
ts
s
u
ch
as
th
e
u
s
e
o
f
an
e
x
ter
n
a
l
r
o
b
o
tic
ar
m
o
r
a
r
o
b
o
tic
e
x
o
s
k
eleto
n
attac
h
ed
to
o
r
m
o
u
n
ted
o
n
a
wh
ee
lch
air
[
1
7
]
.
Ass
is
tiv
e
r
o
b
o
tic
m
a
n
ip
u
lato
r
s
(
AR
Ms)
p
r
o
v
id
e
a
p
o
ten
tial
s
o
lu
ti
o
n
t
o
m
itig
ate
th
e
d
if
f
icu
lties
ass
o
ciate
d
with
m
a
n
ip
u
latio
n
d
e
f
icits
in
p
eo
p
le
with
u
p
p
er
ex
tr
em
ity
d
is
ab
ilit
ies
[
1
8
]
,
[
1
9
]
.
So
ass
is
tiv
e
r
o
b
o
tic
m
an
ip
u
lato
r
s
a
r
e
b
ec
o
m
in
g
in
cr
ea
s
in
g
ly
im
p
o
r
tan
t
f
o
r
p
eo
p
le
with
d
is
ab
ilit
ies
[
2
0
]
g
iv
en
t
h
eir
b
en
e
f
its
,
e.
g
.
,
r
o
b
o
tic
ass
is
tiv
e
ar
m
s
allo
w
p
eo
p
le
with
u
p
p
er
lim
b
d
is
ab
ilit
ies to
p
er
f
o
r
m
ev
e
r
y
d
a
y
task
s
o
n
th
eir
o
wn
[
2
1
]
.
Dis
ea
s
e
s
r
elate
d
to
u
p
p
e
r
lim
b
m
o
b
ilit
y
ar
e
i
n
cr
ea
s
in
g
ly
c
o
m
m
o
n
am
o
n
g
to
d
ay
'
s
p
o
p
u
lati
o
n
;
f
o
r
th
is
r
ea
s
o
n
,
p
h
y
s
ical
ass
is
tiv
e
r
o
b
o
tic
s
y
s
tem
s
h
av
e
b
ee
n
p
r
o
p
o
s
ed
to
s
u
p
p
o
r
t
th
er
ap
e
u
tic
p
r
o
ce
s
s
es
an
d
im
p
r
o
v
e
th
e
f
u
n
ctio
n
al
ca
p
a
b
ilit
ies
o
f
in
d
iv
id
u
als
[
2
2
]
.
So
cial
ass
is
tiv
e
r
o
b
o
ts
h
av
e
th
e
p
o
ten
ti
al
to
in
cr
ea
s
e
an
d
im
p
r
o
v
e
t
h
er
ap
is
t
ef
f
icien
c
y
i
n
r
ep
etitiv
e
task
s
,
s
u
ch
as
co
g
n
itiv
e
th
er
ap
ies
[
2
3
]
.
So
cial
ass
is
tiv
e
r
o
b
o
tics
is
wid
ely
u
s
ed
in
h
ea
lth
ca
r
e
to
e
n
h
an
ce
c
o
n
v
e
n
tio
n
al
tr
ea
tm
en
t
s
an
d
in
cr
ea
s
e
p
atien
t e
n
g
ag
e
m
en
t
[
2
4
]
.
So
cial
ass
is
tiv
e
r
o
b
o
tics
(
SA
R
)
aim
s
to
d
es
ig
n
r
o
b
o
ts
ca
p
ab
le
o
f
en
s
u
r
in
g
s
o
cial
in
ter
ac
tio
n
to
h
u
m
an
u
s
er
s
in
a
v
ar
iety
o
f
a
s
s
is
tan
ce
s
ce
n
ar
io
s
r
an
g
in
g
,
f
o
r
ex
am
p
le,
f
r
o
m
m
ed
icatio
n
r
ec
all
to
m
o
n
ito
r
in
g
d
aily
life
ac
tiv
ity
to
g
iv
in
g
a
d
v
ice
to
p
r
o
m
o
te
a
h
ea
lth
y
l
if
esty
le
to
p
s
y
ch
o
lo
g
ical
f
o
ll
o
w
-
up
[
2
5
]
.
So
cial
ass
is
tiv
e
r
o
b
o
tics
(
SAR
)
is
r
ec
eiv
in
g
a
lo
t
o
f
atten
tio
n
f
o
r
its
p
o
ten
tial
to
ass
is
t
eld
er
ly
u
s
er
s
[
2
6
]
.
So
cial
r
o
b
o
ts
ar
e
an
in
ter
esti
n
g
to
o
l
th
at
allo
ws
en
r
ich
in
g
th
e
r
a
n
g
e
o
f
p
s
y
ch
o
s
o
cial
in
ter
v
e
n
tio
n
s
th
at
ex
is
t
to
s
u
p
p
o
r
t
ad
u
lts
in
th
eir
au
to
n
o
m
y
,
ad
a
p
tin
g
to
s
itu
atio
n
s
t
h
at
in
clu
d
e
in
d
iv
id
u
als
an
d
d
if
f
icu
lties
in
v
er
b
al
co
m
m
u
n
icatio
n
;
h
o
wev
er
,
th
e
s
o
lu
tio
n
to
th
e
im
p
lem
en
tati
o
n
o
f
th
ese
tech
n
o
lo
g
ical
d
ev
ices
is
n
ec
ess
ar
y
to
id
en
tify
th
e
r
eq
u
ir
em
en
ts
r
eq
u
ir
ed
f
o
r
th
eir
im
p
lem
en
tatio
n
an
d
d
ev
elo
p
p
r
o
to
co
ls
f
o
r
clin
ic
p
r
ep
ar
atio
n
a
n
d
u
s
e
[
2
7
]
.
Fo
r
th
is
r
ea
s
o
n
,
th
e
o
b
jectiv
e
o
f
th
is
s
tu
d
y
is
t
o
id
e
n
tify
t
h
e
m
ain
b
en
e
f
its
o
f
t
h
e
ap
p
licatio
n
o
f
ass
is
tiv
e
r
o
b
o
tics
,
in
o
r
d
er
to
g
u
id
e
f
u
tu
r
e
r
esear
c
h
in
th
is
ar
ea
.
T
h
e
m
eth
o
d
o
l
o
g
y
ad
o
p
ted
to
ac
h
iev
e
th
is
o
b
jectiv
e
is
p
r
esen
ted
b
elo
w
,
as
well
as
th
e
p
o
p
u
latio
n
g
r
o
u
p
s
o
f
g
r
ea
test
in
ter
est
an
d
th
e
co
n
clu
s
io
n
s
r
ea
ch
ed
.
T
h
is
ex
p
lo
r
atio
n
allo
ws f
o
r
th
e
p
r
o
jectio
n
o
f
f
u
t
u
r
e
r
esear
ch
r
elev
an
t t
o
ea
ch
in
te
r
est g
r
o
u
p
s
tu
d
ie
d
.
2.
M
E
T
H
O
D
T
h
e
ex
p
lo
r
atio
n
an
d
a
n
aly
s
is
o
f
th
e
s
tate
o
f
th
e
ar
t
i
n
r
o
b
o
ti
cs
is
co
n
s
u
lted
i
n
th
e
liter
atu
r
e
p
u
b
lis
h
ed
at
Sco
p
u
s
d
ata
b
ase.
T
h
is
b
i
b
lio
g
r
ap
h
ic
d
atab
ase
was
s
elec
ted
b
ec
a
u
s
e
it
is
r
eliab
le,
ea
s
y
t
o
u
s
e
a
n
d
p
r
o
v
id
es
u
n
iv
er
s
al
b
ib
lio
m
et
r
ic
in
d
icat
o
r
s
.
