Trenton Schulz

• Schulz, Trenton; Torrado, Juan Carlos; Sandhaug, Maren Kristiansen; Eide, Hilde; Guldberg, Karen & Fuglerud, Kristin Skeide (2026). Quality of Child-Robot Interaction for Pupils with Autism Across Multiple Sessions. In Kurosu, Masaaki & Hashizume, Ayako (Ed.), Human-Computer Interaction: Thematic Area, HCI 2026, Held as Part of the 28th HCI International Conference, HCII 2026, Montreal, QC, Canada, July 26–31, 2026, Proceedings, Part II. Springer. ISSN 9783032295866. p. 177–193. doi: 10.1007/978-3-032-29586-6_13. Full text in Research Archive Show summary

  We ran a study examining how socially assistive robots can help children with autism in their education at school. Twenty pupils at a special school in Norway used a repertoire of different activities centered around a NAO robot. We present the complete study design and the types of data that have been collected. We then focus on presenting the results from rating the quality of child-robot interaction in the 55 recorded sessions from the study. Three raters rated each session on the quality of interaction between the child and robot, with two to four sessions for each pupil. Raters were in substantial agreement. We calculated the average quality of interaction and calculated the change of quality over the sessions and found that most children had a positive or fair quality of interaction with the robot. Discussions with teachers also provided additional insight into the sessions. Overall, the repertoire can lead to good interaction with pupils, but it is necessary to involve teachers and parents in deciding if it is appropriate for a pupil.

• Schulz, Trenton & Badescu, Claudia-Andreea (2026). A Custom Web Application to Control NAO using Hypertext Transfer Protocol Secure. In Baillie, Lynne; Smart, William D.; Graaf, Maartje De; Gombolay, Matthew & Torre, Ilaria (Ed.), Proceedings of the 21st ACM/IEEE International Conference on Human-Robot Interaction. Association for Computing Machinery (ACM). ISSN 9798400721281. p. 1258–1262. doi: 10.1145/3757279.3788800. Full text in Research Archive Show summary

  We present a web application for controlling NAO V5 and NAO V6 robots using Hypertext Transfer Protocol Secure (HT TPS). The application was designed for a study in a special school. The school staff have found the application easy-to-use and versatile, and it may be useful to other researchers or people interested in controlling NAO. The HT TPS constraint and the locked-down nature of NAO introduced additional development challenges, and the solutions to these challenges are worth sharing with the HRI community. We present characteristics of the web application, implementation details, how it has been set up, and how to use it. Although the application is usable in its current form, there are still things that can be improved to make the application more useful in other contexts. We therefore document how the remote control can be extended and potential starting points for improvement.

• Holthaus, Patrick; Schulz, Trenton; Riches, Lewis; Badescu, Claudia-Andreea & Amirabdollahian, Farshid (2026). ZTL: Lightweight Communication Patterns for HRI. In Baillie, Lynne; Smart, William D.; Graaf, Maartje De; Gombolay, Matthew & Torre, Ilaria (Ed.), Proceedings of the 21st ACM/IEEE International Conference on Human-Robot Interaction. Association for Computing Machinery (ACM). ISSN 9798400721281. p. 1263–1267. doi: 10.1145/3757279.3788801. Full text in Research Archive Show summary

  Human-robot interaction (HRI) programmers often struggle with operating older robot hardware due to the short support period provided by manufacturers and difficulties integrating modern software solutions. This paper introduces the ZTL Task Library (ZTL), a lightweight communication framework and protocol designed to decouple robot hardware from the operating platform via socket communication, thereby increasing robot lifetime. We present a task-based communication protocol facilitating the co-design of robot behaviours with non-programming experts. Our approach has been shown across different platforms to effectively mitigate incompatibilities between middlewares, simplifying control and usability, allowing for simultaneous addressing of multiple devices.

• Guldberg, Karen; Eide, Tom; Eide, Hilde; Flatås, Bjørn Aksel; Jensen, Renate & Larsen, Kenneth [Show all 11 contributors for this article] (2026). Methodological principles to guide innovation in robot-mediated education for autistic pupils. International Journal of Research & Method in Education. ISSN 1743-727X. 49(3), p. 333–352. doi: 10.1080/1743727x.2026.2650196. Full text in Research Archive
• Lyngar, Simon; Storvoll, Martin & Hannay, Jo E. (2025). A Benefit/Cost Analysis Tool for Better Benefits Management. In Kurosu, Masaaki & Hashizume, Ayako (Ed.), Human-Computer Interaction. Springer Nature. ISSN 9783031939648. p. 61–82. doi: 10.1007/978-3-031-93965-5_5. Full text in Research Archive
• Torrado, Juan Carlos; Schulz, Trenton; Guldberg, Karen; Søfting, Bente; Eide, Hilde & Thygesen, Hilde [Show all 8 contributors for this article] (2025). Lessons Learned from Two Pilots Using Social Robots with Children with Autism in a Special Education School in Norway. Lecture Notes in Computer Science (LNCS). ISSN 0302-9743. 15781, p. 215–227. doi: 10.1007/978-3-031-93851-1_17. Full text in Research Archive Show summary

  Children with autism present some difficulties regarding social communication and emotional regulation. These difficulties are addressed by special education programs in several ways – for instance, peer-to-peer communication using pictograms or tablet-based games to rehearse social situations and learn about facial expressions. Social robots have shown potential as vehicles for these activities. They can be perceived as “safe” interaction partners, as well as entail a special motivation for children who are fascinated by technology. In this paper, we describe the experience of two pilot studies study using a NAO robot for social communication at a special education school in Norway involving five and fifteen (N1=5, and N2=15) children with autism, respectively. Each child used the robot for1-2 sessions with the help of their main teacher and an additional teacher operating the robot. The teachers could select from a repertoire of activities that utilized the robot in various ways. The sessions were videotaped and analyzed by a multidisciplinary team composed of pedagogists, teachers, and researchers on ICTs, ethics, health, pedagogy and technology. The videos show that some children initiated and reciprocated communication with the robot in different contexts and with various degrees of support from the teachers. This paper describes design recommendations towards a longer study and pedagogical and ethical reflections on particular experiences observed in the pilot study.

