Luis Vicente Calderita

Luis Vicente Calderita

lvcalderita (at) unex (dot) es
PhD Student
Computer and Communication Technology Dept.

His research area is related to Computer Vision

Master Thesis

Master Thesis, Universidad de Extremadura, Escuela Politécnica de Cáceres. Luis Vicente Calderita Estévez. “Localización estereofónica en robots móviles”. Directed by Pablo Bustos. October 2009.

  • [PDF] L. V. Calderita Estévez, “Localización estereofónica en robots móviles,” PhD Thesis, Escuela Politécnica, 2009.
    [Bibtex]
    @phdthesis{estevez-esteriofonica,
    author = {Calderita Estévez, Luis Vicente},
    title = {{Localizaci{\'{o}}n estereof{\'{o}}nica en robots m{\'{o}}viles}},
    year = {2009},
    school = {Escuela Politécnica},
    note = {Advisor: Bustos García, Pablo}
    }

Article, Books, Refereed Journals and Conferences

Luis Vicente Calderita Estévez, Pablo Bustos, Mejías, C. Suárez, Fernández, F., Viciana, R. and Bandera, A. “Asistente Robótico Socialmente Interactivo para Terapias de Rehabilitación Motriz con Pacientes de Pediatría”. Revista Iberoamericana de Automática e Informática Industrial RIAI, Elsevier, volume 12, number 1, pages 99-110, 2015.

  • [PDF] [DOI] L. V. Calderita Estévez, P. Bustos García, C. {Suárez Mejías}, F. Fernández, R. Viciana, and A. Bandera, “Asistente robótico socialmente interactivo para terapias de rehabilitación motriz con pacientes de pediatría,” RIAI – Revista Iberoamericana de Automatica e Informatica Industrial, vol. 12, iss. 1, pp. 99-110, 2015. Elsevier.
    [Bibtex]
    @article{calderita-asistente-terapias,
    abstract = {Motor rehabilitation therapy pursuits the recovery of damaged areas from the repetitive practice of certain motor activities. The patient's recovery directly depends on the adherence to rehabilitation therapy. Conventional methods consisting of repetitions usually make the patient feel unmotivated and neglect complying with the appropriate treatments. In addition, the treatment of these motor deficits requires intensive and extended rehabilitation sessions that demand sustained dedication and effort by professionals and incur in accretive costs for the institutions. Within this framework, this paper describes the development and evaluation of a new neurorehabilitation therapy, whose core is a socially interactive robot. This robot is able to consistently engaged patients in the therapeutic interaction, providing tireless motivation, encouragement and guidance. The experience has also been the origin of the design and implementation of a novel control architecture, RoboCog, which has provided the robot perceptual and cognitive capabilities that allow a behavior more socially developed, proactive. Verification tests carried out on the various components of the architecture show us the proper working of these and its integration with the rest of the architecture. Furthermore, this therapy has been successfully with congenital brachial palsy (PBO), a disease caused by damage acquired at birth and affects motor mobility of the upper limbs, but not their intellectual and communicative abilities.},
    author = {Calderita Estévez, Luis Vicente and Bustos García, Pablo and {Su{\'{a}}rez Mej{\'{i}}as}, C. and Fern{\'{a}}ndez, F. and Viciana, R. and Bandera, A.},
    doi = {10.1016/j.riai.2014.09.007},
    issn = {16977920},
    journal = {RIAI - Revista Iberoamericana de Automatica e Informatica Industrial},
    keywords = {Human-Robot Interaction,Rehabilitation therapies,Socially assistant robotics},
    number = {1},
    publisher = {Elsevier},
    pages = {99--110},
    url = {http://linkinghub.elsevier.com/retrieve/pii/S1697791214000879},
    title = {Asistente robótico socialmente interactivo para terapias de rehabilitación motriz con pacientes de pediatría},
    volume = {12},
    year = {2015}
    }

F. Fernández, M. Martínez, I. García-Varea, J. Martínez-Gómez, J.M. Pérez-Lorenzo, R. Viciana, Pablo Bustos, L.J. Manso, Luis Vicente Calderita Estévez, M. Gutiérrez, P. Núñez, A. Bandera, A. Romero-Garcés, J.P. Bandera, R. Marfil. “Gualzru’s path to the Advertisement World”. IROS Fine-R Workshop, 2015

  • [PDF] F. Fern, M. Mart, J. Mart, P. Bustos García, L. J. Manso Argüelles, L. V. Calderita Estévez, and P. Núñez Trujillo, “Gualzru’s path to the advertisement world,” in IROS-FineR Workshop and CEUR Proceedings, Hamburg, Germany, 2015, pp. 55-65.
    [Bibtex]
    @inproceedings{fern-gualzru-world,
    author = {Fern, F and Mart, M and Mart, J and Bustos García, Pablo and Manso Argüelles, Luis Jesús and Calderita Estévez, Luis Vicente and Núñez Trujillo, Pedro},
    abstract = {—This paper describes the genesis of Gualzru, a robot commissioned by a large Spanish technological company to provide advertisement services in open public spaces. Gualzru has to stand by at an interactive panel observing the people passing by and, at some point, select a promising candidate and approach her to initiate a conversation. After a small verbal interaction, the robot is supposed to convince the passerby to walk back to the panel, leaving the rest of the selling task to an interactive software embedded in it. The whole design and building process took less than three years of team composed of five groups at different geographical locations. We describe here the lessons learned during this period of time, from different points of view including the hardware, software, architectural decisions and team collaboration issues.},
    booktitle = {IROS-FineR Workshop and CEUR Proceedings},
    issn = {16130073},
    pages = {55--65},
    address = {Hamburg, Germany},
    title = {Gualzru's path to the advertisement world},
    volume = {1484},
    year = {2015}
    }