Usi
n
g
th
e
s
ea
r
ch
eq
u
ati
o
n
“a
s
s
is
tiv
e
r
o
b
o
tics
”
in
th
e
titl
e,
ab
s
tr
ac
t
an
d
k
ey
wo
r
d
s
,
1
,
6
7
7
s
cien
tific
ar
ti
cles
wer
e
f
o
u
n
d
,
s
h
o
win
g
a
b
e
h
av
io
r
with
an
alm
o
s
t
ex
p
o
n
e
n
tial
g
r
o
wth
,
s
o
th
e
to
p
ic
is
co
n
s
id
er
ed
c
u
ttin
g
-
ed
g
e,
an
d
th
e
r
esear
ch
was
d
elim
ited
to
k
n
o
w
th
e
a
d
v
an
ce
s
i
n
r
ec
en
t
y
ea
r
s
(
s
in
ce
2
0
2
1
)
.
Of
th
ese,
th
e
f
o
llo
w
in
g
wer
e
d
is
ca
r
d
ed
:
7
c
o
n
f
er
en
ce
r
e
v
iews,
4
e
d
ito
r
ials
,
1
e
d
ito
r
ial
letter
,
2
6
r
ev
iews,
1
b
o
o
k
c
h
ap
ter
,
1
1
ar
ticles
th
at
ar
e
in
p
r
in
t,
lea
v
in
g
o
n
ly
o
p
en
ac
ce
s
s
d
o
cu
m
en
ts
,
wh
ich
allo
wed
an
in
itial
s
elec
tio
n
o
f
2
0
2
d
o
cu
m
en
ts
b
ased
o
n
t
h
e
titl
e
a
n
d
ab
s
tr
ac
t.
T
o
d
ef
in
e
t
h
e
r
e
p
o
r
ted
w
o
r
k
s
to
b
e
in
clu
d
ed
in
t
h
e
a
n
aly
s
is
,
th
e
f
o
llo
win
g
f
o
u
r
in
itial
elim
in
ati
o
n
c
r
iter
ia
wer
e
d
eter
m
i
n
ed
:
i
)
b
e
p
r
o
p
o
s
als
th
at
d
o
n
o
t
d
em
o
n
s
tr
ate
r
o
b
o
tic
d
ev
elo
p
m
e
n
t,
ii
)
an
aly
s
es
th
at
d
o
n
o
t
aid
a
p
ar
ticu
lar
p
o
p
u
latio
n
,
iii
)
b
e
a
p
r
esen
tatio
n
o
f
an
ev
e
n
t o
r
co
u
r
s
e,
an
d
iv
)
b
e
a
cr
itical
an
al
y
s
is
.
Su
b
s
eq
u
en
tly
,
th
e
ap
p
licatio
n
ar
ea
s
o
f
th
e
s
elec
ted
d
o
cu
m
en
ts
ar
e
class
if
ied
an
d
th
o
s
e
th
at
co
r
r
esp
o
n
d
to
th
e
to
p
ics
o
f
co
n
tr
o
l
o
r
ap
p
licatio
n
in
in
d
u
s
tr
y
ar
e
elim
in
ated
.
T
h
en
,
a
g
en
e
r
al
ch
ar
ac
ter
izatio
n
o
f
th
e
d
o
cu
m
en
ts
ch
o
s
en
f
o
r
s
tu
d
y
is
m
ad
e,
wh
er
e
th
eir
b
i
b
lio
g
r
ap
h
ic
d
ata
ar
e
an
aly
ze
d
u
s
in
g
VOSv
iewe
r
s
o
f
twar
e,
wh
ich
allo
ws
th
e
co
n
s
tr
u
ctio
n
o
f
b
ib
lio
m
etr
ic
n
et
wo
r
k
s
.
Fin
ally
,
th
e
m
ai
n
f
in
d
in
g
s
o
f
th
e
p
ap
e
r
s
ar
e
p
r
esen
ted
ac
co
r
d
i
n
g
to
th
eir
a
r
ea
o
f
ap
p
licatio
n
,
co
n
s
id
er
in
g
d
ev
elo
p
m
e
n
ts
th
at
b
en
ef
it
ch
ild
r
en
,
th
e
eld
er
ly
,
p
r
o
v
id
e
h
o
s
p
ital
ass
is
tan
ce
,
h
elp
p
eo
p
le
with
d
is
ab
ilit
ies
o
r
s
u
p
p
o
r
t
th
er
a
p
y
a
n
d
r
eh
ab
ilit
atio
n
wo
r
k
,
wh
ich
allo
ws th
e
id
en
tific
atio
n
o
f
r
esear
ch
n
ee
d
s
in
ea
ch
o
f
th
ese
ar
ea
s
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J E
lec
&
C
o
m
p
E
n
g
I
SS
N:
2088
-
8
7
0
8
P
r
o
s
p
ec
tive
a
p
p
lica
tio
n
s
o
f
a
s
s
is
tive
r
o
b
o
tics
fo
r
th
e
b
en
efit
…
(
A
n
n
y
A
s
tr
id
E
s
p
itia
-
C
u
b
il
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)
4533
3.
RE
SU
L
T
S AN
D
D
I
SCU
SS
I
O
N
Usi
n
g
estab
lis
h
ed
elim
in
atio
n
cr
iter
ia,
8
5
p
ap
er
s
wer
e
d
is
ca
r
d
ed
:
3
8
p
ap
e
r
s
f
o
r
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ein
g
p
r
o
p
o
s
als
th
at
d
o
n
o
t
d
em
o
n
s
tr
ate
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tic
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m
en
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4
4
f
o
r
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g
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n
aly
s
es
th
at
d
o
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o
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h
elp
a
p
a
r
ticu
lar
p
o
p
u
latio
n
,
2
p
r
esen
tatio
n
s
o
f
an
e
v
en
t
o
r
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u
r
s
e,
an
d
1
c
r
itical
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aly
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is
.
Su
b
s
eq
u
en
tly
,
th
e
d
o
c
u
m
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ts
ar
e
class
if
ied
b
y
ar
ea
s
o
f
ap
p
licatio
n
an
d
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o
s
e
wh
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s
e
ar
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s
co
r
r
esp
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n
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c
o
n
tr
o
l
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r
in
d
u
s
tr
y
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e
elim
in
at
ed
b
ec
au
s
e
th
e
y
d
o
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o
t f
u
lf
ill a
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o
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.
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h
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s
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m
m
ar
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s
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t p
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s
to
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e
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ed
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s
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o
wn
in
Fig
u
r
e
1
.
Fig
u
r
e
1
.
Selectio
n
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r
o
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s
s
o
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ap
er
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to
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atic
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o
f
th
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lite
r
atu
r
e
So
u
r
ce
: A
d
ap
ted
f
r
o
m
[
2
8
]
On
ce
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e
d
o
cu
m
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ts
h
av
e
b
e
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d
ef
in
ed
,
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g
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er
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ar
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o
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th
em
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ad
e.
Fig
u
r
e
2
(
a)
s
h
o
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ib
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tio
n
o
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ig
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r
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ig
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m
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ts
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io
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m
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o
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s
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er
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en
t
is
s
h
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wn
in
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u
r
e
2
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b
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,
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ich
s
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o
ws
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at
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6
%
o
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th
e
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o
cu
m
e
n
ts
h
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e
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th
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1
0
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n
s
,
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d
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o
c
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m
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t
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e
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ig
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m
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ci
tatio
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s
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5
8
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co
r
r
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o
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s
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th
e
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ev
elo
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m
en
t
o
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h
u
m
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o
b
o
t
f
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r
c
h
ild
r
en
with
au
tis
m
[
2
9
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,
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ich
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n
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id
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ed
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r
ef
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ce
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e
s
u
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ject.
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s
h
o
wn
in
Fig
u
r
e
2
(
c)
,
th
e
d
o
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u
m
en
ts
in
clu
d
ed
in
th
is
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tu
d
y
m
ay
b
e
ar
ticles
o
r
co
n
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er
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ce
p
r
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ce
e
d
in
g
s
an
d
th
eir
lan
g
u
a
g
e
o
f
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u
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licatio
n
m
ay
b
e
E
n
g
lis
h
o
r
Sp
a
n
is
h
; m
o
s
t o
f
th
em
co
r
r
esp
o
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d
to
ar
ticles wr
itten
in
E
n
g
lis
h
.