• Kroknes, Monica; Tanilkan, Sinan; Hannay, Jo Erskine & Schulz, Trenton (2025). Simulations for Optimizing Patient Transfer Between Hospital and Nursing Home. Lecture Notes in Computer Science (LNCS). ISSN 0302-9743. 15793, p. 28–40. doi: 10.1007/978-3-031-93508-4_3. Full text in Research Archive Show summary

  Collaboration skills are important in most professions, but are not straightforward to enhance. In the healthcare sector, collaboration is key to safe patient care, with potentially severe adverse effects when failing. Although these effects are well documented, the healthcare profession is struggling to amend collaboration failures. We designed and developed simulation-based training for a situation well-known for collaboration break-down; namely, the patient transfer between the hospital and the nursing home. We used stakeholder analysis to elicit pain points in the transfer from various stakeholder’s perspectives and elaborated vignettes around the pain points using transition diagrams. We then implemented a selection of the vignettes in a role-playing tool and administered the sequence of vignettes as a simulation scenario to nurses and hospital personnel as a first validation of the vignettes. The purpose of the simulation is two-fold: The simulation can be used to focus on, and discuss, the transfer process itself, and it can be used to train healthcare personnel in the transfer process. Participant feedback relating to the former includes the importance of clear messaging for understanding each other’s needs, the possibility of future organizational learning based on the simulation, and the conditional appropriateness of read-backs in communication. Participant feedback on the latter; i.e., training effects, includes improved inter-organizational understanding, less time on extraneous information requests and responses, and hence more time for patient attendance.

• Schulz, Trenton & Utseth, Ingrid (2024). A Rock, Paper, Scissors Robot for Engaging Interest in Research, HAI '24: Proceedings of the 12th International Conference on Human-Agent Interaction. Association for Computing Machinery (ACM). ISSN 9798400711787. p. 450–452. doi: 10.1145/3687272.3690914. Full text in Research Archive Show summary

  We present a NAO robot that plays rock, paper, scissors with participants. The robot was an attempt to show how different aspects of computer science can be combined to make a fun and interesting interaction. We document the idea, how the different components work together, some events where we used the robot, and directions for future work.

• Hannay, Jo Erskine; Tanilkan, Sinan Sigurd; Schulz, Trenton & Hansen, Natalia Isabella (2024). The Co-design of Simulation-Based Training for Collaboration Between Healthcare Services. Lecture Notes in Computer Science (LNCS). ISSN 0302-9743. 14711, p. 326–345. doi: 10.1007/978-3-031-61066-0_20. Full text in Research Archive Show summary

  As part of developing simulation-based training for better collaboration between healthcare services, we developed instruments for measuring key teamwork constructs role understanding (responsibility), trust, communication and collaboration as experienced during simulation-based training in virtual reality. We co-designed these instruments together with healthcare workers and healthcare students in three workshops and a survey. We followed a method for generating unidimensional Thurstone scales with equal-appearing intervals. We then used the instruments in training sessions with healthcare students. We gathered feedback on the simulation and conducted initial analyses on the instrument data. Results are encouraging for the simulation design, but with clear points for improvement. The preliminary analyses from the instruments indicate that they seem to measure the intended constructs as perceived by the training audience. Correlational analyses indicate relationships between these constructs, particularly highlighting the challenge of balancing responsibility with trust and collaboration. Findings advocate the potential in our approach to mirror realistically, and improve, collaborative practices among healthcare professionals.

• Holthaus, Patrick; Schulz, Trenton; Lakatos, Gabriella & Soma-Jestilä, Rebekka (2023). Communicative Robot Signals: Presenting a New Typology for Human-Robot Interaction, HRI'23: ACM/IEEE International Conference on Human-Robot Interaction. Association for Computing Machinery (ACM). ISSN 9781450399708. p. 132–141. doi: 10.1145/3568162.3578631. Full text in Research Archive Show summary

  We present a new typology for classifying signals from robots when they communicate with humans. For inspiration, we use ethology, the study of animal behaviour and previous efforts from literature as guides in defining the typology. The typology is based on communicative signals that consist of five properties: the origin where the signal comes from, the deliberateness of the signal, the signal's reference, the genuineness of the signal, and its clarity (i.e., how implicit or explicit it is). Using the accompanying worksheet, the typology is straightforward to use to examine communicative signals from previous human-robot interactions and provides guidance for designers to use the typology when designing new robot behaviours.

• Halbach, Till; Fuglerud, Kristin Skeide & Schulz, Trenton (2023). Best Practice for Inclusive Journey Mapping and Diversity in User Participation. In Antona, Margherita & Stephanidis, Constantine (Ed.), Universal Access in Human-Computer Interaction: 17th International Conference, UAHCI 2023 Held as Part of the 25th HCI International Conference, HCII 2023 Copenhagen, Denmark, July 23–28, 2023 Proceedings, Part I. Springer. ISSN 9783031356803. p. 61–73. doi: 10.1007/978-3-031-35681-0_4. Full text in Research Archive Show summary

  This work investigates how co-creation workshops, in which user journeys and personas are developed jointly with workshop participants, can be made as inclusive as possible for a wide range of participants and thus personas and journeys. The discussion is based on five recent research projects with 28 workshops in total and more than 78 participants, resulting in 31 user journeys and 25 personas. The lessons learned have been summarized as best-practice recommendations for the implementation of inclusive persona work and journey mapping. It is shown that both physical and virtual journey mapping workshops may result in a great diversity of personas and variety of journeys, provided that the participants are highly diverse, that universally designed tools and aids are used, and that inclusive techniques and protocols are followed.

• Saplacan, Diana; Schulz, Trenton; Tørresen, Jim & Pajalic, Zada (2023). Health Professionals’ Views on the Use of Social Robots with Vulnerable Users: A Scenario-Based Qualitative Study Using Story Dialogue Method, Proceedings of the 32nd IEEE International Conference on Robot & Human Interactive Communication (RO-MAN) 2023. IEEE (Institute of Electrical and Electronics Engineers). ISSN 9798350336719. p. 421–428. doi: 10.1109/RO-MAN57019.2023.10309644. Full text in Research Archive Show summary

  We used the story dialog method (SDM) to gather the viewpoints of health professionals about the use of social ro-bots in the home and healthcare services with vulnerable users. SDM consists of participants bringing stories that are discussed together. The aim of the study was to address universal design and accessibility issues with robots in specific use situations. Three social robots were used for this purpose in four stories: TIAGo, Romibo and robot companions. SDM method was used in two workshops with eight participants (33 invited, 12 re-cruited, and 8 participated in the end). The participants uncov-ered issues regarding ethics, responsibility, use of data, infra-structure, design, and user concerns based on provided stories and own experiences. These issues provide important aspects that should be considered when using robots with vulnerable us-ers and ensuring that a robot is usable by as many people as pos-sible. The main contribution of the paper is introducing the SDM method to Human-Robot Interaction community, as well as find-ings around universal design and accessibility of robots, in order to create more inclusive social robots.