PhD Thesis, Luis Vicente Calderita Estévez. “Deep State Representation: an Unified Internal Representation for the Robotics Cognitive Architecture CORTEX”. University of Extremadura, Polytechnic School of Cáceres. 2015

  • [PDF] L. V. Calderita Estévez and P. Bustos García, “Deep State Representation: an Unified Internal Representation for the Robotics Cognitive Architecture CORTEX,” PhD Thesis, ., 2015.
    [Bibtex]
    @phdthesis{deep-state-representation,
    author = {Calderita Estévez, Luis Vicente and Bustos García, Pablo},
    title = {{Deep State Representation: an Unified Internal Representation for the Robotics Cognitive Architecture CORTEX}},
    year = {2015},
    school = {.}
    }

A. Romero-Garcés, Luis Vicente Calderita Estévez, J. Martínez-Gómez, J. P. Bandera, R. Marfil, L.J. Manso, A. Bandera, Pablo Bustos. “Testing a fully autonomous robotic salesman in real scenarios”. IEEE International Conference on Autonomous Robots Systems and Competitions Vila Real, Portugal, 8-10 April 2015

  • [PDF] [DOI] A. Romero-Garcés, L. V. Calderita Estévez, J. Martínez-Gómez, J. P. Bandera, R. Marfil, L. J. Manso Argüelles, A. Bandera, and P. Bustos García, “Testing a fully autonomous robotic salesman in real scenarios,” in IEEE International Conference on Autonomous Robots Systems and Competitions, Vilareal, Portugal, 2015, pp. 1-7.
    [Bibtex]
    @inproceedings{romero-garces-testing,
    abstract = {Over the past decades, the number of robots deployed in museums, trade shows and exhibitions have grown steadily. This new application domain has become a key research topic in the robotics community. Therefore, new robots are designed to interact with people in these domains, using natural and intuitive channels. Visual perception and speech processing have to be considered for these robots, as they should be able to detect people in their environment, recognize their degree of accessibility and engage them in social conversations. They also need to safely navigate around dynamic, uncontrolled environments. They must be equipped with planning and learning components, that allow them to adapt to different scenarios. Finally, they must attract the attention of the people, be kind and safe to interact with. In this paper, we describe our experience with Gualzru, a salesman robot endowed with the cognitive architecture RoboCog. This architecture synchronizes all previous processes in a social robot, using a common inner representation as the core of the system. The robot has been tested in crowded, public daily life environments, where it interacted with people that had never seen it before nor had a clue about its functionality. Experimental results presented in this paper demonstrate the capabilities of the robot and its limitations in these real scenarios, and define future improvement actions.},
    author = {Romero-Garc{\'{e}}s, Adri{\'{a}}n and Calderita Estévez, Luis Vicente and Mart{\'{i}}nez-G{\'{o}}mez, Jes{\'{u}}s and Bandera, Juan Pedro and Marfil, Rebeca and Manso Argüelles, Luis Jesús and Bandera, Antonio and Bustos García, Pablo},
    doi = {10.1109/ICARSC.2015.19},
    isbn = {978-1-4673-6991-6},
    booktitle = {IEEE International Conference on Autonomous Robots Systems and Competitions},
    pages = {1--7},
    address = {Vilareal, Portugal},
    title = {Testing a fully autonomous robotic salesman in real scenarios},
    year = {2015}
    }

Pablo Bustos, L.J. Manso, J. P. Bandera, A. Romero-Garcés, Luis Vicente Calderita Estévez, R. Marfil and A. Bandera. “A Unified Internal Representation of the Outer World for Social Robotics”. WAF, ROBOTS 2015, Lisbon, Portugal.

  • [PDF] [DOI] P. Bustos García, L. J. Manso Argüelles, J. P. Bandera, A. Romero-Garcés, L. V. Calderita Estévez, R. Marfil, and A. Bandera, “A unified internal representation of the outer world for social robotics,” in Advances in Intelligent Systems and Computing, Lisboa, 2016, pp. 733-744.
    [Bibtex]
    @inproceedings{bustos-unified-internal,
    author = {Bustos García, Pablo and Manso Argüelles, Luis Jesús and Bandera, Juan P. and Romero-Garc{\'{e}}s, Adri{\'{a}}n and Calderita Estévez, Luis Vicente and Marfil, Rebeca and Bandera, Antonio},
    abstract = {{\textcopyright} Springer International Publishing Switzerland 2016.Enabling autonomous mobile manipulators to collaborate with people is a challenging research field with a wide range of applications. Collaboration means working with a partner to reach a common goal and it involves performing both, individual and joint actions, with her. Human-robot collaboration requires, at least, two conditions to be efficient: a) a common plan, usually under-defined, for all involved partners; and b) for each partner, the capability to infer the intentions of the other in order to coordinate the common behavior. This is a hard problem for robotics since people can change their minds on their envisaged goal or interrupt a task without delivering legible reasons. Also, collaborative robots should select their actions taking into account human-aware factors such as safety, reliability and comfort. Current robotic cognitive systems are usually limited in this respect as they lack the rich dynamic representations and the flexible human-aware planning capabilities needed to succeed in these collaboration tasks. In this paper, we address this problem by proposing and discussing a deep hybrid representation, DSR, which will be geometrically ordered at several layers of abstraction (deep) and will merge symbolic and geometric information (hybrid). This representation is part of a new agents-based robotics cognitive architecture called CORTEX. The agents that form part of CORTEX are in charge of high-level functionalities, reactive and deliberative, and share this representation among them. They keep it synchronized with the real world through sensor readings, and coherent with the internal domain knowledge by validating each update.},
    booktitle = {Advances in Intelligent Systems and Computing},
    doi = {10.1007/978-3-319-27149-1_57},
    isbn = {9783319271484},
    issn = {21945357},
    keywords = {Deep representations,Social robotics,World internalization},
    pages = {733--744},
    address = {Lisboa},
    title = {A unified internal representation of the outer world for social robotics},
    volume = {418},
    year = {2016}
    }