(
a)
(
b
)
(
c)
F
i
g
u
r
e
2
.
G
e
n
e
r
a
l
c
h
a
r
a
c
t
e
r
iz
a
ti
o
n
o
f
d
o
c
u
m
e
n
t
s
i
n
c
l
u
d
e
d
:
(
a
)
d
i
s
t
r
i
b
u
ti
o
n
o
f
d
o
c
u
m
e
n
t
s
w
it
h
r
e
s
p
e
c
t
t
o
t
h
e
y
e
a
r
o
f
p
u
b
l
i
c
a
t
i
o
n
,
(
b
)
b
e
h
a
v
i
o
r
o
f
t
h
e
n
u
m
b
e
r
o
f
c
i
t
a
t
i
o
n
s
p
e
r
d
o
cu
m
e
n
t
,
a
n
d
(
c
)
d
o
c
u
m
e
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t
t
y
p
e
a
n
d
l
a
n
g
u
a
g
e
T
h
e
a
n
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is
o
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li
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ip
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d
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c
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ts
.
I
n
c
o
n
t
r
a
s
t
,
w
i
t
h
r
es
p
e
c
t
t
o
t
h
e
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
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7
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8
I
n
t J E
lec
&
C
o
m
p
E
n
g
,
Vo
l.
15
,
No
.
5
,
Octo
b
e
r
20
25
:
4
5
3
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-
4
5
4
1
4534
i
n
d
e
x
e
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k
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y
w
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d
s
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it
is
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s
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d
k
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y
w
o
r
d
s
a
r
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,
i
n
o
r
d
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r
:
r
o
b
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cs
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as
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ic
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h
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m
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n
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h
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ti
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r
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k
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t
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2
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w
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a
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p
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t
5
t
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s
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r
es
u
l
ts
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s
h
a
r
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d
i
n
F
i
g
u
r
e
3
,
w
h
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t
w
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v
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Fig
u
r
e
4
s
h
o
ws
th
at
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g
e
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t
n
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m
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er
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f
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p
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co
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r
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d
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p
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ially
d
esig
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v
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is
ab
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p
o
p
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,
f
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wed
b
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th
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b
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f
it
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r
ly
,
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r
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tio
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Fig
u
r
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4
s
h
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Fig
u
r
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3
.
C
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o
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k
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s
Fig
u
r
e
4
.
Dis
tr
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u
tio
n
o
f
to
p
ic
s
in
ea
ch
estab
lis
h
ed
ar
ea
o
f
a
p
p
licatio
n
1
5
%
2
1
%
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%
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6
%
1
9
%
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J E
lec
&
C
o
m
p
E
n
g
I
SS
N:
2088
-
8
7
0
8
P
r
o
s
p
ec
tive
a
p
p
lica
tio
n
s
o
f
a
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is
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o
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fo
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th
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b
en
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…
(
A
n
n
y
A
s
tr
id
E
s
p
itia
-
C
u
b
il
lo
s
)
4535
3
.
1
.
Dis
a
bil
it
y
Dev
elo
p
m
en
ts
th
at
b
e
n
ef
it
p
e
o
p
le
with
s
o
m
e
ty
p
es
o
f
d
is
ab
ilit
y
wer
e
class
if
ied
in
to
f
o
u
r
ca
teg
o
r
ies,
m
u
ltip
le
d
is
ab
ilit
y
,
u
p
p
er
lim
b
,
lo
wer
lim
b
an
d
in
tellectu
al
d
is
ab
ilit
y
.
Fo
r
m
u
ltip
le
d
is
ab
ilit
ies,
s
o
m
e
o
f
m
ain
d
ev
elo
p
m
e
n
ts
ar
e
th
o
s
e
p
r
esen
ted
in
[
3
0
]
,
w
h
er
e
R
OB
I
NA,
a
s
em
i
-
au
to
n
o
m
o
u
s
r
o
b
o
tic
s
y
s
tem
f
o
r
in
c
r
ea
s
in
g
au
to
n
o
m
y
in
th
e
p
e
r
f
o
r
m
an
c
e
o
f
v
ar
io
u
s
ac
tiv
ities
o
f
d
aily
liv
in
g
o
f
p
atien
ts
with
a
m
y
o
tr
o
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h
ic
later
al
s
cler
o
s
is
,
is
d
ev
elo
p
ed
.
I
n
s
t
u
d
y
[
1
2
]
,
a
r
o
b
o
tic
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s
tem
co
n
tr
o
lled
t
h
r
o
u
g
h
t
h
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er
'
s
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e
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ts
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r
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ip
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late
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cts.
I
n
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tu
d
y
[
9
]
,
a
r
o
b
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o
r
d
r
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ased
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o
m
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ly
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t
h
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'
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m
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,
b
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a
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p
with
a
h
an
d
le
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p
to
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u
th
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n
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est
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lis
h
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with
lip
s
,
with
o
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o
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ca
n
ce
llatio
n
an
d
tr
ac
k
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n
g
.
Stu
d
y
[
3
1
]
u
s
in
g
a
s
em
i
-
au
to
n
o
m
o
u
s
m
o
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i
le
r
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b
o
tic
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wit
h
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r
ain
-
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u
ter
in
ter
f
a
ce
,
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er
e
is
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d
esig
n
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at
ad
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ts
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n
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ir
o
n
m
en
t
an
d
r
ec
eiv
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es
f
r
o
m
b
r
ain
wav
e
s
ig
n
als
f
r
o
m
u
s
er
u
s
in
g
an
ele
ctr
o
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ce
p
h
al
o
g
r
am
(
E
E
G)
ca
p
to
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ick
u
p
o
r
d
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o
p
a
n
o
b
ject
s
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ted
b
y
u
s
er
.
An
in
ter
ac
tio
n
s
y
s
tem
to
s
u
p
p
o
r
t
d
is
ab
led
o
r
b
ed
r
id
d
e
n
p
atien
ts
is
p
r
esen
ted
in
[
3
2
]
t
h
at
al
lo
ws
th
e
co
n
tr
o
l
o
f
r
o
b
o
ts
an
d
ass
is
tiv
e
d
ev
ices
i
n
a
lim
ited
s
p
ac
e
in
d
if
f
er
en
t
way
s
:
to
u
ch
co
n
tr
o
l,
ey
e
co
n
tr
o
l,
g
estu
r
e
co
n
tr
o
l,
v
o
ice
co
n
tr
o
l,
an
d
au
g
m
en
ted
r
ea
lity
co
n
tr
o
l.
T
h
er
e
is
also
a
m
o
d
u
lar
m
o
b
ile
p
latf
o
r
m
co
n
s
is
tin
g
o
f
an
u
p
p
er
lim
b
r
o
b
o
tic
ex
o
s
k
eleto
n
co
n
n
ec
ted
to
a
r
o
b
o
tic
wh
e
elch
air
with
cu
s
to
m
izatio
n
o
p
tio
n
th
at
allo
ws
m
o
b
ilizatio
n
an
d
g
r
asp
in
g
o
f
o
b
jects
[
1
8
]
.
Fo
r
p
eo
p
le
with
u
p
p
er
ex
tr
e
m
ity
d
is
ab
ilit
y
,
a
p
o
r
ta
b
le
s
u
p
er
n
u
m
e
r
ar
y
r
o
b
o
tic
ar
m
is
d
ev
elo
p
ed
in
[
3
3
]
to
lift
th
e
ar
m
th
at
ass
is
ts
s
h
o
u
ld
er
m
o
v
em
e
n
t,
th
e
m
ec
h
an
is
m
is
p
o
wer
ed
b
y
a
p
n
e
u
m
atic
en
e
r
g
y
h
ar
v
esti
n
g
s
y
s
tem
th
at
is
tak
e
n
f
r
o
m
a
u
s
er
'
s
f
o
o
t
s
tr
ik
e
wh
ile
walk
in
g
.