• Abie, Habtamu; Schulz, Trenton & Savola, Reijo (2022). Adaptive Security and Trust Management for Autonomous Messaging Systems. arXiv.org. ISSN 2331-8422. doi: 10.48550/arXiv.2203.03559. Full text in Research Archive Show summary

  With society's increased dependence on information communication systems, the need for dependable, trustable, robust, and secure adaptive systems becomes ever more acute. Modern autonomic message-oriented middleware platforms have stringent requirements for self-healing, adapting, evolving, fault-tolerance, security, and active vulnerability assessment, especially when the internal working model of a system and the environmental influences on the system are uncertain during run-time. In this paper, we present an adaptive and evolving security approach, and adaptive trust management approach to autonomous messaging middleware systems. This approach learns, anticipates, evolves, and adapts to a changing environment at run-time in the face of changing threats. The approach combines adaptive risk-based security, trust-based security, and security-based trust: the resultant supra-additive synergy improves and increases the strength of security and the degree of trust in the system. The approach also integrates different metrics, assessment tools, and observation tools that improve and increase the assessability and verifiability of the trustworthiness of the system. Validation of results is through industrial case studies and end-user assessment.

• Schulz, Trenton & Fuglerud, Kristin Skeide (2022). Creating a Robot-Supported Education Solution for Children with Autism Spectrum Disorder. In Miesenberger, Klaus; Kouroupetroglou, Georgios; Mavrou, Katerina; Manduchi, Roberto; Rodriguez, Mario Covarrubias & Penaz, Petr (Ed.), Computers Helping People with Special Needs: 18th International Conference, ICCHP-AAATE 2022, Lecco, Italy, July 11–15, 2022, Proceedings, Part II. Springer Publishing Company. ISSN 9783031086458. p. 211–218. doi: 10.1007/978-3-031-08645-8_25. Full text in Research Archive Show summary

  We introduce the ROSA project that aims to provide robot supported education in the areas of communication, language, and emotion for children with autism spectrum disorder. The background for the project is reviewed and the basic idea and components of the ROSA toolbox is presented. The initial project activities of the project so far have focused on ethical issues with having a robot assist in teaching children with autism, possible mechanisms for motivation, and performing an initial introduction of the robot to some classes. These activities have provided a good grounding for the future project work.

• Schulz, Trenton & Fuglerud, Kristin Skeide (2022). Creating vignettes for a Robot-Supported Education Solution for Children with Autism Spectrum Disorder. In Vicente, José Manuel Ferrández; Álvarez-Sánchez, José Ramón; López, Felix de la Paz & Adeli, Hojjat (Ed.), Artificial Intelligence in Neuroscience: Affective Analysis and Health Applications: 9th International Work-Conference on the Interplay Between Natural and Artificial Computation, IWINAC 2022, Puerto de la Cruz, Tenerife, Spain, May 31 – June 3, 2022, Proceedings, Part I. Springer Nature. ISSN 9783031062421. p. 323–331. doi: 10.1007/978-3-031-06242-1_32. Full text in Research Archive Show summary

  As part of the work in developing a robotic toolkit to help children with ASD develop their social and communication skills, we have adapted a method for creating vignettes that has been fruitful in other studies. We present a brief background of earlier work that has been done with robots and children with ASD, the idea behind our toolkit, and how we have involved the different stakeholders so far. We then present our updated method for creating vignettes and how we plan to run our workshops. We close with discussing some current challenges and next steps.

• Hannay, Jo Erskine; Fuglerud, Kristin Skeide; Leister, Wolfgang & Schulz, Trenton (2022). Scenario Design for Healthcare Collaboration Training Under Suboptimal Conditions. Lecture Notes in Computer Science (LNCS). ISSN 0302-9743. 13320, p. 197–214. doi: 10.1007/978-3-031-06018-2_14. Full text in Research Archive Show summary

  Healthcare today usually consists of various services covering various parts of the total healthcare of a region or country. These services are required to coordinate and collaborate, often using procedures and IT collaboration tools that may not be designed for interoperating across the evolving wider landscape of healthcare services. We posit that it is necessary to train personnel in collaboration skills using whatever infrastructure is in place. To this end, we present design principles for simulation-based collaboration training scenarios that emphasizes the inclusion of suboptimal infrastructure elements. We applied the principles in a co-creational workshop with healthcare stakeholders from a hospital and surrounding municipalities in Norway where we discussed cases where collaboration training is perceived as critical. We elicited five training vignettes concerning the general case of detecting, and following up on, clinical deterioration in a patient at home or in a nursing home. We found that the design principles spurred highly relevant discussions among participants and that novel ideas for collaboration training were brought forth on the basis of these principles. We conclude that there is a potential in using these principles for eliciting training vignettes that address the actual situation more accurately.

• Simon-Liedtke, Joschua Thomas; Bong, Way Kiat; Schulz, Trenton Wade & Fuglerud, Kristin Skeide (2021). Remote Evaluation in Universal Design Using Video Conferencing Systems During the COVID-19 Pandemic. In Antona, M. & Stephanidis, C. (Ed.), Universal Access in Human-Computer Interaction - Design Methods and User Experience. Springer. ISSN 9783030780913. doi: 10.1007/978-3-030-78092-0_8. Full text in Research Archive Show summary

  Usability and accessibility evaluations with diverse users are an essential part of an iterative universal design process for digital solutions. The COVID-19 pandemic has made it difficult to run traditional local evaluations due to social distancing restrictions to reduce infections. Remote synchronous and asynchronous evaluation methods may be a solution if it can be used by various user groups, including people with impairments. Incorporating video conferencing systems into traditional remote evaluations can be a valuable supplement to—or, given the current situation, alternative to—traditional usability and accessibility evaluations. We present a protocol for remote formative usability evaluations designed with accessibility in mind. The protocol explains how to prepare for an evaluation and its technical setup, how to conduct synchronous evaluations using video conferencing systems, and how to debrief and analyze the collected data. We tested this protocol in a pilot study for an ongoing project where we ran both synchronous and asynchronous remote evaluations. In our pilot, the synchronous evaluation using video conferencing systems provided opportunities for richer qualitative data than the asynchronous evaluation as we ran it. The findings from the pilot study indicate that the protocol is feasible and can be used when having participants with diverse abilities or impairments. We also provide suggestions for others that wish to adapt the protocol.