A. Romero-Garcés, Luis Vicente Calderita Estévez, J. Martínez-Gómez, J. P. Bandera, R. Marfil, L.J. MansoPablo Bustos and A. Bandera. “The cognitive architecture of a robotic salesman”. Conference of the Spanish Association for Artificial Intelligence, CAEPIA’15 Albacete, Spain

  • [PDF] A. Romero-Garcés, L. V. Calderita Estévez, J. Martínez-Gómez, J. P. Bandera, R. Marfil, L. J. Manso Argüelles, P. Bustos García, and A. Bandera, “The cognitive architecture of a robotic salesman,” in Conferencia de la Asociación Española para la Inteligencia Artificial (CAEPIA), XVI Edición, Albacete, 2015.
    [Bibtex]
    @inproceedings{romero-garces-cognitive,
    abstract = {This paper describes a robotics cognitive architecture for so-cial robots named CORTEX. This architecture integrates different lev-els of abstraction (from basic geometry to high-level predicates) into a unique Deep Space Representation (DSR) that different agents inter-face. These agents update the contents of the DSR with new data from the outer world, and execute, plan and design behaviours. The design of CORTEX as an unified deep representation allows to fit both the subsymbolic processing and flexibility requirements of robot control. In this paper a first implementation of CORTEX has been integrated into Gualzru, a robotic salesman, and tested in real scenarios. Results show that this cognitive architecture allows this robot to adequately execute its use case, and that it has a promising adaptability to achieve new tasks and be used in new scenarios.},
    author = {Romero-Garc{\'{e}}s, Adri{\'{a}}n and Calderita Estévez, Luis Vicente and Mart{\'{i}}nez-G{\'{o}}mez, Jes{\'{u}}s and Bandera, Juan Pedro and Marfil, Rebeca and Manso Argüelles, Luis Jesús and Bustos García, Pablo and Bandera, Antonio},
    keywords = {cognitive architectures,robotics,social robots},
    title = {The cognitive architecture of a robotic salesman},
    booktitle = {Conferencia de la Asociación Española para la Inteligencia Artificial (CAEPIA), XVI Edición},
    address = {Albacete},
    year = {2015}
    }

Luis Vicente Calderita Estévez, C. Suarez Mejías, Pablo Bustos, F. Fernandez, R. Viciana, A. Bandera. “Asistente Robótico Socialmente Interactivo para Terapias de Neuro-rehabilitación con Pacientes de Pediatría”. Revista Iberoamericana de Automática e Informática Industrial. (Impact Factor 0.375). 2014.

  • [PDF] [DOI] L. V. Calderita Estévez, P. Bustos García, C. {Suárez Mejías}, F. Fernández, R. Viciana, and A. Bandera, “Asistente robótico socialmente interactivo para terapias de rehabilitación motriz con pacientes de pediatría,” RIAI – Revista Iberoamericana de Automatica e Informatica Industrial, vol. 12, iss. 1, pp. 99-110, 2015. Elsevier.
    [Bibtex]
    @article{calderita-asistente-terapias,
    abstract = {Motor rehabilitation therapy pursuits the recovery of damaged areas from the repetitive practice of certain motor activities. The patient's recovery directly depends on the adherence to rehabilitation therapy. Conventional methods consisting of repetitions usually make the patient feel unmotivated and neglect complying with the appropriate treatments. In addition, the treatment of these motor deficits requires intensive and extended rehabilitation sessions that demand sustained dedication and effort by professionals and incur in accretive costs for the institutions. Within this framework, this paper describes the development and evaluation of a new neurorehabilitation therapy, whose core is a socially interactive robot. This robot is able to consistently engaged patients in the therapeutic interaction, providing tireless motivation, encouragement and guidance. The experience has also been the origin of the design and implementation of a novel control architecture, RoboCog, which has provided the robot perceptual and cognitive capabilities that allow a behavior more socially developed, proactive. Verification tests carried out on the various components of the architecture show us the proper working of these and its integration with the rest of the architecture. Furthermore, this therapy has been successfully with congenital brachial palsy (PBO), a disease caused by damage acquired at birth and affects motor mobility of the upper limbs, but not their intellectual and communicative abilities.},
    author = {Calderita Estévez, Luis Vicente and Bustos García, Pablo and {Su{\'{a}}rez Mej{\'{i}}as}, C. and Fern{\'{a}}ndez, F. and Viciana, R. and Bandera, A.},
    doi = {10.1016/j.riai.2014.09.007},
    issn = {16977920},
    journal = {RIAI - Revista Iberoamericana de Automatica e Informatica Industrial},
    keywords = {Human-Robot Interaction,Rehabilitation therapies,Socially assistant robotics},
    number = {1},
    publisher = {Elsevier},
    pages = {99--110},
    url = {http://linkinghub.elsevier.com/retrieve/pii/S1697791214000879},
    title = {Asistente robótico socialmente interactivo para terapias de rehabilitación motriz con pacientes de pediatría},
    volume = {12},
    year = {2015}
    }