I
n
s
tu
d
y
[
3
4
]
,
a
p
o
r
tab
le
s
o
f
t
r
o
b
o
tic
h
an
d
is
p
r
esen
ted
th
at
f
ac
ilit
ates
th
e
o
p
en
in
g
an
d
clo
s
in
g
o
f
th
e
u
s
er
'
s
h
an
d
to
g
r
asp
o
b
jects.
A
p
o
r
ta
b
le
s
y
s
tem
ca
lled
So
f
tPro
ex
h
ib
it
ed
in
[
7
]
c
o
m
b
i
n
es
d
if
f
er
e
n
t
a
s
s
is
tiv
e
tech
n
o
lo
g
ies
(
s
en
s
o
r
s
,
h
ap
tics
,
o
r
t
h
o
tics
,
an
d
r
o
b
o
tics
)
to
lift
th
e
f
o
r
ea
r
m
u
s
in
g
a
p
ass
iv
e
ex
o
s
k
eleto
n
an
d
to
g
r
asp
o
b
jects
with
th
e
af
f
ec
ted
h
an
d
u
s
in
g
a
p
o
r
tab
le
r
o
b
o
tic
s
u
p
er
n
u
m
er
ar
y
f
in
g
e
r
.
An
o
t
h
er
o
b
ject
m
a
n
ip
u
latio
n
ass
is
tan
ce
s
y
s
tem
is
p
r
esen
ted
in
[
3
5
]
u
s
in
g
a
tele
o
p
er
ated
r
o
b
o
tic
ar
m
with
j
o
in
t
to
r
q
u
e
r
eq
u
ir
e
m
en
ts
,
wo
r
k
ar
ea
co
n
s
tr
ain
ts
,
an
d
co
n
t
r
o
l
tu
n
in
g
p
ar
am
eter
s
.
T
h
in
k
in
g
a
b
o
u
t
p
eo
p
le
with
lo
wer
e
x
tr
em
ity
d
is
ab
ilit
ies,
s
ev
er
al
in
tellig
en
t
wh
ee
lch
air
s
h
av
e
b
ee
n
d
esig
n
e
d
,
s
o
m
e
with
c
o
m
p
lem
en
tar
y
ca
p
ab
ilit
ies
[
3
6
]
,
an
o
th
e
r
with
a
v
is
u
al
s
y
s
tem
f
o
r
p
eo
p
le
with
m
in
o
r
o
r
s
ig
n
if
ica
n
t
v
is
u
al
im
p
air
m
en
ts
in
o
n
e
o
f
th
e
e
y
es
th
at
p
h
y
s
ically
ca
n
n
o
t
c
o
n
tr
o
l
a
tr
ad
itio
n
al
wh
ee
lch
air
,
wh
er
e
in
tellig
en
t v
is
io
n
is
u
s
ed
to
an
aly
ze
th
e
d
ir
ec
tio
n
o
f
th
e
p
atien
t'
s
g
az
e
a
n
d
h
ea
d
m
o
v
em
e
n
ts
an
d
wo
r
k
s
o
u
td
o
o
r
s
an
d
in
d
o
o
r
s
[
3
7
]
.
Als
o
to
f
ac
ilit
ate
m
o
b
ilit
y
an
d
g
r
asp
in
g
o
b
jects,
a
s
y
s
tem
in
clu
d
in
g
a
r
o
b
o
tic
ar
m
a
n
d
a
s
co
o
ter
f
o
r
o
u
td
o
o
r
u
s
e
is
d
esig
n
ed
in
[
5
]
,
wh
ich
u
s
es
a
laser
p
o
in
ter
to
s
elec
t
an
o
b
ject
an
d
p
r
o
v
id
es
f
ee
d
b
ac
k
to
th
e
u
s
er
th
r
o
u
g
h
a
n
in
ter
f
ac
e
,
wh
i
ch
is
b
etter
in
ex
ec
u
tio
n
tim
e
an
d
s
u
cc
ess
r
ate
co
m
p
ar
ed
t
o
wh
at
is
r
ep
o
r
ted
i
n
th
e
liter
atu
r
e
an
d
,
in
a
d
d
itio
n
,
with
ac
cu
r
ac
y
in
s
elec
tin
g
a
n
d
lo
ca
tin
g
o
b
jects
o
n
a
tab
le
[
3
8
]
.
I
n
th
e
s
ce
n
ar
io
o
f
in
tellectu
a
l
d
is
ab
ilit
y
,
a
s
tu
d
y
was
f
o
u
n
d
o
f
a
p
r
o
g
r
am
t
h
at
s
ee
k
s
to
r
ep
lace
ca
r
eg
iv
er
s
o
v
er
5
5
y
ea
r
s
o
f
a
g
e
with
ass
i
s
tiv
e
r
o
b
o
ts
,
wh
ich
s
h
o
ws
n
o
in
cr
ea
s
e
in
well
-
b
ein
g
,
b
u
t
allo
ws
a
b
r
ea
k
f
o
r
ca
r
eg
iv
e
r
s
an
d
b
o
o
s
ts
in
d
ep
en
d
en
ce
,
s
af
ety
a
n
d
i
n
ter
ac
tio
n
o
f
c
h
ild
r
en
with
in
tellectu
al
d
is
ab
ilit
y
[
3
9
]
.
T
o
h
elp
p
eo
p
le
with
n
eu
r
o
d
e
v
elo
p
m
e
n
tal
d
is
o
r
d
e
r
s
,
L
OL
A2
,
a
r
o
b
o
tic
p
latf
o
r
m
b
ased
o
n
ar
tific
ial
in
tellig
en
ce
to
r
ei
n
f
o
r
ce
th
e
le
ar
n
in
g
o
f
ac
tiv
ities
o
f
d
aily
li
v
in
g
with
a
u
s
er
in
ter
f
ac
e
f
o
r
p
atien
ts
an
d
h
ea
lt
h
p
r
o
f
ess
io
n
als
with
a
jo
y
s
tick
an
d
a
g
r
ap
h
ic
d
is
p
lay
th
at
allo
ws
th
er
ap
is
ts
to
m
o
n
ito
r
u
s
er
s
,
is
v
alid
ated
f
r
o
m
th
e
tech
n
ical
p
o
in
t
o
f
v
iew
[
4
0
]
.
Pr
o
g
r
ess
is
n
ee
d
ed
in
co
n
s
tan
t
an
d
p
r
ec
is
e
m
o
n
ito
r
in
g
o
f
r
o
b
o
ts
with
m
o
v
em
en
ts
to
en
s
u
r
e
s
af
e
in
te
r
ac
tio
n
b
etwe
en
h
u
m
an
s
an
d
r
o
b
o
ts
,
as we
ll a
s
tech
n
o
lo
g
y
w
ith
a
lo
wer
lev
el
o
f
co
m
p
lex
ity
t
h
at
ca
n
b
e
in
s
talled
q
u
ic
k
ly
an
d
with
in
t
u
itiv
e
an
d
u
s
er
-
f
r
ien
d
l
y
o
p
er
atio
n
,
g
iv
in
g
p
r
ef
er
en
ce
to
non
-
in
v
asiv
e
s
y
s
tem
s
an
d
allo
win
g
r
ec
o
v
e
r
y
o
f
ca
p
ac
ity
a
n
d
au
to
n
o
m
y
o
f
d
is
ab
led
p
ati
en
ts
o
r
th
o
s
e
with
r
ed
u
ce
d
m
o
to
r
f
u
n
ctio
n
s
.
3
.
2
.
O
lder
a
du
lt
s
T
h
e
d
ev
elo
p
m
en
ts
th
at
b
en
ef
it
o
ld
er
ad
u
lts
ar
e
g
r
o
u
p
ed
i
n
to
f
iv
e
th
em
es:
m
o
b
ilit
y
,
ac
tiv
ities
o
f
d
aily
liv
in
g
,
h
o
m
e
ca
r
e,
s
o
cial
in
te
r
ac
tio
n
,
a
n
d
o
ld
e
r
ad
u
lts
with
Par
k
in
s
o
n
'
s
d
is
ea
s
e.
