{"id":"https://openalex.org/W2966349122","doi":"https://doi.org/10.1109/icorr.2019.8779416","title":"Designing and Evaluating the Face of Lil\u2019Flo: an Affordable Social Rehabilitation Robot","display_name":"Designing and Evaluating the Face of Lil\u2019Flo: an Affordable Social Rehabilitation Robot","publication_year":2019,"publication_date":"2019-06-01","ids":{"openalex":"https://openalex.org/W2966349122","doi":"https://doi.org/10.1109/icorr.2019.8779416","mag":"2966349122","pmid":"https://pubmed.ncbi.nlm.nih.gov/31374720"},"language":"en","primary_location":{"id":"doi:10.1109/icorr.2019.8779416","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icorr.2019.8779416","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref","pubmed"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5072881460","display_name":"Michael J. Sobrepera","orcid":"https://orcid.org/0000-0003-2609-0430"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Michael J. Sobrepera","raw_affiliation_strings":["Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068752469","display_name":"Enri Kina","orcid":null},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Enri Kina","raw_affiliation_strings":["Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5089357312","display_name":"Michelle J. Johnson","orcid":"https://orcid.org/0000-0002-7964-0304"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Michelle J. Johnson","raw_affiliation_strings":["Department of Physical Medicine and Rehabilitation, University of Pennsylvania, Philadelphia, PA"],"affiliations":[{"raw_affiliation_string":"Department of Physical Medicine and Rehabilitation, University of Pennsylvania, Philadelphia, PA","institution_ids":["https://openalex.org/I79576946"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5072881460"],"corresponding_institution_ids":["https://openalex.org/I79576946"],"apc_list":null,"apc_paid":null,"fwci":1.0369,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.78926435,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":"2019","issue":null,"first_page":"748","last_page":"753"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.9987999796867371,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},"topics":[{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.9987999796867371,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T11094","display_name":"Face Recognition and Perception","score":0.9857000112533569,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T11448","display_name":"Face recognition and analysis","score":0.9735000133514404,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/surprise","display_name":"Surprise","score":0.8172582387924194},{"id":"https://openalex.org/keywords/sadness","display_name":"Sadness","score":0.7600579261779785},{"id":"https://openalex.org/keywords/happiness","display_name":"Happiness","score":0.7505970001220703},{"id":"https://openalex.org/keywords/face","display_name":"Face (sociological concept)","score":0.6057693958282471},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5492838621139526},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.546189546585083},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.5055503845214844},{"id":"https://openalex.org/keywords/face-to-face","display_name":"Face-to-face","score":0.48652973771095276},{"id":"https://openalex.org/keywords/facial-expression","display_name":"Facial expression","score":0.46986302733421326},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.428210973739624},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.4251590669155121},{"id":"https://openalex.org/keywords/social-psychology","display_name":"Social psychology","score":0.28518879413604736},{"id":"https://openalex.org/keywords/anger","display_name":"Anger","score":0.15305116772651672},{"id":"https://openalex.org/keywords/sociology","display_name":"Sociology","score":0.08732563257217407}],"concepts":[{"id":"https://openalex.org/C2780343955","wikidata":"https://www.wikidata.org/wiki/Q333173","display_name":"Surprise","level":2,"score":0.8172582387924194},{"id":"https://openalex.org/C2779812673","wikidata":"https://www.wikidata.org/wiki/Q169251","display_name":"Sadness","level":3,"score":0.7600579261779785},{"id":"https://openalex.org/C2778999518","wikidata":"https://www.wikidata.org/wiki/Q8","display_name":"Happiness","level":2,"score":0.7505970001220703},{"id":"https://openalex.org/C2779304628","wikidata":"https://www.wikidata.org/wiki/Q3503480","display_name":"Face (sociological concept)","level":2,"score":0.6057693958282471},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5492838621139526},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.546189546585083},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5055503845214844},{"id":"https://openalex.org/C2777359053","wikidata":"https://www.wikidata.org/wiki/Q2463823","display_name":"Face-to-face","level":2,"score":0.48652973771095276},{"id":"https://openalex.org/C195704467","wikidata":"https://www.wikidata.org/wiki/Q327968","display_name":"Facial expression","level":2,"score":0.46986302733421326},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.428210973739624},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.4251590669155121},{"id":"https://openalex.org/C77805123","wikidata":"https://www.wikidata.org/wiki/Q161272","display_name":"Social psychology","level":1,"score":0.28518879413604736},{"id":"https://openalex.org/C2779302386","wikidata":"https://www.wikidata.org/wiki/Q79871","display_name":"Anger","level":2,"score":0.15305116772651672},{"id":"https://openalex.org/C144024400","wikidata":"https://www.wikidata.org/wiki/Q21201","display_name":"Sociology","level":0,"score":0.08732563257217407},{"id":"https://openalex.org/C36289849","wikidata":"https://www.wikidata.org/wiki/Q34749","display_name":"Social