Luis Vicente Calderita Estévez, J. P. Bandera and R. Vázquez-Martín. “3D laser from RGB-D projections in robot local navigation”. WAF 2014. 15th Workshop of Pĥysical Agents, León, Spain 2014.

  • [PDF] [DOI] L. V. Calderita Estévez, J. P. Bandera, and L. J. Manso Argüelles, “3D laser from RGBD projections in robot local navigation,” in WAF 2014, León, Spain, 2014, pp. 1-11.
    [Bibtex]
    @inproceedings{laser-local-navigation-calderita,
    author = {Calderita Estévez, Luis Vicente and Bandera, Juan P and Manso Argüelles, Luis Jesús},
    booktitle = {WAF 2014},
    doi = {10.13140/2.1.1720.9602},
    number = {June},
    pages = {1--11},
    title = {{3D laser from RGBD projections in robot local navigation}},
    year = {2014},
    address = {León, Spain}
    }

L.J. Manso, Luis Vicente Calderita Estévez, Pablo Bustos, J. García, M. Martínez, F. Fernández, A. Romero-Garcés and A. Bandera. “A General-Purpose Architecture to Control Mobile Robots”. WAF 2014. 15th Workshop of Pĥysical Agents, León, Spain 2014

  • [PDF] L. J. Manso Argüelles, L. V. Calderita Estévez, P. Bustos García, J. Garc, and F. Fern, “A General-Purpose Architecture to Control Mobile Robots,” in WAF 2014, 2014, pp. 1-12.
    [Bibtex]
    @inproceedings{manso-general-purposes,
    author = {Manso Argüelles, Luis Jesús and Calderita Estévez, Luis Vicente and Bustos García, Pablo and Garc, Javier and Fern, Fernando},
    booktitle = {WAF 2014},
    number = {June},
    pages = {1--12},
    title = {A General-Purpose Architecture to Control Mobile Robots},
    address={},
    year = {2014}
    }

Jesus Martínez-Gómez, Rebeca Marfil, Luis Vicente Calderita Estévez, Juan Pedro Bandera, L.J. Manso, Antonio Bandera, Adrián Romero-Garcés and Pablo Bustos. “Toward Social Cognition in Robotics: Extracting and Internalizing Meaning from Perception”. WAF 2014. 15th Workshop of Pĥysical Agents, León, Spain 2014

  • [PDF] J. Martinez-Gomez, R. Marfil, L. V. Calderita Estévez, J. P. Bandera, L. J. Manso Argüelles, A. Bandera, A. Romero-Garces, and P. Bustos García, “Toward Social Cognition in Robotics : Extracting and Internalizing Meaning from Perception,” in Workshop of Physical Agents, Leon, Spain, 2014, pp. 1-12.
    [Bibtex]
    @inproceedings{martinez-gomez-cognition,
    address = {Leon, Spain},
    author = {Martinez-Gomez, Jesus and Marfil, Rebeca and Calderita Estévez, Luis Vicente and Bandera, Juan Pedro and Manso Argüelles, Luis Jesús and Bandera, Antonio and Romero-Garces, Adrian and Bustos García, Pablo},
    booktitle = {Workshop of Physical Agents},
    number = {June},
    pages = {1--12},
    title = {{Toward Social Cognition in Robotics : Extracting and Internalizing Meaning from Perception}},
    year = {2014}
    }

Luis Vicente Calderita Estévez, J.P. Bandera, Pablo Bustos, A. Skiadopoulos. “Model-based Reinforcement of Kinect Depth Data for Human Motion Capture Applications”. Sensors (JCR = 1,953), volume 13, number 7, pages 8835-8855, 2013

  • [PDF] [DOI] L. V. Calderita Estévez, J. P. Bandera, P. Bustos García, and A. Skiadopoulos, “Model-based reinforcement of Kinect depth data for human motion capture applications,” Sensors (Basel, Switzerland), vol. 13, iss. 7, pp. 8835-55, 2013. mdpi.
    [Bibtex]
    @article{calderita-model-based,
    abstract = {Motion capture systems have recently experienced a strong evolution. New cheap depth sensors and open source frameworks, such as OpenNI, allow for perceiving human motion on-line without using invasive systems. However, these proposals do not evaluate the validity of the obtained poses. This paper addresses this issue using a model-based pose generator to complement the OpenNI human tracker. The proposed system enforces kinematics constraints, eliminates odd poses and filters sensor noise, while learning the real dimensions of the performer's body. The system is composed by a PrimeSense sensor, an OpenNI tracker and a kinematics-based filter and has been extensively tested. Experiments show that the proposed system improves pure OpenNI results at a very low computational cost.},
    author = {Calderita Estévez, Luis Vicente and Bandera, Juan Pedro and Bustos García, Pablo and Skiadopoulos, Andreas},
    doi = {10.3390/s130708835},
    issn = {1424-8220},
    journal = {Sensors (Basel, Switzerland)},
    keywords = {Acceleration,Actigraphy,Actigraphy: instrumentation,Biometry,Biometry: instrumentation,Computer Simulation,Equipment Design,Equipment Failure Analysis,Gestures,Humans,Imaging, Three-Dimensional,Imaging, Three-Dimensional: instrumentation,Models, Biological,Transducers,Video Games},
    month = {jan},
    number = {7},
    pages = {8835--55},
    pmid = {23845933},
    publisher = {mdpi},
    title = {Model-based reinforcement of Kinect depth data for human motion capture applications},
    url = {http://www.pubmedcentral.nih.gov/articlerender.fcgi?artid=3758625{\&}tool=pmcentrez{\&}rendertype=abstract},
    volume = {13},
    year = {2013}
    }