• Halbach, Till; Schulz, Trenton; Leister, Wolfgang & Solheim, Ivar (2021). Robot-Enhanced Language Learning for Children in Norwegian Day-Care Centers. Multimodal Technologies and Interaction. 5(12). doi: 10.3390/mti5120074. Full text in Research Archive Show summary

  In a case study, we transformed the existing learning program Language Shower, which is used in some Norwegian day-care centers in the Grorud district of Oslo municipality, into a digital solution using an app for smartphones or tablets with the option for further enhancement of the presentation by a NAO robot. The solution was tested in several iterations and multiple daycare centers over several weeks. Measurements of the children’s progress across learning sessions indicated a positive impact of the program using a robot as compared to the program without a robot. In situ observations and interviews with day-care center staff confirmed the solution’s many advantages, but also revealed some important areas for improvement. In particular, the speech recognition needs to be more flexible and robust, and special measures have to be in place to handle children speaking simultaneously. Keywords: social robot; mobile app; e-learning; language education; kindergarten; preschool; case study

• Herstad, Jo; Schulz, Trenton Wade & Saplacan, Diana (2021). T-able: An Investigation of Habituating Moving Tables at Home. In Verma, Ira (Eds.), Universal Design 2021: From Special to Mainstream Solutions. IOS Press. ISSN 9781643681900. p. 238–251. doi: 10.3233/SHTI210400. Full text in Research Archive Show summary

  This paper investigates the philosophical and designerly questions of how the concepts of familiarity, orientation, and habituation can be used to understand a selfmoving (semi-autonomous robot) table at home. Tables are familiar habituated objects in domestic settings for people with various abilities. We explore the idea of a selfmoving table through the lens of universal design. Phenomenology is applied to get a grip on ways of orienting and being oriented by such habituated familiar objects. Specifically, we investigate how the t-able is used as a telephone table, where the telephone is always charged and in a fixed place on the table. This is an attempt to make the telephone easier to use and relate to at home. The paper aims to inform future robots' design for the independently living elderly by designing robots mainly from natural materials, such as wood. We also discuss similarities and differences between the universal design of the built environment and ICT environments with this paper.

• Schulz, Trenton Wade; Soma, Rebekka & Holthaus, Patrick (2021). Movement acts in breakdown situations: How a robot's recovery procedure affects participants' opinions. Paladyn - Journal of Behavioral Robotics. ISSN 2080-9778. 12(1), p. 336–355. doi: 10.1515/pjbr-2021-0027. Full text in Research Archive Show summary

  Recovery procedures are targeted at correcting issues encountered by robots. What are people’s opinions of a robot during these recovery procedures? During an experiment that examined how a mobile robot moved, the robot would unexpectedly pause or rotate itself to recover from a navigation problem. The serendipity of the recovery procedure and people’s understanding of it became a case study to examine how future study designs could consider breakdowns better and look at suggestions for better robot behaviors in such situations. We present the original experiment with the recovery procedure. We then examine the responses from the participants in this experiment qualitatively to see how they interpreted the breakdown situation when it occurred. Responses could be grouped into themes of sentience, competence, and the robot’s forms. The themes indicate that the robot’s movement communicated different information to different participants. This leads us to introduce the concept of movement acts to help examine the explicit and implicit parts of communication in movement. Given that we developed the concept looking at an unexpected breakdown, we suggest that researchers should plan for the possibility of breakdowns in experiments and examine and report people’s experience around a robot breakdown to further explore unintended robot communication.

• Schulz, Trenton Wade; Halbach, Till & Solheim, Ivar (2020). Using social robots to teach language skills to immigrant children in an oslo city district. ACM/IEEE International Conference on Human-Robot Interaction (HRI). ISSN 2167-2121. p. 442–444. doi: 10.1145/3371382.3378257. Full text in Research Archive Show summary

  Social robots have been shown to help in language education for children. This can be good aid for immigrant children that need additional help to learn a second language their parents do not understand to attend school. We present the setup for a long-term study that is being carried out in blinded to aid immigrant children with poor skills in the Norwegian language to improve their vocabulary. This includes additional tools to help parents follow along and provide additional help at home.

• Saplacan, Diana; Herstad, Jo & Schulz, Trenton Wade (2020). Situated Abilities within Universal Design – A Theoretical Exploration. International Journal on Advances in Intelligent Systems. 13(34), p. 278–291. Full text in Research Archive Show summary

  This paper investigates Universal Design (UD) through the idea of designing for situated abilities, rather than focusing on designing for disabled users. This shift in perspective from disabilities to abilities is explored through the design of a domestic robot that integrates into our homes, in a familiar way. We explore the concept of designing for situated abilities through a proof-of-concept robotic wooden table, the T-ABLE, as an alternative design for domestic robots. Finally, the paper identifies four dimensions of situated abilities.

• Fuglerud, Kristin Skeide; Schulz, Trenton Wade; Janson, Astri Letnes & Moen, Anne (2020). Co-creating persona scenarios with diverse users enriching inclusive design. Lecture Notes in Computer Science (LNCS). ISSN 0302-9743. 12188, p. 48–59. doi: 10.1007/978-3-030-49282-3_4. Full text in Research Archive Show summary

  In this article, we will examine personas as methodological approach and review some critiques about how its use may omit or stereotype users with disabilities or even restrict user involvement. We review previous persona creation methods and compare it to our approach where we involve diverse users directly in the personas creation process, to ensure more grounded personas. This approach has recently been refined in a project where we are building a tool aiming to give citizens more control over their health information. We discuss our experiences and offer some experience based guidelines for using our method.

• Bråthen, Heidi; Maartmann-Moe, Harald & Schulz, Trenton Wade (2019). The Role of Physical Prototyping in Participatory Design with Older Adults. In Kokil, Uttam & Ota, Tomoko (Ed.), ACHI 2019, The Twelfth International Conference on Advances in Computer-Human Interactions. International Academy, Research and Industry Association (IARIA). ISSN 9781612086866. p. 141–146. Full text in Research Archive Show summary

  How can older adults actively participate in the design processes of assistive robots designed for their homes? We have organized workshops with a group of older adults who worked actively with materials and physical prototyping to design a fetch robot for the home. We present the basics of the workshop materials, how the workshop was performed, and findings on the role of physical prototyping from the workshops.

• Schulz, Trenton Wade; Holthaus, Patrick; Amirabdollahian, Farshid; Koay, Kheng Lee; Tørresen, Jim & Herstad, Jo (2019). Differences of Human Perceptions of a Robot Moving using Linear or Slow in, Slow out Velocity Profiles When Performing a Cleaning Task. In Cabibihan, John-John; Anne, Williams Mary; Asokan, T & Behera, Laxmidhar (Ed.), 2019 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN). IEEE (Institute of Electrical and Electronics Engineers). ISSN 9781728126227. doi: 10.1109/RO-MAN46459.2019.8956355. Full text in Research Archive Show summary

  We investigated how a robot moving with different velocity profiles affects a person’s perception of it when working together on a task. The two profiles are the common linear profile and a profile based on the animation principles of slow in, slow out. The investigation was accomplished by running an experiment in a home context where people and the robot cooperated on a clean-up task. We used the Godspeed series of questionnaires to gather people’s perception of the robot. Average scores for each series appear not to be different enough to reject the null hypotheses, but looking at the component items provides paths to future areas of research. We also discuss the scenario for the experiment and how it may be used for future research into using animation techniques for moving robots and improving the legibility of a robot’s locomotion.