I
n
m
o
b
i
lity
is
s
u
es,
th
er
e
is
o
u
ts
tan
d
in
g
r
esear
ch
s
u
ch
as
t
h
at
p
r
esen
te
d
in
[
4
1
]
,
o
r
ien
ted
to
ex
er
cise
f
o
r
th
e
h
ip
with
a
p
o
r
tab
le
ass
is
tan
ce
r
o
b
o
t
(
E
X1
)
,
wh
ich
im
p
r
o
v
e
d
p
h
y
s
ical
f
u
n
ctio
n
an
d
walk
in
g
ef
f
icien
cy
in
o
ld
er
ad
u
lts
,
its
ap
p
licatio
n
is
ef
f
ec
tiv
e
in
s
u
p
p
o
r
tin
g
th
e
d
e
clin
e
in
ag
e
-
r
elate
d
m
o
b
ilit
y
,
p
h
y
s
ical
f
u
n
ctio
n
a
n
d
ca
r
d
io
p
u
lm
o
n
ar
y
m
etab
o
lic
ef
f
icien
cy
.
I
n
[
4
2
]
,
r
o
b
o
tic
s
u
r
f
ac
e
b
alan
ce
tr
ai
n
in
g
with
o
u
t
b
o
d
y
weig
h
t
s
u
p
p
o
r
t
is
wo
r
k
ed
o
u
t,
wh
ich
im
p
r
o
v
es
b
alan
ce
a
n
d
co
n
f
id
en
ce
in
o
ld
er
a
d
u
lts
,
th
ese
p
ar
am
eter
s
wer
e
ass
ess
ed
u
s
in
g
th
e
b
alan
ce
er
r
o
r
s
co
r
in
g
s
y
s
tem
(
B
E
SS
)
an
d
ac
tiv
ity
-
s
p
ec
if
ic
b
alan
ce
co
n
f
id
en
ce
s
ca
le
(
AB
C
)
.
Ad
d
itio
n
ally
,
an
in
tellig
en
t
r
o
b
o
tic
walk
er
(
i
-
W
alk
)
,
wh
ic
h
p
r
o
v
id
es
co
g
n
itiv
e
an
d
m
o
b
ilit
y
ass
is
tan
ce
to
eld
er
ly
p
eo
p
le
o
r
p
eo
p
le
with
m
ild
to
m
o
d
er
ate
m
o
b
ilit
y
d
is
ab
ilit
ies,
was
f
o
u
n
d
an
d
its
u
tili
ty
,
u
s
ab
ilit
y
,
s
af
ety
an
d
tec
h
n
ical
p
er
f
o
r
m
an
ce
wer
e
m
ea
s
u
r
ed
[
1
3
]
.
I
n
[
6
]
,
a
lo
w
-
c
o
s
t
m
o
b
ile
r
o
b
o
t
s
y
s
tem
is
p
r
o
p
o
s
ed
to
s
u
p
p
o
r
t
eld
er
ly
ca
r
eg
iv
e
r
s
in
th
e
ex
ec
u
tio
n
o
f
d
aily
ac
tiv
ities
.
I
n
[
4
3
]
,
h
ete
r
o
g
en
e
o
u
s
m
u
lti
-
r
o
b
o
t
s
y
s
tem
,
f
o
r
u
s
e
in
au
to
m
ate
d
h
o
m
e
en
v
ir
o
n
m
en
ts
,
is
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
7
0
8
I
n
t J E
lec
&
C
o
m
p
E
n
g
,
Vo
l.
15
,
No
.
5
,
Octo
b
e
r
20
25
:
4
5
3
1
-
4
5
4
1
4536
d
esig
n
ed
to
p
r
o
p
o
s
e
em
o
tio
n
a
l
co
ac
h
in
g
ac
tiv
ities
in
o
r
d
e
r
to
h
elp
eld
er
ly
p
eo
p
le
in
th
eir
d
aily
life
.
B
y
th
e
s
am
e
way
,
also
th
e
R
o
b
W
ell
s
y
s
tem
p
r
esen
ted
in
[
4
4
]
,
in
ter
a
cts
with
th
e
u
s
er
a
n
d
f
o
cu
s
es
o
n
m
o
o
d
p
r
ed
ictio
n
an
d
co
ac
h
in
g
,
u
s
in
g
ar
tific
ial
in
tellig
en
ce
s
p
ec
if
ically
m
ac
h
in
e
lear
n
in
g
.
Fo
r
h
o
m
e
ca
r
e,
C
an
to
n
e
et
a
l.
[
4
5
]
s
u
g
g
ests
a
s
y
s
tem
co
m
p
o
s
ed
o
f
a
s
tatio
n
ar
y
h
u
m
an
o
id
r
o
b
o
t,
eld
er
ly
p
eo
p
le,
m
e
d
ical
s
t
af
f
an
d
ca
r
eg
iv
e
r
s
,
o
r
ien
ted
to
th
e
p
er
m
a
n
en
t
m
o
n
ito
r
in
g
o
f
th
e
p
h
y
s
ical
an
d
e
m
o
tio
n
al
well
-
b
ein
g
o
f
th
e
el
d
er
ly
in
th
eir
h
o
m
es,
wh
er
e
a
m
ac
h
i
n
e
lear
n
in
g
m
o
d
el
is
u
s
ed
to
p
r
e
d
ict
th
e
s
tate
o
f
h
ea
lth
.
I
n
[
4
6
]
,
Ma
r
v
in
i
s
p
r
esen
ted
,
it
is
a
r
o
b
o
tic
ass
is
tan
ce
p
latf
o
r
m
th
at
allo
ws
m
o
n
ito
r
in
g
eld
er
l
y
p
eo
p
le
o
r
p
e
o
p
le
with
r
ed
u
ce
d
m
o
b
ilit
y
,
with
r
em
o
te
co
n
n
ec
tiv
ity
an
d
ass
is
tan
ce
at
n
ig
h
t,
wh
ich
u
s
es
a
lig
h
tweig
h
t
d
ee
p
lea
r
n
in
g
s
o
lu
tio
n
f
o
r
v
is
u
al
p
er
ce
p
tio
n
an
d
v
o
ice
co
n
tr
o
l
th
at
r
u
n
s
o
n
th
e
r
o
b
o
t
h
ar
d
war
e.
I
n
[
2
6
]
,
a
s
o
cial
r
o
b
o
tic
s
y
s
tem
f
o
r
p
er
f
o
r
m
in
g
h
o
m
e
ca
r
e
ass
is
tan
ce
task
s
f
o
r
p
atien
ts
with
m
ild
co
g
n
iti
v
e
im
p
air
m
en
t
in
a
p
e
r
s
o
n
al
ized
an
d
ad
ap
tiv
e
m
an
n
er
u
s
in
g
a
s
er
v
ice
-
o
r
ie
n
ted
ap
p
r
o
ac
h
,
ta
k
in
g
in
to
ac
co
u
n
t
b
o
th
u
s
er
ch
a
r
ac
ter
i
s
tics
an
d
d
y
n
am
ic
en
v
ir
o
n
m
en
tal
co
n
d
itio
n
s
,
is
p
r
esen
ted
.
T
o
s
tim
u
late
r
o
b
o
t
-
m
ed
iated
s
o
cial
in
ter
ac
tio
n
am
o
n
g
o
ld
er
ad
u
lts
b
y
au
to
m
atica
lly
m
ea
s
u
r
in
g
s
o
cial
an
d
ac
tiv
ity
p
a
r
ticip
atio
n
f
r
o
m
v
a
r
io
u
s
s
en
s
o
r
y
m
o
d
alities
,
R
o
-
T
r
i
[
4
7
]
an
d
SA
R
-
C
o
n
n
ec
t
[
4
8
]
ar
e
d
esig
n
ed
.
T
h
in
k
in
g
ab
o
u
t
p
e
o
p
le
with
Par
k
in
s
o
n
'
s
d
is
ea
s
e,
a
r
o
b
o
tic
s
o
cial
ass
is
tan
ce
p
latf
o
r
m
is
cr
ea
ted
with
two
cu
s
to
m
-
m
ad
e
m
o
b
ile
d
esk
to
p
r
o
b
o
ts
th
at
en
g
a
g
e
u
s
er
s
in
co
g
n
itiv
e
an
d
m
o
to
r
task
s
s
im
u
ltan
eo
u
s
ly
[
4
9
]
.
