# Socially Pertinent Robots in Gerontological Healthcare

arXiv: https://arxiv.org/abs/2404.07560 · HTML: https://mlsanity.com/paper/2404.07560/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 30 of its 111 references that are in the map.
- First posted on arXiv 11 Apr 2024.

## Builds on (most cited first, 30 of 30)

- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [Neural Machine Translation by Jointly Learning to Align and Translate](https://mlsanity.com/paper/1409.0473/) (2014)
- [Towards Robust Monocular Depth Estimation: Mixing Datasets for Zero-shot Cross-dataset Transfer](https://mlsanity.com/paper/1907.01341/) (2019)
- [OpenPose: Realtime Multi-Person 2D Pose Estimation using Part Affinity Fields](https://mlsanity.com/paper/1812.08008/) (2018)
- [Joint Face Detection and Alignment using Multi-task Cascaded Convolutional Networks](https://mlsanity.com/paper/1604.02878/) (2016)
- [ORB-SLAM2: an Open-Source SLAM System for Monocular, Stereo and RGB-D Cameras](https://mlsanity.com/paper/1610.06475/) (2016)
- [From Coarse to Fine: Robust Hierarchical Localization at Large Scale](https://mlsanity.com/paper/1812.03506/) (2018)
- [FairMOT: On the Fairness of Detection and Re-Identification in Multiple Object Tracking](https://mlsanity.com/paper/2004.01888/) (2020)
- [Core Challenges of Social Robot Navigation: A Survey](https://mlsanity.com/paper/2103.05668/) (2021)
- [Detecting Attended Visual Targets in Video](https://mlsanity.com/paper/2003.02501/) (2020)
- [RTAB-Map as an Open-Source Lidar and Visual SLAM Library for Large-Scale and Long-Term Online Operation](https://mlsanity.com/paper/2403.06341/) (2024)
- [ECAPA-TDNN Embeddings for Speaker Diarization](https://mlsanity.com/paper/2104.01466/) (2021)
- [TransCenter: Transformers with Dense Representations for Multiple-Object Tracking](https://mlsanity.com/paper/2103.15145/) (2021)
- [A Survey on Socially Aware Robot Navigation: Taxonomy and Future Challenges](https://mlsanity.com/paper/2311.06922/) (2023)
- [Object-aware Gaze Target Detection](https://mlsanity.com/paper/2307.09662/) (2023)
- [Multimodal Across Domains Gaze Target Detection](https://mlsanity.com/paper/2208.10822/) (2022)
- [F-formation Detection: Individuating Free-standing Conversational Groups in Images](https://mlsanity.com/paper/1409.2702/) (2014)
- [Multi-party Goal Tracking with LLMs: Comparing Pre-training, Fine-tuning, and Prompt Engineering](https://mlsanity.com/paper/2308.15231/) (2023)
- [Robot Navigation with Map-Based Deep Reinforcement Learning](https://mlsanity.com/paper/2002.04349/) (2020)
- [ROS for Human-Robot Interaction](https://mlsanity.com/paper/2012.13944/) (2020)
- [Vision-Guided Robot Hearing](https://mlsanity.com/paper/1311.2460/) (2013)
- [MuMMER: Socially Intelligent Human-Robot Interaction in Public Spaces](https://mlsanity.com/paper/1909.06749/) (2019)
- [Speech enhancement with mixture-of-deep-experts with clean clustering pre-training](https://mlsanity.com/paper/2102.06034/) (2021)
- [Petri Net Machines for Human-Agent Interaction](https://mlsanity.com/paper/1909.06174/) (2019)
- [D-InLoc++: Indoor Localization in Dynamic Environments](https://mlsanity.com/paper/2209.10185/) (2022)
- [Situated Participatory Design: A Method for In Situ Design of Robotic Interaction with Older Adults](https://mlsanity.com/paper/2302.00588/) (2023)
- [A two-stage speaker extraction algorithm under adverse acoustic conditions using a single-microphone](https://mlsanity.com/paper/2303.07072/) (2023)
- [Single-Microphone Speaker Separation and Voice Activity Detection in Noisy and Reverberant Environments](https://mlsanity.com/paper/2401.03448/) (2024)
- [Detecting agreement in multi-party dialogue: evaluating speaker diarisation versus a procedural baseline to enhance user engagement](https://mlsanity.com/paper/2311.03021/) (2023)
- [Detecting Agreement in Multi-party Conversational AI](https://mlsanity.com/paper/2311.03026/) (2023)

## Built on by (most cited first, 1 of 1)

- [Towards Unconstrained Human-Object Interaction](https://mlsanity.com/paper/2604.14069/) (2026)

## Abstract (arXiv)

Despite the many recent achievements in developing and deploying social robotics, there are still many underexplored environments and applications for which systematic evaluation of such systems by end-users is necessary. While several robotic platforms have been used in gerontological healthcare, the question of whether or not a social interactive robot with multi-modal conversational capabilities will be useful and accepted in real-life facilities is yet to be answered. This paper is an attempt to partially answer this question, via two waves of experiments with patients and companions in a day-care gerontological facility in Paris with a full-sized humanoid robot endowed with social and conversational interaction capabilities. The software architecture, developed during the H2020 SPRING project, together with the experimental protocol, allowed us to evaluate the acceptability (AES) and usability (SUS) with more than 60 end-users. Overall, the users are receptive to this technology, especially when the robot perception and action skills are robust to environmental clutter and flexible to handle a plethora of different interactions.