• Schulz, Trenton Wade; Tørresen, Jim & Herstad, Jo (2019). Animation Techniques in Human-Robot Interaction User Studies: A Systematic Literature Review. ACM Transactions on Human-Robot Interaction. 8(2). doi: 10.1145/3317325. Full text in Research Archive Show summary

  There are many different ways a robot can move in Human-Robot Interaction. One way is to use techniques from film animation to instruct the robot to move. This article is a systematic literature review of human-robot trials, pilots, and evaluations that have applied techniques from animation to move a robot. Through 27 articles, we find that animation techniques improves an individual’s interaction with robots, improving the individual’s perception of qualities of a robot, understanding what a robot intends to do, and showing the robot’s state or possible emotion. Animation techniques also help people relate to robots that do not resemble a human or robot. The studies in the articles show further areas for research, such as applying animation principles in other types of robots and situations, combining animation techniques with other modalities, and testing robots moving with animation techniques over the long term.

• Schulz, Trenton Wade; Holthaus, Patrick; Amirabdollahian, Farshid & Koay, Kheng Lee (2019). Humans' Perception of a Robot Moving Using a Slow in and Slow Out Velocity Profile. ACM/IEEE International Conference on Human-Robot Interaction (HRI). ISSN 2167-2121. 2019-March, p. 594–595. doi: 10.1109/HRI.2019.8673239. Full text in Research Archive
• Schulz, Trenton Wade; Herstad, Jo & Tørresen, Jim (2018). Classifying Human and Robot Movement at Home and Implementing Robot Movement Using the Slow In, Slow Out Animation Principle. International Journal on Advances in Intelligent Systems. 11(3&4), p. 234–244. doi: 10.1109/ro-man46459.2019.8956355. Full text in Research Archive Show summary

  We examine how robot movement can help human-robot interaction in the context of a robot helping people over 60-years old at home. Many people are not familiar with a robot moving in their home. We present four movement conditions to classify movement between a human and robot at home. Using phenomenology and familiarity, we recognize some of these conditions from other interactions people have with other moving things. Using techniques from animation in movies, we give to the robot a distinctive style that can make the robot’s movement more familiar and easier to understand. Further on, we examine animation and present how to implement the animation principle of slow in, slow out with a research robot that can control its speed. We close the paper with future work on how to use the classification system, how to build on the slow in, slow out principle implementation for animated robots, and an outline for a future experiment.

• Halbach, Till; Solheim, Ivar; Ytrehus, Siri & Schulz, Trenton (2018). A mobile application for supporting dementia relatives: A case study. In Craddock, Gerald; Doran, Cormac; McNutt, Larry & Rice, Dónal (Ed.), Transforming our World Through Design, Diversity and Education. IOS Press. ISSN 9781614999225. Full text in Research Archive
• Schulz, Trenton Wade; Herstad, Jo & Holone, Harald (2018). Privacy at Home: An Inquiry into Sensors and Robots for the Stay at Home Elderly. In Zhou, Jia & Salvendy, Gavriel (Ed.), Human Aspects of IT for the Aged Population. Applications in Health, Assistance, and Entertainment: 4th International Conference, ITAP 2018, Held as Part of HCI International 2018, Las Vegas, NV, USA, July 15–20, 2018, Proceedings, Part II. Springer Nature. ISSN 9783319920368. p. 377–394. doi: 10.1007/978-3-319-92037-5_28. Full text in Research Archive Show summary

  The elderly in the future will use smart house technology, sensors, and robots to stay at home longer. Privacy at home for these elderly is important. In this exploratory paper, we examine different understandings of privacy and use Palen and Dourish’s framework to look at the negotiation of privacy along boundaries between a human at home, the robot, and its sensors. We select three dilemmas: turning sensors on and off, the robot seeing through walls, and machine learning. We discuss these dilemmas and also discuss ways the robot can help make the elderly more aware of privacy issues and to build trust.

• Schulz, Trenton Wade & Soma, Rebekka (2018). The role of animacy for communicating behavior in robots. In Bratteteig, Tone; Sandnes, Frode Eika & Berget, Gerd (Ed.), Proceedings of the 10th Nordic Conference on Human-Computer Interaction. ACM Publications. ISSN 9781450364379. p. 676–680. doi: 10.1145/3240167.3240246. Full text in Research Archive Show summary

  This paper examines the role perception of movements has had in the development for biological systems. We used a phenomenological investigation into perception in nature. This investigation enables us to look at how concepts and techniques from film animation can be applied to communicate robot behavior. Finally, we discuss future work and research.

• Halbach, Till; Solheim, Ivar; Ytrehus, Siri & Schulz, Trenton Wade (2018). A Mobile Application for Supporting Dementia Relatives: A Case Study. In Craddock, Gerald; Doran, Cormac; McNutt, Larry & Rice, David (Ed.), Transforming our World Through Design, Diversity and Education: Proceedings of Universal Design and Higher Education in Transformation Congress 2018. IOS Press. ISSN 9781614999232. p. 839–846. doi: 10.3233/978-1-61499-923-2-839. Full text in Research Archive Show summary

  This work presents DILP, a project and solution for caregivers and relatives of persons with dementia. The app aims at providing help on demand and covers topics like medical and psychological issues, communication, legal and financial issues, practical advice for everyday challenges, and more. The technology is explained in detail, and special attention is given to the user-centered development and content authoring. The final solution was tested in the field by relatives of persons with dementia and health workers with many encouraging results regarding usefulness, usability, structure, and others. However, the trials also showed that functionality like search and find-ability of information was difficult to achieve.

• Soma, Rebekka; Søyseth, Vegard Dønnem; Søyland, Magnus & Schulz, Trenton Wade (2018). Facilitating Robots at Home: A Framework for Understanding Robot Facilitation. In Gersbeck-Schierholz, Birgit; Wögerer, Christian & Schulz, Steffen Gerhard (Ed.), ACHI 2018, The Eleventh International Conference on Advances in Computer-Human Interactions. International Academy, Research and Industry Association (IARIA). ISSN 9781612086163. p. 1–6. Full text in Research Archive Show summary

  One of the primary characteristics of robots is the ability to move autonomously in the same space as humans. In what ways does movement influence the interaction between humans and robot? In this paper, we examine how work is changed by the deployment of service robots. Through a multiple case study, the phenomenon is investigated, both in an industrial and domestic context. Through analyzing our data, we propose a framework for understanding the change of tasks named the Robot Facilitation Framework.