I
t
is
p
o
s
s
ib
le
to
g
en
er
ate
in
n
o
v
ativ
e
r
o
b
o
tic
ass
is
tan
t
s
th
at
allo
w
eld
er
ly
p
eo
p
le
to
b
e
au
to
n
o
m
o
u
s
,
at
least
in
s
id
e
th
eir
h
o
m
es.
T
h
e
u
s
e
o
f
th
ese
ass
is
tan
ts
ca
n
im
p
r
o
v
e
th
e
q
u
ality
o
f
life
a
n
d
g
iv
e
p
ea
ce
o
f
m
in
d
to
th
e
r
elativ
es
o
f
ea
ch
eld
er
ly
p
er
s
o
n
,
th
an
k
s
to
th
e
p
er
m
an
en
t
m
o
n
ito
r
in
g
f
o
r
th
e
co
llectiv
e
welf
ar
e,
s
ee
k
in
g
to
im
p
r
o
v
e
s
em
a
n
tic
n
av
ig
atio
n
with
ar
tific
ial
in
tellig
en
ce
an
d
co
m
p
u
ter
v
is
io
n
.
3
.
3
.
Child
re
n
Dev
elo
p
m
en
ts
th
at
b
en
ef
it
ch
i
ld
p
o
p
u
latio
n
a
r
e
g
r
o
u
p
e
d
ar
o
u
n
d
f
o
u
r
th
em
es:
ch
ild
r
e
n
wit
h
au
tis
m
,
h
ea
r
in
g
im
p
air
m
en
t,
ce
r
eb
r
al
p
alsy
an
d
s
p
ee
c
h
d
if
f
icu
lties
.
Sin
ce
th
e
late
1
9
9
0
s
,
u
s
e
o
f
r
o
b
o
tic
tech
n
o
lo
g
y
to
h
elp
ch
ild
r
en
with
au
tis
m
s
p
ec
tr
u
m
d
is
o
r
d
er
(
ASD)
h
as
b
ee
n
s
tu
d
ied
[
2
9
]
.
Fo
r
ch
ild
r
e
n
with
ASD
in
[
5
0
]
co
m
b
in
ed
h
u
m
an
o
id
r
o
b
o
ts
with
a
m
o
b
ile
ap
p
licatio
n
to
en
h
an
ce
t
h
eir
e
d
u
ca
tio
n
al
ex
p
e
r
i
en
ce
s
.
Als
o
in
[
5
1
]
th
ey
d
ev
el
o
p
ed
a
s
o
f
twar
e
p
latf
o
r
m
an
d
m
o
b
ile
ap
p
licati
o
n
to
s
u
p
p
o
r
t
in
tr
o
d
u
ctio
n
o
f
r
o
b
o
ts
in
au
tis
m
-
s
p
ec
if
ic
class
r
o
o
m
s
.
I
n
[
5
2
]
,
im
p
ac
ts
o
f
a
p
p
ea
r
a
n
ce
o
f
a
s
o
cial
ass
is
tiv
e
r
o
b
o
t
ar
e
ev
al
u
ated
f
in
d
in
g
th
at
h
u
m
an
o
id
s
ac
h
iev
e
h
ig
h
e
r
at
ten
tio
n
s
p
an
o
f
ch
ild
r
e
n
with
ASD
an
d
r
ec
o
g
n
ize
s
im
p
le
em
o
tio
n
s
,
s
u
ch
as
h
ap
p
in
ess
an
d
s
ad
n
ess
.
R
o
b
o
ti
c
tu
to
r
s
f
o
r
lo
n
g
-
ter
m
(
m
u
lti
-
s
ess
io
n
)
th
er
ap
eu
tic
in
ter
ac
tio
n
s
wer
e
d
esig
n
ed
in
[
5
3
]
.
An
a
u
to
n
o
m
o
u
s
m
o
b
ile
s
o
cial
ass
i
s
tan
ce
r
o
b
o
t
f
o
r
a
u
tis
m
s
p
ec
tr
u
m
d
is
o
r
d
er
with
f
a
cial
ex
p
r
ess
io
n
an
d
em
o
tio
n
r
ec
o
g
n
itio
n
alg
o
r
ith
m
s
is
cr
ea
ted
i
n
[
5
4
]
.
I
t
h
as
b
ee
n
e
v
id
en
ce
d
th
at
th
e
u
s
e
o
f
a
s
m
all
h
u
m
an
o
i
d
r
o
b
o
t
to
s
u
p
p
o
r
t
th
er
a
p
y
f
o
r
ch
ild
r
en
with
ASD
an
d
in
tellectu
al
d
is
ab
ilit
y
,
wh
er
e
ch
ild
im
itates
th
e
r
o
b
o
t,
ac
h
iev
es
an
in
cr
ea
s
e
in
g
r
o
s
s
m
o
to
r
im
itatio
n
s
k
ills
[
5
5
]
.
I
n
th
is
s
ettin
g
a
h
u
m
an
o
id
r
o
b
o
t
is
a
m
u
ltid
is
cip
lin
ar
y
ch
allen
g
e
[
2
9
]
,
h
o
wev
er
,
th
er
e
ar
e
f
in
d
in
g
s
th
at
s
u
g
g
est
th
at
c
h
ild
r
en
with
ASD
m
ay
b
en
ef
it
f
r
o
m
th
is
r
o
b
o
t
-
ass
is
ted
th
er
ap
y
ap
p
r
o
ac
h
.
T
h
in
k
in
g
ab
o
u
t
ch
ild
r
en
with
s
p
ee
ch
d
if
f
icu
lties
,
th
e
ef
f
ec
tiv
en
ess
o
f
a
cy
b
er
-
p
h
y
s
ical
r
o
b
o
tic
s
y
s
tem
to
h
elp
s
p
ee
ch
th
e
r
ap
i
s
ts
(
s
p
ee
ch
th
er
ap
is
ts
an
d
/o
r
s
p
ee
ch
th
er
a
p
is
ts
)
was
r
ep
o
r
ted
an
d
m
ea
s
u
r
ed
in
[
5
6
]
,
f
in
d
in
g
a
th
er
ap
e
u
tic
ef
f
ec
tiv
en
ess
with
s
p
ee
ch
im
p
r
o
v
em
en
ts
o
f
u
p
t
o
1
1
.
3
%,
wh
en
th
e
tech
n
o
lo
g
y
is
u
s
ed
with
o
u
t
tim
e
co
n
s
tr
ain
ts
.
Als
o
in
[
5
7
]
,
b
y
m
ea
n
s
o
f
a
s
o
cial
r
o
b
o
tic
s
y
s
tem
f
o
r
r
e
h
ab
i
litatio
n
o
f
p
ed
iatr
ic
p
atien
ts
with
ce
r
eb
r
al
p
alsy
,
it
is
p
r
o
p
o
s
ed
to
r
ein
f
o
r
ce
p
atie
n
t
m
o
tiv
atio
n
an
d
d
y
n
am
is
m
o
f
th
er
ap
ies,
an
d
i
n
tu
r
n
a
u
to
m
ate
f
ee
d
b
ac
k
t
o
th
e
p
atien
t.
T
h
e
s
tu
d
y
in
[
5
8
]
p
r
esen
ts
an
ass
is
tiv
e
r
o
b
o
tic
s
y
s
tem
with
em
o
tio
n
r
ec
o
g
n
itio
n
ca
p
ab
ilit
ies
f
o
r
h
ea
r
in
g
im
p
air
e
d
ch
ild
r
en
.