Pablo Bustos and Martínez-Gómez, J. and García-Varea, I. and Rodríguez-Ruiz, L. and Bachiller, P. and Luis Vicente Calderita Estévez and Sánchez, A. and Bandera, A. and Bandera, J. P. “Multimodal Interaction with Loki”. Proceedings, Workshop of Phisical Agents, WAF 2013

  • [PDF] P. Bustos García, J. Martınez-Gómez, I. Garcıa-Varea, L. Rodrıguez-Ruiz, P. Bachiller Burgos, L. V. Calderita Estévez, L. J. Manso Argüelles, A. Sánchez Domínguez, A. Bandera, and J. Bandera, “Multimodal Interaction with Loki,” in Workshop of Physical Agents, Madrid, 2013, pp. 1-8.
    [Bibtex]
    @inproceedings{multimodal-interaction-loki,
    abstract = {Developing a simple multimodal interaction game with a 31 dof's mobile manipulator can become a challenging enterprise. A conceptually simple task quickly unfolds into a rather complex ensemble of driver-oriented, framework-based, software-enabled, state-machine controlled mechatronics. In this paper we propose a multimodal interaction game designed to test the initial steps of a cognitive robotics architecture called RoboCog. In the game, a human shows an object to the robot and asks him to touch it with one of his hands. Loki, the robot, searches, gazes, represents and touches the object, then talks and waits for new events. The game goes on until the human player decides to quit. In this paper we describe the steps taken to achieve this goal, analyzing the decisions made in terms of architectural choices and describing how the sequential control of multimodal resources was built. To conclude, several snapshots of the game are presented and commented along with video material of Loki playing with a volunteer.},
    author = {Bustos García, Pablo and J Martınez-G{\'{o}}mez and I Garcıa-Varea and L Rodrıguez-Ruiz and Bachiller Burgos, Pilar and Calderita Estévez, Luis Vicente and Manso Argüelles, Luis Jesús and Sánchez Domínguez, Agustín and A Bandera and Jp Bandera},
    booktitle = {Workshop of Physical Agents},
    pages = {1--8},
    title = {{Multimodal Interaction with Loki}},
    address = {Madrid},
    url = {http://ljmanso.com/files/Multimodal_interaction_with_Loki.pdf},
    year = {2013}
    }

Luis Vicente Calderita Estévez, Pablo Bustos, C. Suárez, F. Fernández, A. Bandera. “Therapist: Towards an automous Socially Interactive Robot for Motor and Neurorehabilitation Therapies for Children”. 7th International Conference Pervasive Computing Technologies for Healthcare (PervasiveHealth), pp 374-377. September 2013.

  • [PDF] [DOI] L. V. Calderita Estévez, P. Bustos García, C. Suarez Mejias, F. Fernandez, and A. Bandera, “THERAPIST:Towards an autonomous socially interactive robot for motor and neurorehabilitation therapies for children,” Journal of Medical Internet Research, vol. 16, iss. 10, 2014. IEEE.
    [Bibtex]
    @article{calderita-therapist-autonomous,
    author = {Calderita Estévez, Luis Vicente and Bustos García, Pablo and Suarez Mejias, C and Fernandez, F and Bandera, A},
    abstract = {{\textcopyright}Luis Vicente Calderita, Luis J Manso, Pablo Bustos, Cristina Su{\'{a}}rez-Mej{\'{i}}as, Fernando Fern{\'{a}}ndez, Antonio Bandera.Background: Neurorehabilitation therapies exploiting the use-dependent plasticity of our neuromuscular system are devised to help patients who suffer from injuries or diseases of this system. These therapies take advantage of the fact that the motor activity alters the properties of our neurons and muscles, including the pattern of their connectivity, and thus their functionality. Hence, a sensor-motor treatment where patients makes certain movements will help them (re)learn how to move the affected body parts. But these traditional rehabilitation processes are usually repetitive and lengthy, reducing motivation and adherence to the treatment, and thus limiting the benefits for the patients. Objective: Our goal was to create innovative neurorehabilitation therapies based on THERAPIST, a socially assistive robot. THERAPIST is an autonomous robot that is able to find and execute plans and adapt them to new situations in real-time. The software architecture of THERAPIST monitors and determines the course of action, learns from previous experiences, and interacts with people using verbal and non-verbal channels. THERAPIST can increase the adherence of the patient to the sessions using serious games. Data are recorded and can be used to tailor patient sessions. Methods: We hypothesized that pediatric patients would engage better in a therapeutic non-physical interaction with a robot, facilitating the design of new therapies to improve patient motivation. We propose RoboCog, a novel cognitive architecture. This architecture will enhance the effectiveness and time-of-response of complex multi-degree-of-freedom robots designed to collaborate with humans, combining two core elements: a deep and hybrid representation of the current state, own, and observed; and a set of task-dependent planners, working at different levels of abstraction but connected to this central representation through a common interface. Using RoboCog, THERAPIST engages the human partner in an active interactive process. But RoboCog also endows the robot with abilities for high-level planning, monitoring, and learning. Thus, THERAPIST engages the patient through different games or activities, and adapts the session to each individual. Results: RoboCog successfully integrates a deliberative planner with a set of modules working at situational or sensorimotor levels. This architecture also allows THERAPIST to deliver responses at a human rate. The synchronization of the multiple interaction modalities results from a unique scene representation or model. THERAPIST is now a socially interactive robot that, instead of reproducing the phrases or gestures that the developers decide, maintains a dialogue and autonomously generate gestures or expressions. THERAPIST is able to play simple games with human partners, which requires humans to perform certain movements, and also to capture the human motion, for later analysis by clinic specialists. Conclusions: The initial hypothesis was validated by our experimental studies showing that interaction with the robot results in highly attentive and collaborative attitudes in pediatric patients. We also verified that RoboCog allows the robot to interact with patients at human rates. However, there remain many issues to overcome. The development of novel hands-off rehabilitation therapies will require the intersection of multiple challenging directions of research that we are currently exploring.},
    doi = {10.2196/rehab.3151},
    issn = {14388871},
    journal = {Journal of Medical Internet Research},
    keywords = {[Cognitive robotics, Interactive games, Rehabilita},
    number = {10},
    publisher = {IEEE},
    title = {THERAPIST:Towards an autonomous socially interactive robot for motor and neurorehabilitation therapies for children},
    volume = {16},
    year = {2014}
    }

