Search Results (51)

Chronic illness negatively affects education due to school absence. Telepresence robots can be a valuable educational tool for reducing school absence among students with chronic illnesses. This study aimed to investigate the reflections of Scandinavian community care stakeholders on telepresence robots as a tool to reduce school absence for students with chronic illnesses in the education system. We conducted fifteen semi-structured interviews and four focus group interviews with 25 community care stakeholders. Our study used the interpretive description methodology and Edgar Schein’s organizational culture as the theoretical lens. The analysis identified three categorical themes and six subthemes: The action of integrating telepresence robots into the education system, the telepresence robots as a pathway to educational opportunities, and the adoption and management of telepresence robots. Our findings showed that stakeholders had to motivate and communicate the purpose of telepresence robots to reduce skepticism among multiple people in the school environment. Our study provides insights into the barriers and challenges to integrating and adopting telepresence robots in the Scandinavian education systems, as well as how stakeholders should communicate with and support the education system during their implementation. Full article

Facial expression recognition (FER) for assistive and telepresence robotics remains challenging under resource-constrained conditions because landmark normalization is often unstable, many datasets have limited variability, and full facial landmark sets introduce redundancy. This paper proposes a lightweight, privacy-preserving FER framework for assistive healthcare robotics based on geometric facial landmarks rather than raw RGB images. The objective is to improve recognition robustness and deployment suitability on low-power edge devices through two complementary contributions: a revised nose-centered landmark normalization method and an optimized Facial Feature Mapping, FFM-L03. The proposed normalization replaces the expression-sensitive upper-lip reference with a geometrically stable nose-center anchor, while FFM-L03 combines FACS-guided anatomical priors with ANOVA F-score, LASSO, PCA, and t-SNE/UMAP to retain 60 informative landmarks. In addition, a heterogeneous Freepik dataset was constructed to increase variability in lighting, background, resolution, and subject appearance. Experimental evaluation across 15 landmark groups, four datasets, and four classifiers shows that the proposed method consistently improves performance over prior landmark configurations, achieving gains of up to 22.4 percentage points over the Ciraolo baseline and 22.1 percentage points over the full-landmark baseline in accuracy, precision, recall, and F1-score, while maintaining lightweight operation. These results demonstrate that principled normalization and targeted landmark selection can substantially improve FER for real-time, privacy-aware assistive robotic systems. Full article

Background: Embodied artificial intelligence (EAI), integrating advanced AI algorithms with robotic platforms capable of sensing, planning, and acting, has emerged as a transformative approach in healthcare delivery. This systematic review synthesizes evidence on robotic perception, decision-making, and clinical impact of EAI systems in healthcare settings. Methods: Following PRISMA 2020 guidelines, we searched PubMed/MEDLINE, Scopus, Web of Science, IEEE Xplore, and ACM Digital Library for studies published between January 2020 and August 2025. Seventeen studies met eligibility criteria, spanning four domains: surgical assistance, rehabilitation, hospital logistics, and telepresence. The protocol was prospectively registered in PROSPERO under ID: CRD420261285936. Results: Perception architectures predominantly employed multimodal sensor fusion, combining vision with force/torque, depth, and physiological signals. Decision-making approaches included imitation learning, reinforcement learning, and hybrid symbolic-neural control. Key findings indicate that surgical robots demonstrated consistency advantages in specific experimental tasks, rehabilitation robotics produced statistically significant improvements (SMD = 0.29) across 396 randomized controlled trials, and both logistics and telepresence systems achieved very high operational success levels. Nonetheless, important barriers remain, including limited external validation, small sample sizes, and insufficient cost-effectiveness data. Conclusions: Future research should prioritize standardized benchmarks, prospective multicenter trials, and patient-centered outcome measures to facilitate clinical translation of EAI technologies. Full article

This paper presents an immersive teleoperation framework for service robots that combines real-time 3D human pose estimation with a Virtual Reality (VR) interface to support intuitive, natural robot control. The operator is tracked using MediaPipe for 2D landmark detection and an Intel RealSense D455 RGB-D (Red-Green-Blue plus Depth) camera for depth acquisition, enabling 3D reconstruction of key joints. Joint angles are computed using efficient vector operations and mapped to the kinematic constraints of an anthropomorphic arm on the CHARMIE service robot. A VR-based telepresence interface provides stereoscopic video and head-motion-based view control to improve situational awareness during manipulation tasks. Experiments in real-world object grasping demonstrate reliable arm teleoperation and effective telepresence; however, vision-only estimation remains limited for axial rotations (e.g., elbow and wrist yaw), particularly under occlusions and unfavorable viewpoints. The proposed system provides a practical pathway toward low-cost, sensor-driven, immersive human–robot interaction for service robotics in dynamic environments. Full article