I
t
is
d
ev
elo
p
ed
f
o
r
a
u
d
io
m
etr
y
test
in
g
an
d
r
eh
ab
ilit
atio
n
o
f
ch
ild
r
en
in
a
clin
ical
s
ettin
g
,
u
s
in
g
m
ac
h
i
n
e
lear
n
in
g
tech
n
i
q
u
es
an
d
d
e
ep
lear
n
in
g
m
o
d
els
f
o
r
class
if
icatio
n
o
f
test
co
n
f
i
g
u
r
atio
n
s
an
d
f
o
r
class
if
icatio
n
o
f
em
o
tio
n
s
(
p
leasan
t,
n
e
u
tr
al,
u
n
p
leasan
t)
o
f
ch
ild
r
en
,
u
s
in
g
p
h
y
s
io
lo
g
ical
s
ig
n
als r
ec
o
r
d
e
d
u
s
in
g
a
wr
is
tb
an
d
.
I
t
is
co
n
clu
d
ed
th
at
p
r
o
g
r
ess
h
as
b
ee
n
m
ad
e
in
th
e
p
o
ten
tia
l
o
f
r
o
b
o
ts
an
d
AI
i
n
g
en
er
al
to
s
u
p
p
o
r
t
ch
ild
r
en
,
wh
e
r
e
s
o
cial
ass
is
t
i
v
e
r
o
b
o
tics
(
SAR
)
in
p
ar
ticu
lar
h
as
m
ad
e
in
r
o
a
d
s
in
to
th
e
em
er
g
in
g
f
ield
s
o
f
r
o
b
o
tic
ap
p
licatio
n
.
SAR
s
y
s
te
m
s
ar
e
g
ea
r
ed
to
ad
d
r
ess
th
e
n
ee
d
s
o
f
ch
ild
r
en
with
aty
p
ical
co
g
n
itiv
e
-
af
f
ec
tiv
e
an
d
s
o
cio
em
o
tio
n
al
n
ee
d
s
,
s
u
p
p
o
r
tin
g
lear
n
in
g
,
th
e
r
ap
y
,
s
o
cial
in
ter
ac
tio
n
,
an
d
ea
r
ly
d
ia
g
n
o
s
is
.
T
h
e
n
ee
d
f
o
r
f
u
tu
r
e
r
esear
ch
is
id
en
tifie
d
i
n
th
e
d
ev
elo
p
m
en
t
o
f
p
er
s
o
n
alize
d
au
to
n
o
m
o
u
s
SAR
s
y
s
t
em
s
with
em
o
tio
n
r
ec
o
g
n
itio
n
tailo
r
ed
to
th
o
s
e
w
h
o
p
r
e
f
er
o
b
ject
-
b
ased
in
ter
ac
t
io
n
s
o
v
er
h
u
m
an
in
ter
ac
tio
n
.
3
.
4
.
T
hera
py
a
nd
re
ha
bil
it
a
t
io
n
Fo
r
t
h
er
ap
y
a
n
d
r
e
h
ab
ilit
ati
o
n
p
u
r
p
o
s
es
,
t
h
e
d
e
v
el
o
p
m
e
n
ts
i
d
en
t
if
ie
d
in
t
h
e
l
ite
r
a
tu
r
e
cl
u
s
te
r
ed
a
r
o
u
n
d
s
ix
o
p
ti
o
n
s
:
l
o
w
er
e
x
t
r
e
m
iti
es,
s
tr
o
k
e
,
c
o
g
n
iti
v
e
th
er
a
p
y
,
ca
r
d
ia
c
t
h
e
r
ap
y
,
u
p
p
e
r
ex
tr
em
itie
s
,
a
n
d
o
b
esit
y
.
W
it
h
lo
w
er
e
x
tr
em
it
y
r
e
h
a
b
il
itat
i
o
n
i
n
m
i
n
d
,
s
t
u
d
y
[
5
9
]
p
r
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t
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r
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b
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[
6
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.
S
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k
i
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p
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ie
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ts
wi
th
s
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r
b
al
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ce
w
h
il
e
s
ta
n
d
i
n
g
in
[
6
1
]
,
a
v
er
tica
l
r
o
b
o
tic
t
r
a
in
e
r
was
d
esi
g
n
e
d
t
h
at
g
e
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er
ates
m
o
v
em
en
ts
i
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k
a
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es
ass
is
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n
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e
in
t
h
e
p
e
l
v
is
.
F
o
r
th
e
n
e
u
r
a
l
r
e
h
a
b
i
lit
at
io
n
o
f
g
ait
,
s
o
c
ial
in
t
er
ac
t
io
n
b
etw
ee
n
h
u
m
a
n
s
a
n
d
r
o
b
o
ts
t
h
at
m
o
n
it
o
r
th
e
ev
o
l
u
tio
n
at
t
h
e
p
h
y
s
i
o
l
o
g
ic
al
l
e
v
el
an
d
p
r
o
m
o
t
e
s
o
ci
al
in
t
er
ac
t
io
n
wi
th
d
is
t
an
ce
d
u
r
i
n
g
th
er
a
p
y
s
ess
io
n
s
h
as
b
ee
n
p
r
o
p
o
s
ed
[
6
2
]
.
I
n
p
o
s
t
-
s
tr
o
k
e
r
e
h
ab
ilit
atio
n
it
is
p
o
s
s
ib
le
to
u
s
e
r
o
b
o
tic
r
eh
ab
ilit
atio
n
s
y
s
tem
s
f
o
r
i
n
d
iv
id
u
al
tr
ain
in
g
,
s
u
ch
as
th
e
o
n
e
d
esig
n
ed
b
y
[
6
3
]
th
at
allo
ws
g
iv
i
n
g
im
p
o
r
tan
t
r
ea
l
-
tim
e
in
f
o
r
m
atio
n
ab
o
u
t
an
d
to
p
atien
ts
.
Als
o
b
y
m
ea
n
s
o
f
w
ea
r
ab
le
ass
is
t
iv
e
tech
n
o
lo
g
y
i
t
is
p
o
s
s
ib
le
to
u
s
e
an
ex
ter
n
al
h
ea
d
s
et
to
g
eth
er
with
a
r
o
b
o
tic
ar
m
f
o
r
r
eh
a
b
ilit
atio
n
task
s
,
in
[
6
4
]
,
it
is
ap
p
li
ed
f
o
r
n
eu
r
o
lo
g
ically
d
is
ab
led
p
atien
ts
.
I
n
[
2
3
]
,
a
r
o
b
o
t
is
im
p
lem
en
ted
u
s
in
g
th
e
th
er
ap
is
t's
ex
p
er
ien
ce
ad
d
in
g
to
th
e
d
ata
it
co
llects
to
ac
h
iev
e
r
ap
id
au
to
n
o
m
o
u
s
lear
n
in
g
in
s
itu
,
o
f
th
e
p
o
licies
o
f
ea
c
h
p
atien
t
r
eq
u
ir
i
n
g
c
o
g
n
itiv
e
th
er
a
p
y
.
I
n
[
6
5
]
,
a
T
I
AGo
r
o
b
o
t
was
p
r
o
g
r
am
m
ed
with
b
ac
k
-
ch
a
n
n
elin
g
b
eh
av
i
o
r
g
e
n
er
ated
b
y
i
n
ter
p
r
etin
g
b
o
t
h
v
e
r
b
al
an
d
n
o
n
v
er
b
al
cu
es
f
r
o
m
p
e
o
p
le
with
d
em
e
n
tia
wh
en
th
ey
p
er
f
o
r
m
co
g
n
itiv
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tr
ain
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g
ex
e
r
cises
.
Usi
n
g
th
e
s
o
cial
r
o
b
o
t
p
r
esen
ted
in
[
6
6
]
,
th
e
aim
is
to
m
o
tiv
ate
th
e
p
atien
t
r
eq
u
ir
in
g
ca
r
d
iac
r
e
h
ab
ilit
atio
n
to
f
o
llo
w
th
e
m
ed
ical
in
d
icatio
n
s
th
at
will
allo
w
a
p
r
o
m
p
t
an
d
f
u
ll
r
ec
o
v
e
r
y
.