Luis Vicente Calderita Estévez, Pablo Bustos, C. Suárez Mejías, B. Ferrer González, A. Bandera. “Rehabilitation for Children while Playing with a Robotic Assistant in a Serious Game”. Neurotechnix 2013, Vilamoura, Algarve, Portugal. 18-20 September 2013.

  • [PDF] L. V. Calderita Estévez, P. Bustos García, C. Suarez Mejías, B. Ferrer Gonzalez, and A. Bandera, “Rehabilitation for children while playing with a robotic assistant in a serious game,” in Neurotechnix, Vilamoura, Portugal, 2013.
    [Bibtex]
    @inproceedings{calderita-augmented-reality,
    abstract = {Traditional neuro-rehabilitation therapies are usually repet- itive and lengthy, reducing motivation and adherence to the treatment and thus limiting the benefits for the patients. Moreover, exercises are usually not customizable for the patients, further increasing their disen- gagement with the treatment. The outcome is then a boring session day after day. This is more pronounced when the patient is a child. However, the execution of these repetitive movements is really needed, as it alters the properties of our neurons, including their pattern of connectivity. Correctly driven, this process finally allows to improve the neural func- tionality. The question is then: how can we improve the motivation and immersion of the patients into the therapy? We could try to convert the boring therapy into a funny one. This will help to the patients, but also to the practitioner. For this end, computer-assisted technologies have been extensively employed in the last years. Within this research field, this paper proposes to engage the child to the therapy by immersing her into an augmented reality scenario, where it will play several serious games. The adherence to the session will be further increased by incorporating a social robot as a playmate. This robot will be a personal trainer, that will perform the session in the real world with the patient. Additionally, the robot will be able to record the data for each session. This data could be subsequently used by the rehabilitation specialists for monitoring and/or adapting the therapy to the patient's needs.},
    address = {Vilamoura, Portugal},
    author = {Calderita Estévez, Luis Vicente and Bustos García, Pablo and Suarez Mej{\'{i}}as, C. and Ferrer Gonzalez, B. and Bandera, A.},
    booktitle = {Neurotechnix},
    title = {{Rehabilitation for children while playing with a robotic assistant in a serious game}},
    url = {http://www.scopus.com/inward/record.url?eid=2-s2.0-84888399819&partnerID=40&md5=fcb4a22f66cbb7176adc38cd868d4b7e},
    year = {2013}
    }

C. Doblado, E. Mogena, F. CidLuis Vicente Calderita Estévez and P. Núñez. “RGB-D Database for Affective Multimodal Human-Robot Interaction”. Proceedings of the XIV Workshop on Physycal Agents (WAF-2013), Madrid, September 18-19, 2013

  • [PDF] C. Doblado, E. Mogena, F. Cid Burgos, L. V. Calderita Estévez, and P. Núñez Trujillo, “RGB-D Database for Affective Multimodal Human-Robot Interaction,” in XIV Workshop on Physical Agents (WAF2013), Madrid, Spain, 2013, pp. 35-40.
    [Bibtex]
    @inproceedings{dobloado-rgb-multimodal,
    author = {Doblado, C and Mogena, E and Cid Burgos, Felipe and Calderita Estévez, Luis Vicente and Núñez Trujillo, Pedro},
    pages = {35--40},
    title = {{RGB-D Database for Affective Multimodal Human-Robot Interaction}},
    year = {2013},
    booktitle = {XIV Workshop on Physical Agents (WAF2013)},
    address = {Madrid, Spain}
    }

F. Cid, R. Cintas, L.J. Manso, Luis Vicente Calderita Estévez, A. Sánchez and P. Núñez. “Engaging human-to-robot attention using conversational gestures and lip-sinchronization”, In Journal of Physical Agents ISSN 1888-0258 .Vol. 6, No. 1, pp 3-10. March 2012.