science","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0}],"mesh":[{"descriptor_ui":"D004867","descriptor_name":"Equipment Design","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D004867","descriptor_name":"Equipment Design","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D004867","descriptor_name":"Equipment Design","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D005145","descriptor_name":"Face","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D005145","descriptor_name":"Face","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D005145","descriptor_name":"Face","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D005260","descriptor_name":"Female","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D005260","descriptor_name":"Female","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D005260","descriptor_name":"Female","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D008297","descriptor_name":"Male","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D008297","descriptor_name":"Male","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D008297","descriptor_name":"Male","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D012046","descriptor_name":"Rehabilitation","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D012046","descriptor_name":"Rehabilitation","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D012046","descriptor_name":"Rehabilitation","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D012919","descriptor_name":"Social Behavior","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012919","descriptor_name":"Social Behavior","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012919","descriptor_name":"Social Behavior","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D055815","descriptor_name":"Young Adult","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D055815","descriptor_name":"Young Adult","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D055815","descriptor_name":"Young Adult","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false}],"locations_count":2,"locations":[{"id":"doi:10.1109/icorr.2019.8779416","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icorr.2019.8779416","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR)","raw_type":"proceedings-article"},{"id":"pmid:31374720","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/31374720","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE ... International Conference on Rehabilitation Robotics : [proceedings]","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1544436487","https://openalex.org/W1965356142","https://openalex.org/W1973656368","https://openalex.org/W1974294498","https://openalex.org/W1989104072","https://openalex.org/W2000943144","https://openalex.org/W2051511678","https://openalex.org/W2106199249","https://openalex.org/W2137099741","https://openalex.org/W2153827064","https://openalex.org/W2165447553","https://openalex.org/W2323648988","https://openalex.org/W2328426548","https://openalex.org/W2331327135","https://openalex.org/W2511462577","https://openalex.org/W2580936757","https://openalex.org/W2604924211","https://openalex.org/W2749955248","https://openalex.org/W2792617863","https://openalex.org/W2801740959","https://openalex.org/W3176135957","https://openalex.org/W4237653964","https://openalex.org/W4249003903","https://openalex.org/W6798283324"],"related_works":["https://openalex.org/W2039832747","https://openalex.org/W2519456985","https://openalex.org/W1761974557","https://openalex.org/W1991697485","https://openalex.org/W3198870284","https://openalex.org/W2093522521","https://openalex.org/W2002225084","https://openalex.org/W2119012436","https://openalex.org/W2503799762","https://openalex.org/W4243434126"],"abstract_inverted_index":{"We":[0,11],"introduce":[1],"Lil'Flo,":[2],"an":[3],"affordable":[4],"robot":[5,96],"for":[6,30,125],"pediatric":[7],"upper":[8],"extremity":[9],"rehabilitation.":[10],"present":[12],"the":[13,19,24,26],"design":[14,28,123],"and":[15,21,64,72,83,117,128],"fabrication":[16],"methodology":[17],"of":[18,23,42,113,132],"head":[20],"face":[22,100,127,134],"robot,":[25],"central":[27],"element":[29],"emotional":[31],"expression.":[32],"Through":[33],"a":[34,40,46,58,65,95,98,108,122,129,138],"guided":[35],"interview":[36],"with":[37,50,97,107],"10":[38],"subjects,":[39],"number":[41],"faces":[43],"which":[44,136],"have":[45,137],"clear":[47,139],"sentiment":[48,115],"associated":[49],"them":[51],"are":[52],"identified.":[53],"The":[54,89,111],"data":[55,90],"suggest":[56],"that":[57,76,94],"digital":[59],"face,":[60],"characterized":[61],"by":[62],"eyes":[63],"mouth,":[66],"can":[67,86],"express":[68],"sadness,":[69],"happiness,":[70],"surprise,":[71],"mischievousness":[73],"well,":[74],"but":[75],"finer":[77],"emotions,":[78],"e.g.,":[79],"differentiating":[80],"between":[81],"happy":[82,85],"very":[84],"be":[87],"difficult.":[88],"fail":[91],"to":[92],"show":[93],"dynamic":[99],"is":[101],"viewed":[102],"more":[103],"positively":[104],"than":[105],"one":[106],"static":[109],"face.":[110],"results":[112],"numerical":[114],"analysis":[116],"open":[118],"ended":[119],"questions":[120],"provide":[121],"direction":[124],"our":[126],"general":[130],"idea":[131],"simple":[133],"designs":[135],"sentiment.":[140]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