• Schulz, Trenton Wade; Herstad, Jo & Tørresen, Jim (2018). Moving with Style: Classifying Human and Robot Movement at Home. In Gersbeck-Schierholz, Birgit; Wögerer, Christian & Schulz, Steffen Gerhard (Ed.), ACHI 2018, The Eleventh International Conference on Advances in Computer-Human Interactions. International Academy, Research and Industry Association (IARIA). ISSN 9781612086163. p. 188–193. Full text in Research Archive Show summary

  A robot moving in the home is a new experience for most people. Classifying the different ways that humans and robots move together can help in designing interactions. In this paper, we first put robots’ movements into two categories: global—where a robot changes position in the home—or local—where a robot’s position does not change, but parts of it move. We also look at the idea of animation and how it can give a robot style. Building on these definitions, we present four movement conditions to classify movement between a human and robot at home. Using familiarity, we can recognize some of these conditions from other interactions we have. Using animation, we can give the robot a style that can make the robot’s movement more familiar and easier to understand. We close the paper with possible ways of using this classification system for future research.

• Leister, Wolfgang; Fongen, Camilla; Soldal, Dag; Hagen, Kåre Birger; Schulz, Trenton Wade & Aursand, Peder [Show all 16 contributors for this article] (2017). Evidence-Based Self-Management for Spondyloarthritis Patients. International Journal on Advances in Life Sciences. 9(3&4), p. 92–105. Full text in Research Archive Show summary

  We present a concept including a set of tools for selfmanagement for patients suffering from axial spondyloarthritis (SpA). This concept involves patient-recorded outcome measures, both subjective assessment and clinical measurements, that are used to present recommendations. We report from experiences made while implementing a proof of this concept and analyse it from several perspectives. Our work resulted in proposing a self-management tool for the patient, improving the methodology for clinical measurements of rotation exercises, and proof the viability for using on-board sensors in smart phones. Further, since sensors collect data in a medical setting, we present ethical considerations.

• Schulz, Trenton Wade & Herstad, Jo (2017). Walking Away from the Robot: Negotiating Privacy with a Robot. In Hall, Lynn; Flint, Tom; O’Hara, Suzy & Turner, Phil (Ed.), Proceedings of the 31st International BCS Human Computer Interaction Conference (HCI 2017). British Computer Society (BCS). ISSN 9781906124045. doi: 10.14236/ewic/HCI2017.83. Full text in Research Archive Show summary

  Privacy is often applied as an abstract concept in law and regulations. In everyday life, negotiating what information to share with whom, where, and at what times, and in what situations may be a challenge at home and in public space. We apply Palen and Dourish’s framework for understanding and discussing privacy to a setting of living with moving robots at home. We compare different ways sensors might be placed in a home environment, and what role proxemics, or motion technologies might have for the negotiation of privacy. By highlighting the role of the place and movement of the sensors, we discuss concrete privacy issues that are emerging with networked robot technologies at home. We hope to contribute new ways of thinking to users, designers, and analysts for creating and using mobile, networked technologies in domestic places.

• Bai, Aleksander; Mork, Heidi Camilla; Schulz, Trenton Wade & Fuglerud, Kristin Skeide (2016). Evaluation of accessibility testing methods. which methods uncover what type of problems? Studies in Health Technology and Informatics. ISSN 0926-9630. 229, p. 506–516. doi: 10.3233/978-1-61499-684-2-506. Full text in Research Archive Show summary

  We examined fourteen accessibility evaluation methods and put them into four categories based on the knowledge and resources required to perform them. We also classified the methods based on whether they evaluated technical or usable accessibility. Then, we selected four of these methods from different categories to evaluate accessibility of an e-ID solution. We looked for confusing and critical issues. Each method found unique issues and overlapping issues, but no single method found more than half of the issues. This information should help inform future accessibility evaluations of other solutions and can aid other teams in selecting methods based on their specific goals and resources.

• Leister, Wolfgang; Tjøstheim, Ingvar; Schulz, Trenton Wade; Joryd, Göran; Larssen, Andreas & Brisis, Michel de (2016). Assessing Visitor Engagement in Science Centres and Museums. International Journal on Advances in Life Sciences. 8(1&2), p. 50–64. Full text in Research Archive Show summary

  Science centres and museums struggle to measure how engaging specific installations are for visitors. We present a framework for assessing visitor engagement by using non-intrusive technologies. We present a profile for mapping out an installation over eight dimensions and how we created it. We also present techniques for performing assessments using the facial expressions of visitors and asking short, targeted questions to visitors. Combining these together results in a fast assessment that happens as a visitor interacts with an installation. We have performed evaluations of three different installations in three science centres: one looked at the role of competition in exhibits, one at ways to automate the assessment, and another at how altering components like narrative in an installation affects the assessment’s result. The assessment framework and classification method work in multiple installations and form the basis for a new tool for measuring engagement in a visitor centres and museums.

• Leister, Wolfgang; Fongen, Camilla; Soldal, Dag; Hagen, Kåre Birger; Schulz, Trenton Wade & Bai, Aleksander [Show all 15 contributors for this article] (2016). Towards Evidence-Based Self-Management for Spondyloarthritis Patients. In Khachfe, Hassan & Leister, Wolfgang (Ed.), GLOBAL HEALTH 2016, The Fifth International Conference on Global Health Challenges. International Academy, Research and Industry Association (IARIA). ISSN 9781612085111. p. 43–48. Full text in Research Archive Show summary

  We developed a concept including a set of tools for self-management for patients suffering from axial spondyloarthritis (SpA). This concept involves patient-recorded outcome measures, both subjective assessment and clinical measurements, that are used to present recommendations. We report from experiences made while implementing a proof of this concept. Besides giving the patient a self-management tool, our work also improved the methodology for clinical measurements.

• Bai, Aleksander; Mork, Heidi Camilla; Halbach, Till; Fuglerud, Kristin Skeide; Leister, Wolfgang & Schulz, Trenton Wade (2016). A Review of Universal Design in Ambient Intelligence Environments, SMART ACCESSIBILITY 2016, The First International Conference on Universal Accessibility in the Internet of Things and Smart Environments. International Academy, Research and Industry Association (IARIA). ISSN 9781612085258. p. 6–11. Full text in Research Archive Show summary

  This work summarizes the state of research in universal design in ambient intelligence environments. We provide a detailed background, specify relevant research areas, and review research in these areas. We discuss the findings and put them into perspective with regard to universal design and accessibility in smart environments, and point out research shortcomings concerning ambient intelligence and hybrid interactions. Our findings show that the majority of related work needs stronger emphasis on aspects related to universal design in general; universal design in ambient intelligence; universal design in multimodal interactions; and universal design in security, privacy, and other ethical aspects of smart environments.