  • [PDF] F. Cid Burgos, L. J. Manso Argüelles, L. V. Calderita Estévez, A. Sánchez Domínguez, and P. Núñez Trujillo, “Engaging human-to-robot attention using conversational gestures and lip-synchronization,” in JoPhA, Spain, 2012, pp. 3-10.
    [Bibtex]
    @inproceedings{cid-engaging-human-robot,
    author = {Cid Burgos, Felipe and Manso Argüelles, Luis Jesús and Calderita Estévez, Luis Vicente and Sánchez Domínguez, Agustín and Núñez Trujillo, Pedro},
    number = {1},
    pages = {3--10},
    booktitle = {JoPhA},
    title = {{Engaging human-to-robot attention using conversational gestures and lip-synchronization}},
    volume = {6},
    year = {2012},
    address = {Spain}
    }

C. Suárez, C. Echevarría, P. Núñez, Pablo Bustos, L.J. Manso, Luis Vicente Calderita Estévez, S. Leal, C. Parra-Calderón. “Ursus: a robotic assistant for training of children with motor”. Proceedings, impairments International Conference on Neurorrehabilitation (ICNR2012), November, 2012, Toledo, Spain

  • [PDF] [DOI] S. C. Mejías, C. Echevarría, P. Núñez Trujillo, L. J. Manso Argüelles, P. Bustos García, L. V. Calderita Estévez, S. Leal, and C. Parra, Ursus: A Robotic Assistant for Training of Children with Motor Impairments, T. D. {J.L Pons} and M. Pajaro, Eds., Springer, 2013, vol. 1.
    [Bibtex]
    @book{mejias-ursus-robotic-assistant,
    abstract = {Restoring human motor and cognitive function has been a fascinating research area during the last century. Interfacing the human nervous system with electro-mechanical rehabilitation machines is facing its crucial passage from research to clinical practice, enhancing the potentiality of therapists, clinicians and researchers to rehabilitate, diagnose and generate knowledge. The 2012 International Conference on Neurorehabilitation (ICNR2012, www.icnr2012.org) brings together researchers and students from the fields of Clinical Rehabilitation, Applied Neurophysiology and Biomedical Engineering, covering a wide range of research topics: {\textperiodcentered} Clinical Impact of Technology{\textperiodcentered} Brain-Computer Interface in Rehabilitation{\textperiodcentered} Neuromotor & Neurosensory modeling and processing{\textperiodcentered} Biomechanics in Rehabilitation{\textperiodcentered} Neural Prostheses in Rehabilitation{\textperiodcentered} Neuro-Robotics in Rehabilitation{\textperiodcentered} Neuromodulation This Proceedings book includes general contributions from oral and poster sessions, as well as from special sessions. A section is also dedicated to pre-post conference workshops, including invited contributions from internationally recognized researchers. A selection of most relevant papers have been considered for publication in international journals (e. g. AJPM&R, JNER, JACCES), therefore they will appear soon in their extended versions in Special Issues.},
    author = {Mej{\'{i}}as, C. Su{\'{a}}rez and Echevarr{\'{i}}a, C. and Núñez Trujillo, Pedro and Manso Argüelles, Luis Jesús and Bustos García, Pablo and Calderita Estévez, Luis Vicente and Leal, S. and Parra, C.},
    booktitle = {Converging clinical & engineering research on NR},
    chapter = {Ursus: A R},
    editor = {{J.L Pons}, D. Torricelli and Marta Pajaro},
    doi = {10.1007/978-3-642-34546-3},
    publisher = {Springer},
    isbn = {978-3-642-34545-6},
    issn = {2195-3562},
    keywords = {cerebral palsy,design,exoskeleton,pediatrics,rehabilitation},
    pages = {255--258},
    title = {{Ursus: A Robotic Assistant for Training of Children with Motor Impairments}},
    url = {http://link.springer.com/10.1007/978-3-642-34546-3},
    volume = {1},
    year = {2013}
    }

F. Cid, R. Cintas, L.J. Manso, Luis Vicente Calderita Estévez, A. Sánchez and P. Núñez. “A real-time synchronization algorithm between Text-To-Speech (TTS) system and Robot Mouth for Social Robotic Applications”. Proceedings, Workshop en Agentes Físicos (WAF2011), pp 81-86. September, 2011, Albacete, Spain

  • [PDF] F. Cid Burgos, R. Cintas Peña, L. J. Manso Argüelles, L. V. Calderita Estévez, A. Sánchez Domínguez, and P. Núñez Trujillo, “A real-time synchronization algorithm between Text-To-Speech ( TTS ) system and Robot Mouth for Social Robotic Applications,” in WAF, Albacete, Spain, 2011.
    [Bibtex]
    @inproceedings{cid-real-time-synchronization,
    author = {Cid Burgos, Felipe and Cintas Peña, Ramón and Manso Argüelles, Luis Jesús and Calderita Estévez, Luis Vicente and Sánchez Domínguez, Agustín and Núñez Trujillo, Pedro},
    isbn = {4300002010},
    booktitle = {WAF},
    title = {{A real-time synchronization algorithm between Text-To-Speech ( TTS ) system and Robot Mouth for Social Robotic Applications}},
    year = {2011},
    address = {Albacete, Spain}
    }