Fo
r
r
eh
ab
ilit
atio
n
o
f
elb
o
w
ten
d
in
o
p
ath
ies,
a
r
o
b
o
tic
ass
is
tan
ce
s
y
s
tem
with
7
d
eg
r
ee
s
o
f
f
r
ee
d
o
m
is
p
r
esen
ted
,
w
h
ich
ad
ap
ts
to
th
e
m
ea
s
u
r
em
e
n
ts
o
f
ea
ch
u
s
er
an
d
ca
n
b
e
u
s
ed
in
b
o
th
ar
m
s
[
2
2
]
.
Similar
ly
,
u
s
e
o
f
ed
u
ca
tio
n
al
s
o
cial
r
o
b
o
ts
ca
n
b
e
u
s
ed
in
th
e
th
er
ap
eu
tic
s
ettin
g
to
h
elp
p
atien
ts
im
p
r
o
v
e
th
eir
life
s
ty
le
a
n
d
ac
q
u
ir
e
s
k
ills
f
o
r
th
e
m
a
n
ag
em
en
t
o
f
o
b
esit
y
b
y
ass
is
tin
g
th
e
th
er
ap
is
t
[
6
7
]
.
I
n
ad
d
itio
n
to
th
e
ab
o
v
e,
th
er
e
is
a
clea
r
p
o
s
s
ib
ilit
y
o
f
u
s
in
g
r
eh
ab
ilit
atio
n
r
o
b
o
ts
th
at
au
to
n
o
m
o
u
s
ly
co
llect
an
d
an
al
y
ze
th
e
i
n
f
o
r
m
atio
n
o
b
tain
ed
d
u
r
in
g
th
e
r
eh
ab
ilit
atio
n
o
f
ea
ch
p
atie
n
t
f
o
r
a
co
n
tin
u
o
u
s
ev
alu
atio
n
th
at
ca
n
b
e
u
s
ed
b
o
th
at
h
o
m
e
an
d
in
h
o
s
p
itals
;
th
e
u
s
e
o
f
alg
o
r
ith
m
s
s
u
c
h
as
B
ay
esian
class
if
ier
s
wo
u
ld
allo
w
th
e
r
o
b
o
t
to
co
n
d
itio
n
its
elf
ac
co
r
d
in
g
t
o
th
e
ex
p
er
ien
ce
s
with
ea
ch
p
atien
t
to
g
en
er
ate
th
e
r
ap
y
r
ec
o
m
m
en
d
atio
n
s
.
At
t
h
e
s
am
e
tim
e,
th
e
d
esig
n
o
f
r
o
b
o
ts
,
f
o
cu
s
ed
o
n
r
eh
ab
ilit
atio
n
s
tak
e
h
o
ld
er
s
,
f
ac
ilit
ates
wo
r
k
f
o
c
u
s
ed
o
n
a
r
tific
ial
in
tellig
en
ce
-
b
ased
d
ev
elo
p
m
e
n
t
to
s
tr
ea
m
lin
e
m
ac
h
in
e
lear
n
i
n
g
p
r
o
ce
s
s
es
u
s
in
g
h
u
m
an
ex
p
er
ien
ce
an
d
h
u
m
a
n
-
r
o
b
o
t
in
ter
ac
tio
n
,
wh
ic
h
co
u
ld
elim
in
ate
th
e
r
eq
u
ir
em
e
n
t
to
d
esig
n
co
m
p
lex
r
ewa
r
d
f
u
n
ctio
n
s
an
d
av
o
i
d
u
n
wan
ted
o
r
p
lan
n
ed
o
u
tp
u
ts
.
3
.
5
.
H
o
s
pita
l c
a
re
I
n
th
e
r
ev
iew
co
n
d
u
cted
,
it
wa
s
f
o
u
n
d
th
at
d
e
v
elo
p
m
e
n
ts
f
o
c
u
s
ed
o
n
s
u
p
p
o
r
tin
g
h
o
s
p
ital
task
s
ar
e
in
tu
r
n
ca
teg
o
r
ized
in
to
th
r
ee
ca
teg
o
r
ies
ac
co
r
d
in
g
to
ass
is
tan
ce
b
en
ef
iciar
y
,
w
h
ich
ca
n
b
e
n
u
r
s
es,
d
o
cto
r
s
o
r
v
is
ito
r
s
.
T
o
s
u
p
p
o
r
t
n
u
r
s
es,
s
tu
d
y
[
2
]
d
esig
n
s
a
m
o
b
il
e
r
o
b
o
tic
ass
is
tan
t
th
at
in
clu
d
es
a
cu
s
to
m
ized
o
m
n
id
ir
ec
tio
n
al
p
latf
o
r
m
,
a
r
o
b
o
tic
ar
m
,
v
ital
s
ig
n
s
en
s
o
r
s
,
an
d
a
tab
let
to
in
ter
ac
t
with
e
ac
h
p
atien
t.
I
n
[
6
8
]
,
an
ap
p
with
a
n
a
u
to
n
o
m
o
u
s
s
e
r
v
ice
r
o
b
o
t
is
u
s
ed
to
r
e
d
u
ce
d
is
tan
ce
s
tr
av
eled
an
d
s
er
v
ice
a
ctiv
ities
p
er
f
o
r
m
e
d
b
y
n
u
r
s
es.
I
n
[
6
9
]
a
m
u
ltit
ask
in
g
in
tellig
en
t
r
o
b
o
tic
ass
is
tan
t
co
n
s
is
t
in
g
o
f
a
m
a
n
i
p
u
lato
r
ar
m
o
n
a
n
o
m
n
id
ir
ec
tio
n
al
m
o
b
ile
b
ase
a
s
s
is
ts
n
u
r
s
es
with
r
o
u
tin
e
task
s
o
f
s
ea
r
ch
in
g
an
d
r
etr
iev
in
g
o
b
jects.
Fin
ally
,
it
is
p
o
s
s
ib
le
to
im
p
lem
e
n
t
b
asic
n
u
r
s
in
g
task
s
(
tak
in
g
o
b
jects,
m
ea
s
u
r
in
g
tem
p
e
r
atu
r
e,
an
d
p
r
o
v
id
in
g
p
atien
t
s
u
p
p
o
r
t)
f
o
r
h
o
s
p
italized
p
eo
p
le
b
y
m
ea
n
s
o
f
an
ass
is
tiv
e
r
o
b
o
t
c
o
n
n
ec
te
d
with
a
ta
b
let
co
n
tain
in
g
th
e
in
ter
f
ac
e,
as sh
o
wn
in
[
7
0
]
.
Fo
r
m
ed
ical
s
u
p
p
o
r
t
in
s
u
r
g
er
ies,
h
in
o
to
r
i
™
s
u
r
g
ical
r
o
b
o
tic
s
y
s
tem
was
f
o
u
n
d
t
o
p
er
f
o
r
m
m
in
im
ally
in
v
asiv
e
s
u
r
g
er
ies
[
7
1
]
;
also
a
r
o
b
o
tic
s
u
r
g
ic
al
in
s
tr
u
m
en
tatio
n
b
ased
o
n
r
ea
l
-
tim
e
3
D
g
az
e
tr
ac
k
in
g
t
h
at
allo
ws
h
a
n
d
s
-
f
r
e
e
h
u
m
a
n
-
r
o
b
o
t
i
n
ter
ac
tio
n
[
7
2
]
.
On
th
e
o
th
er
h
an
d
,
wh
e
n
a
p
h
y
s
ician
m
u
s
t
ca
r
e
f
o
r
s
ev
er
al
p
atien
ts
,
a
r
o
b
o
tic
s
y
s
tem
,
with
in
teg
r
atio
n
o
f
AI
-
b
ased
f
u
n
ctio
n
s
,
is
u
s
ed
to
ass
e
s
s
an
d
m
an
ag
e
p
atien
ts
an
d
ad
ap
t
r
o
b
o
t
b
eh
a
v
io
r
s
to
th
e
s
p
ec
if
ic
n
ee
d
s
an
d
in
ter
ac
tio
n
ca
p
ab
ilit
ies
o
f
p
atien
ts
[
3
]
.
T
o
r
e
d
u
c
e
th
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[
7
3
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7
4
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.
Ass
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[
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.
4.
CO
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Ass
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1
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