Remote support in general is a method that saves time and resources. A relatively new and promising technology for remote support that combines video conferencing and physical mobility is that of telepresence systems. The remote assistant, that is, the user of said technology, gains both presence and maneuverability in the distant location. As telepresence systems vary greatly in their design, the question arises as to whether the design influences the perception of the remote assistant. Unlike pure design studies, the present work focuses not only on the design and evaluation of the telepresence system itself, but especially on its perception during a collaborative task involving a human partner visible through the telepresence system. This paper presents two studies in which participants performed an assembly task under the guidance of a remote assistant. The remote assistant was visible through differently designed telepresence systems that were evaluated in terms of social perception and trustworthiness. Four telepresence systems were evaluated in study 1 (N = 32) and five different systems in study 2 (N = 34). The results indicated that similarly designed systems showed only marginal differences, but a system that was designed to transport additional loads and was therefore less agile and rather bulky was rated significantly less positively regarding competence than the other systems. It is particularly noteworthy that it was not the height of the communication medium that was decisive for the rating, but above all, the agility and mobility of the system. These results provide evidence that the design of a telepresence system can influence the social perception of the remote assistant and therefore has implications for the acceptance and use of telepresence systems. Full article

Telepresence robots can enhance social connection and support person-centered care in long-term care (LTC) homes. This study evaluates their impact in facilitating virtual visits between family caregivers and older residents in Canadian LTC homes. Telepresence robots were placed in residents’ rooms, allowing virtual visits at mutual convenience. A total of 18 residents and 17 family caregivers participated. Quantitative assessments included the Zarit Burden Interview, the De Jong Gierveld Loneliness Scale, and the Quality of Life in Alzheimer’s Disease scale, while qualitative data were collected through interviews, field notes, and observations. Repeated ANOVA showed that using telepresence robots significantly reduced caregiver burden (p = 0.008), improved residents’ quality of life (p = 0.028), and decreased resident loneliness (p = 0.038). Older caregivers experienced the greatest burden reduction, with scores dropping from a mean of 25.0 at baseline to 16.1 at two months. Qualitative findings provided further context, revealing that residents felt more connected, close, and engaged, while families found the robots facilitated continuity of care, complemented in-person visits, reduced stress and guilt, and provided reassurance. These findings suggest that telepresence robots can enhance the well-being of both residents and caregivers in LTC homes, though future research should explore their long-term impact and technological limitations. Full article

Loneliness has a direct impact on mental and physical health. This is especially relevant to older adults. In prior studies, socially isolated older adults wanted technology that would help them feel more physically present even across distances, such as telepresence robots. However, how useful this technology can be directly depends on whether people accept it over the long term. In this paper, we describe a case study in which we introduced telepresence robots into homes of older adults for seven months. We investigate how older adults’ progression through acceptance phases ebbed and flowed. We describe primary factors that affected speed of progression through acceptance phases: solving problems with technology, life situations (business vs. routines), and personality. We introduce example personas based on this case study. We also propose changes to the longitudinal technology-acceptance framework to take this more nuanced view into account. These outcomes will help future researchers and practitioners to better understand and influence longitudinal technology acceptance. Full article

The COVID-19 pandemic brought telepresence systems into the spotlight, yet manually controlling remote robots often proves ineffective for handling complex manipulation tasks. To tackle this issue, we present a machine learning-based assistive manipulation approach. This method identifies target objects and computes an inverse kinematic solution for grasping them. The system integrates the generated solution with the user’s arm movements across varying inverse kinematic (IK) fusion levels. Given the importance of maintaining a sense of body ownership over the remote robot, we examine how haptic feedback and assistive functions influence ownership perception and task performance. Our findings indicate that incorporating assistance and haptic feedback significantly enhances the control of the robotic arm in telepresence environments, leading to improved precision and shorter task completion times. This research underscores the advantages of assistive manipulation techniques and haptic feedback in advancing telepresence technology. Full article

This study investigates user experiences of interactions with two types of robots: Pepper, a social humanoid robot, and Double 3, a self-driving telepresence robot. Conducted in a controlled setting with a specific participant group, this research aims to understand how the design and functionality of these robots influence user perception, interaction patterns, and emotional responses. The findings reveal diverse participant reactions, highlighting the importance of adaptability, effective communication, autonomy, and perceived credibility in robot design. Participants showed mixed responses to human-like emotional displays and expressed a desire for robots capable of more nuanced and reliable behaviors. Trust in robots was influenced by their perceived functionality and reliability. Despite limitations in sample size, the study provides insights into the ethical and social considerations of integrating AI in public and professional spaces, offering guidance for enhancing user-centered designs and expanding applications for social and telepresence robots in society. Full article

Integrating telepresence robots with gamification opens up new directions in which higher-education governance could translate into higher levels of student engagement in the AI-driven digital era. Drawing on both constructivism and the self-determination theory (SDT), this study will review evidence on how these technologies enhance autonomy and motivation, boosting effective participation in diverse learning environments. The experiments were carried out across various subjects with socio-economically varied groups of students by deploying gamified learning modules on telepresence robots. Primary metrics under consideration involved participation rates, task completion times, and other qualitative feedback measures about impacts created by such technologies. Indeed, the participation rates of the robot group were 40% higher, task completion times were reduced by 30%, and module completion rates for the robot group were 30% improved. The students reported positive emotions and showed more engagement, with the low-income students showing an 80% engagement rate compared to 40% in the control group. The results from both robots and gamification show promising potential for reshaping traditional learning paradigms, especially for students from geographically distant and underserved areas. The study guides further research on applying advanced tools in higher-education governance to foster sustainable practices in the AI era. Full article