View all works in NVA

• Fuglerud, Kristin Skeide; Schulz, Trenton Wade; Janson, Astri Letnes & Moen, Anne (2020). Co-creating persona scenarios with diverse users enriching inclusive design. Springer. ISBN 9783030492823. 12 p. doi: 10.1007/978-3-030-49282-3_4. Full text in Research Archive Show summary

  In this article, we will examine personas as methodological approach and review some critiques about how its use may omit or stereotype users with disabilities or even restrict user involvement. We review previous persona creation methods and compare it to our approach where we involve diverse users directly in the personas creation process, to ensure more grounded personas. This approach has recently been refined in a project where we are building a tool aiming to give citizens more control over their health information. We discuss our experiences and offer some experience based guidelines for using our method.

View all works in NVA

• Schulz, Trenton (2026). ROSA-repertoaret: Utvikling og praktisk anvendelse av aktiviteter og verktøy for robotstøttet læring. doi: https:/nr.no/arrangementer/rosa-prosjektet-sluttseminar-om-robotstottet-laering/?fbclid=IwY2xjawRIwvVleHRuA2FlbQIxMABicmlkETBodkdiRXByMkgxNmU0TUptc3J0YwZhcHBfaWQQMjIyMDM5MTc4ODIwMDg5MgABHgnC2Edxh92ZFO51ZeV0ghY_Zg33LadenusrZuQgEA53wQkzUSal3tnmZedt_aem_IS3tQ32V8fGFnRJ2_gda7A. Full text in Research Archive Show summary

  Presentasjon av ROSA-repertoaret, inkludert læringsaktiviteter, lærergrensesnitt, elevgrensesnitt, innhold fra Cyberbook og funksjonalitet knyttet til den sosiale roboten NAO. Innlegget beskriver hvordan teknologiske komponenter og pedagogisk innhold ble kombinert til et fleksibelt repertoar for bruk i spesialundervisning, samt erfaringer fra implementeringen i skolehverdagen

• Schulz, Trenton (2025). Presentasjon av roboten til Teknogruppe. Full text in Research Archive
• Schulz, Trenton; Torrado, Juan Carlos; Badescu, Claudia Andrea & Fuglerud, Kristin Skeide (2025). A Robot Repertoire for Assisting Teaching Children with Autism. Full text in Research Archive Show summary

  We present a set of components for a robot-based framework (or repertoire) that has been used for assisting teachers in their work with children with autism and how it has been used for two pilots and its main study. We also document challenges that we have encountered while deploying the repertoire and possible future directions.

• Eide, Hilde; Guldberg, Karen; Eide, Tom; Renate, Jensen; Larsen, Kenneth & Schulz, Trenton [Show all 10 contributors for this article] (2025). Communicating with «Robbie» - A case study: (How) Does Robbie provide Transactional Support in Learning Situations? Full text in Research Archive Show summary

  Background: The prevalence of autistic children is increasing. In the Norwegian project “Robot-supported language development for children with Autism Spectrum Disorder (ROSA) the robot NAO (called “Robbie” by the pupils) is used to stimulate social interaction and language development. In October-24 pilot 2 in the study will be performed. 8-12 autistic pupils in different language development stages will participate. For each child four robot-child-interactions will be video-recorded. Two teachers will participate in the learning interactions, one being the child’s primary teacher, the other serving as a learning assistant, steering the robot responses with a remote control and providing learning tasks and learning games. The aim of the pilot is to test the feasibility of the robot interactions, establish interrater-agreement of the SCERTS-coding, and determine meaningful outcome measures for a larger study. The SCERTS-method will be used to code the videos SCERTS provides a structured framework and systematic method for selecting educational objectives that are meaningful to the child, family and setting. The original SCERTS Assessment Protocol (SAP) is a curriculum-based assessment tool for gauging individual children’s capacity to use certain skills and to engage in tasks across meaningful, everyday contexts. The emphasis is on understanding the functional role of an individual child’s behaviors and communicative acts. Assessment of a child’s level of social and communicative competence is based on detailed behavioral criteria derived from the SAP. The method focuses on capacity for joint attention and capacity for symbol use. The early language development stage the child has, is identified as a) social partner, b) language partner or c) conversational partner. The different stages require different responses to support learning (transactional support) as well as specific and individual goals. On beforehand the teachers have evaluated the pupils with SCERTS as a baseline. Analyses: The plan is to describe the children´s scores on specifically chosen SCERTS-dimensions as individual cases (social communication; joint attention and symbol use and emotional regulation; mutual regulation and self-regulation). Further the teachers and the robot will be scored on transactional support. Questions to discuss at OCHER: Do these measures reveal meaningful outcomes? Discuss possible issues we ran into establishing interrater-agreement.

• Schulz, Trenton (2024). ROSA Launcher: Grensesnitt for enkel oppstart av fjernkontroll (Prototype). Full text in Research Archive Show summary

  Et grensesnitt hvor man lett kan starte fjernkontroll fra ROSA-repertoaret, med fokus på enkel tilgang og effektiv oppstart.

• Schulz, Trenton & Utseth, Ingrid (2024). A Rock, Paper, Scissors Robot for Engaging Interest in Research. Full text in Research Archive
• Badescu, Claudia Andrea & Schulz, Trenton (2023). Fjernkontroll av NAO-robot (prototype). Full text in Research Archive Show summary

  Dette er en webapplikasjon for nettbrett eller PC som gjør det mulig å fjernstyre en NAO-robot. Med løsningen kan man enkelt bestemme hva roboten skal si og gjøre i dialog med en elev. Applikasjonen inneholder en rekke ferdigprogrammerte fraser, danser og bevegelser, men brukeren kan også skrive inn egen tekst som roboten skal si. En versjon av prototypen fungerer med både NAO og Misty II.

