NAOTherapist is a cognitive robotic architecture whose main goal is to develop non-contact upperlimb rehabilitation sessions autonomously with a social robot for patients with physical impairments. In order to achieve a fluent interaction and an active engagement with the patients, the system should be able to adapt by itself in accordance with the perceived environment. In this paper, we describe the interaction mechanisms that are necessary to supervise and help the patient to carry out the prescribed exercises correctly. We also provide an evaluation focused on the child-robot interaction of the robotic platform with a large number of schoolchildren and the experience of a first contact with three pediatric rehabilitation patients. The results presented are obtained through questionnaires, video analysis and system logs, and have proven to be consistent with the hypotheses proposed in this work. J. C. Pulido (first author) and J. C. González (second author) contributed equally to this work.

Comprehensive Geria.tcic Assessment ( CGA) is an integrated clinical process to evaluate the frailty of elderly persons in order to create therapy plans that improve their quality of life. For robotizing these tests, we are designing and developing CLA RC, a mobile robot able to help the physician to capture and manage data during the CGA procedures, mainly by autonomously conducting a set of predefined evaluation tests. Built around a shared internal representation of the outer world, the architecture is composed of softwa,r e modules able to plan and generate a stream of actions, t.o execute actions emanated from the representation or to update this by including/removing items at different abstraction levels. Percepts, actions and intentfons ooming from all software modules are grounded within th.is unique representation. This allows the robot to react to unexpected events and to modify the course of action accord ing to the dynamics of a scenario built around the interaction with the patient. The paper describes the architecture of the system as well as the preliminary user studies and evaluation to gather new user requirements.

This manuscript focuses on the description of a novel cognitive architecture called NAOTherapist, which provides a social robot with enough autonomy to carry out a non contact upper limb rehabilitation therapy for patients with physical impairments, such as cerebral palsy and obstetric brachia} plexus palsy. NAOTherapist comprises three levels of Automated Planning. In the high level planning, the physician establishes the parameters of the therapy such as the scheduling of the sessions, the therapeutic objectives to be achieved and certain constraints based on the medical records of the patient. This information is used to establish a customized therapy plan. The objective of the medium level planning is to execute and monitor every previous planned session with the humanoid robot. Finally, the low level planning involves the execution of path planning actions by the robot to carry out different low level instructions such as performing poses. The technical evaluation shows an accurate definition and monitoring of the therapies and sessions and a fluent interaction with the robot. This automated process is expected to save time for the professionals while guaranteeing the medical criteria.

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