With the rapid development of the metaverse, designing effective interfaces in virtual and augmented environments presents significant challenges. Additionally, keeping real-time sensory data flowing from users to their virtual avatars in a seamless and accurate manner is one of the biggest challenges in this domain. To this end, this article investigates a telepresence suit as an interface for interaction within the metaverse and its virtual avatars, aiming to address the complexities of signal generation, conversion, and transmission in real-time telepresence systems. We model a telepresence suit framework that systematically generates state data and transmits it to end-points, which can be either robotic avatars or virtual representations within a metaverse environment. Through a hand movement study, we successfully minimized the volume of transmitted information, reducing traffic by over 50%, which directly decreased channel load and packet delivery delay. For instance, as channel load decreases from 0.8 to 0.4, packet delivery delay is reduced by approximately half. This optimization not only enhances system responsiveness but also improves accuracy, particularly by reducing delays and errors in high-priority signal paths, enabling more precise and reliable telepresence interactions in metaverse settings. Full article

As a result of a rapidly aging population and the increasing prevalence of dementia among older adults, technological solutions are increasingly being considered to facilitate caregiving. This research investigates the perspectives of 20 caregiving dyads on VGo, a telepresence social robot with features designed to support caregiving. Care recipients (CRs), aged 65 and older, diagnosed with Alzheimer’s disease and related dementias, along with their primary caregivers (CGs), evaluated the robot through an online interview study. The interviews integrated informative videos showcasing VGo’s features and functions. Insights from the interviews revealed diverse expectations, interests, and reservations. The majority of CGs and their CRs perceived the robot’s features as beneficial. In particular, the voice command capability was appreciated as an alternative to using smartphones and as a way to manage home appliances. The community feature, however, did not align well with many participants’ lifestyles, and participants had a number of suggestions to enhance the robot’s notification function. Based on the interview results, the study offers a set of design recommendations for telepresence social robots in home caregiving contexts. This investigation highlights the promise of social robots in caregiving contexts and underscores the need for further improvements to ensure they fit users’ needs. Full article

We envision a telepresence system that enhances remote work by facilitating both physical and immersive visual interactions between individuals. However, during robot teleoperation, communication often lacks realism, as users see the robot’s body rather than the remote individual. To address this, we propose a method for overlaying a digital human model onto a humanoid robot using XR visualization, enabling an immersive 3D telepresence experience. Our approach employs a learning-based method to estimate the 2D poses of the humanoid robot from head-worn stereo views, leveraging a newly collected dataset of full-body poses for humanoid robots. The stereo 2D poses and sparse inertial measurements from the remote operator are optimized to compute 3D poses over time. The digital human is localized from the perspective of a continuously moving observer, utilizing the estimated 3D pose of the humanoid robot. Our moving camera-based pose estimation method does not rely on any markers or external knowledge of the robot’s status, effectively overcoming challenges such as marker occlusion, calibration issues, and dependencies on headset tracking errors. We demonstrate the system in a remote physical training scenario, achieving real-time performance at 40 fps, which enables simultaneous immersive and physical interactions. Experimental results show that our learning-based 3D pose estimation method, which operates without prior knowledge of the robot, significantly outperforms alternative approaches requiring the robot’s global pose, particularly during rapid headset movements, achieving markerless digital human augmentation from head-worn views. Full article

Force-feedback devices enhance task performance in most robot teleoperations. However, their increased size with additional degrees of freedom can limit the robot’s applicability. To address this, an interface that visually presents force feedback is proposed, eliminating the need for bulky physical devices. Our telepresence system renders robotic hands transparent in the camera image while displaying virtual hands. The forces applied to the robot deform these virtual hands. The deformation creates an illusion that the operator’s hands are deforming, thus providing pseudo-haptic feedback. We conducted a weight comparison experiment in a virtual reality environment to evaluate force sensitivity. In addition, we conducted an object touch experiment to assess the speed of contact detection in a robot teleoperation setting. The results demonstrate that our method significantly surpasses conventional pseudo-haptic feedback in conveying force differences. Operators detected object touch 24.7% faster using virtual hand deformation compared to conditions without feedback. This matches the response times of physical force-feedback devices. This interface not only increases the operator’s force sensitivity but also matches the performance of conventional force-feedback devices without physically constraining the operator. Therefore, the interface enhances both task performance and the experience of teleoperation. Full article

We explore telerobotics as a novel form of intergroup communication. In this form, remotely operated robots facilitate embodied and situated intergroup contact between groups in conflict over long distances, potentially reducing prejudice and promoting positive social change. Based on previous conceptual frameworks and design hypotheses, we conducted a survey on the acceptance and preferences of the telerobotic medium in Israel and Palestine. We analyzed the responses using a mixed-method approach. The results shed light on differences in attitudes between the groups and design considerations for telerobots when used for intergroup contact. This study serves as a foundation for the implementation of a novel method of technology-enhanced conflict resolution in the field. Full article