Luis Vicente Calderita Estévez, Bachiller, P., Juan P. Bandera, Pablo Bustos, P. Núñez“MIMIC: A Human motion imitation component for Robocomp”. Proceedings, 1st Workshop on Recognition and Action for Scene Understanding (REACTS), 2011

  • [PDF] L. V. Calderita Estévez, P. Bachiller Burgos, J. P. Bandera, P. Bustos García, and P. Núñez Trujillo, “MIMIC: A Human motion imitation component for RoboComp ˜,” in 1st Workshop on Recognition and Action for Scene Understanding (REACTS), Málaga, 2011.
    [Bibtex]
    @inproceedings{calderita-mimic-motion,
    address = {M{\'{a}}laga},
    author = {Calderita Estévez, Luis Vicente and Bachiller Burgos, Pilar and Bandera, Juan P and Bustos García, Pablo and Núñez Trujillo, Pedro},
    booktitle = {1st Workshop on Recognition and Action for Scene Understanding (REACTS)},
    title = {{MIMIC: A Human motion imitation component for RoboComp ˜}},
    year = {2011}
    }

A. B. Naranjo-Saucedo , C. Suarez, Pablo Bustos, Luis Vicente Calderita Estévez, R. Cintas, Bachiller, P., C. Parra-Calderon. “Design of a Social Robot as assistant to training children with motor impairments”. Proceedings Robot 2011. November, 2011

  • [PDF] P. Bustos García, L. V. Calderita Estévez, R. Cintas Peña, and P. Bachiller Burgos, “Design of a Social Robot as assistant to training children with motor impairments,” in Robot 2011, Sevilla, 2011, pp. 54-59.
    [Bibtex]
    @inproceedings{bustos-design-social-robot,
    abstract = {This work is being developed under the ACROSS Project whose goal is to provide intelligent systems capable of adapting to the user demands, modifying autonomously their behavior. The project includes three application domains in which the technical developments carried out by project partners will be validated with end-users. In this paper one of them will be presented: Social Assistance and Psycho-affective Disorder, in which a robotic teddy bear has been built to train paediatric patients with motor impairments. Moreover, this treatment will include a virtual trainer, augmented reality techniques and the execution of interactive games.},
    author = {Bustos García, Pablo and Calderita Estévez, Luis Vicente and Cintas Peña, Ramón and Bachiller Burgos, Pilar},
    booktitle = {Robot 2011},
    isbn = {9788461567874},
    pages = {54--59},
    title = {Design of a Social Robot as assistant to training children with motor impairments},
    year = {2011},
    address={Sevilla}
    }

L.J. Manso, Bachiller, P., Pablo Bustos, P. Núñez, R. Cintas and Luis Vicente Calderita Estévez. “Un Framework de Desarrollo para Robótica”. Proceedings, I Jornadas Jóvenes Investigadores, pp 33-38, ISBN 978-84-693-1707-5. Cáceres, April 2010

  • [PDF] R. Cintas Peña, L. V. Calderita Estévez, L. J. Manso Argüelles, P. Bustos García, P. Bachiller Burgos, and P. Núñez Trujillo, “Un framework de Desarrollo para Robótica,” in I Jornadas Jóvenes Investigadores Universidad de Extremadura, Caceres, 2010.
    [Bibtex]
    @inproceedings{cintas-framework-desarrollo,
    address = {Caceres},
    author = {Cintas Peña, Ramón and Calderita Estévez, Luis Vicente and Manso Argüelles, Luis Jesús and Bustos García, Pablo and Bachiller Burgos, Pilar and Núñez Trujillo, Pedro},
    booktitle = {I Jornadas J{\'{o}}venes Investigadores Universidad de Extremadura},
    keywords = {complejos,componentes,las peculiaridades de los,no hace falta conocer,porque para entender el,sistema globalmente},
    title = {{Un framework de Desarrollo para Rob{\'{o}}tica}},
    keywords = {complejos,componentes,las peculiaridades de los,no hace falta conocer,porque para entender el,sistema globalmente},
    year = {2010}
    }

Luis Vicente Calderita Estévez, B. Curto, V. Moreno. “Navegacion de Robots en Formación: un Enfoque Reactivo con Restricciones”. IV Workshop, Avances en Informática y Automática. Salamanca. Septiembre 2010, ISBN 978-84-693-4158-5

  • [PDF] L. V. Calderita Estévez, “Navegación de Robots en Formación: un Enfoque Reactivo con Restricciones,” in Avances en informática USAL, Salamanca, Spain, 2010.
    [Bibtex]
    @inproceedings{navegacion-robots-formacion,
    author = {Calderita Estévez, Luis Vicente},
    title = {Navegación de Robots en Formación: un Enfoque Reactivo con Restricciones},
    address = {Salamanca, Spain},
    booktitle = {Avances en informática USAL},
    year = {2010}
    }

L.J. Manso, Bachiller, P., Pablo Bustos, P. Núñez, R. Cintas and Luis Vicente Calderita Estévez. “RoboComp: a Tool-based Robotics Framework”. Proceedings, SIMPAR Second International Conference on Simulation, Modeling and Programming for Autonomous Robots. ISBN 978-3-540-89075-1, pp 251-262. November 15 – 8, 2010, Darmstadt, Germany.