• Schulz, Trenton & Saplacan, Diana (2023). Universal Design of Robots / Universell Utformning av Robottar. Full text in Research Archive
• Hannay, Jo Erskine; Fuglerud, Kristin Skeide; Leister, Wolfgang & Schulz, Trenton (2022). Scenario Design for Healthcare Collaboration Training Under Suboptimal Conditions. Full text in Research Archive
• Schulz, Trenton (2021). Felles verktøy for samarbeid i ROSA prosjektet. Full text in Research Archive
• Schulz, Trenton (2021). Presentation of the ROSA project for master students at USN. Full text in Research Archive
• Schulz, Trenton (2021). Presentation of the ROSA project for IFI Design Students. Full text in Research Archive
• Schulz, Trenton (2021). Presentation of the ROSA project for master students in Robin. Full text in Research Archive
• Schulz, Trenton (2021). Motivasjonsmekanismer. Full text in Research Archive
• Schulz, Trenton & Jørgensen, Gro (2021). Teknologiske byggeklosser. Full text in Research Archive
• Schulz, Trenton Wade (2019). Differences of Human Perceptions of a Robot Moving using Linear or Slow in, Slow out Velocity Profiles When Performing a Cleaning Task. Full text in Research Archive
• Schulz, Trenton Wade (2018). The MECS project and making robots move with animation techniques. Full text in Research Archive
• Tørresen, Jim; Schulz, Trenton Wade; Uddin, Md Zia; Khaksar, Weria & Prestes, Edson (2018). Robot Companions for Older People – Ethical Concerns. Full text in Research Archive
• Schulz, Trenton Wade (2018). Privacy at Home: An Inquiry into Sensors and Robots for the Stay at Home Elderly. Full text in Research Archive
• Schulz, Trenton Wade (2018). Moving with Style: Classifying movement with Humans & Robots. Full text in Research Archive
• Schulz, Trenton Wade (2018). Facilitating Robots at Home: A Framework for Understanding Robot Facilitation. Full text in Research Archive
• Halbach, Till; Solheim, Ivar; Ytrehus, Siri & Schulz, Trenton Wade (2018). A Mobile Application for Supporting Dementia Relatives: A Case Study. Full text in Research Archive
• Schulz, Trenton Wade (2018). Making Robots Move Using Animation Techniques. Full text in Research Archive
• Tørresen, Jim; Schulz, Trenton Wade; Khaksar, Weria; Uddin, Md Zia & Søyseth, Vegard Dønnem (2018). Presentasjon av MECS prosjektet på Kampen Omsorg. Full text in Research Archive
• Khaksar, Weria; Uddin, Md Zia; Schulz, Trenton Wade & Tørresen, Jim (2018). Introducing a Robotic Multimodal Elderly Care system (MECS). Full text in Research Archive
• Saplacan, Diana; Schulz, Trenton Wade; Søyseth, Vegard Dønnem; Søyland, Magnus & Tørresen, Jim (2017). MECS presentasjon. Full text in Research Archive
• Saplacan, Diana; Schulz, Trenton Wade & Herstad, Jo (2017). MECS Status Report - An explorative instrumental study about having a vacuum cleaner robot in home – learnings more about a safety alarm robot for the elderly. Full text in Research Archive
• Wang, Ruijie; Chen, Liming; Solheim, Ivar; Schulz, Trenton Wade & Avesh, Aladdin (2017). Conceptual Motivation Modelling for Students with Dyslexia for Enhanced Assistive Learning. Full text in Research Archive
• Schulz, Trenton Wade (2017). A Literature Review of Animation in Robot Motion. Full text in Research Archive
• Schulz, Trenton Wade (2017). Presentation: Walking Away from the Robot: Negotiating Privacy with a Robot. Full text in Research Archive
• Schulz, Trenton Wade (2017). My PhD & the MECS project. Full text in Research Archive
• Schulz, Trenton; Fuglerud, Kristin Skeide & Stølen, Vibeke (2026). Rapport fra workshops, personaer brukerreise og spørreundersøkelse. Norsk Regnesentral. Full text in Research Archive Show summary

  Dette notatet oppsummerer arbeidet gjort i ReDUGUSON-prosjektet. Prosjektet ble gjennomført i samarbeid med VoiceOn AS og finansiert av FORREGION VIKEN. Prosjektet hadde til hensikt å kartlegge hvem som kunne dra nytte av innholdsopplesningstjenester. Vi holdt workshopper med personer med nedsatt syn og personer som hadde hatt slag og hadde afasi. I workshopene diskuterte man temaer knyttet til informasjon på offentlige sider, hjelpemidler og lovgivning. Deltakerne fikk mulighet til å undersøke tjenester som tilbød innholdsopplesning og ga tilbakemeldinger på dem. Noen ideer til forbedringer rundt etikk er presentert her. I tillegg skapte deltakerne sammen utkast til personaer og brukerreiser. De endelige utgavene av disse er presentert i rapporten. Deltakerne hadde også mulighet til å fylle ut et spørreskjema. Spørreskjemaet viste stor nytte av innholdsopplesning for deltakerne. Til slutt presenterer vi noen mulige steder for et hovedprosjekt.

• Schulz, Trenton (2025). Standards for Universal Design of Robots. Norsk Regnesentral. Full text in Research Archive Show summary

  This note is a summary of the work done in the Standards for Universal Design of Robots Project. It includes results from the standards search, a summary of standards purchased in the project, requirements generated for our context of a robot used in a daycare or special school, and updated requirements for the Norwegian context. We also document how using standards can be combined with the work from accessibility testing in the previous project on universal design of robots.

• Schulz, Trenton; Lindblom, Diana Saplacan; Tørresen, Jim & Badescu, Claudia Andreea (2024). Teach Me How To Dance: An exploration of motion translation methods using the ZTL framework for use with children with autism in educational settings. Universitetet i Oslo. Full text in Research Archive
• Schulz, Trenton & Utseth, Ingrid (2024). Summary rock-paper-scissors robot 2024. Norsk Regnesentral. Full text in Research Archive Show summary

  We present a NAO robot that plays rock, paper, scissors with participants. The robot was an attempt to show how different aspects of computer science can be combined to make a fun and interesting interaction. We document the idea, how the different components work together, some events where we used the robot, and directions for future work.

• Fuglerud, Kristin Skeide; Halbach, Till; Schulz, Trenton; Simon-Liedtke, Joschua Thomas & Torrado, Juan Carlos (2024). Forskning innen digital inkludering: Erfaringer og anbefalinger for bruk av metoder, verktøy og praktisk tilrettelegging — 2025-utgave: Håndtering av erkjentlighetsgaver, teksting og transkribering av multimedia, verktøy for dataanalyse, personvern og taushetserklæring. Norsk Regnesentral. Full text in Research Archive
• Schulz, Trenton & Utseth, Ingrid (2023). Oppsummering: stein-saks-papir robot. Norsk Regnesentral. Full text in Research Archive
• Fuglerud, Kristin Skeide; Halbach, Till; Schulz, Trenton & Simon-Liedtke, Joschua Thomas (2023). Forskning innen digital inkludering: Erfaringer og anbefalinger for bruk av metoder, verktøy og praktisk tilrettelegging 2023 utgave. Norsk Regnesentral. Full text in Research Archive
• Leister, Wolfgang; Kristoffersen, Thor O. & Schulz, Trenton (2022). SoundVision D4.4: Indoor Navigation and Location Finder. Norsk Regnesentral. Full text in Research Archive Show summary

  This document presents details from the implementation of the Location Finder functionality. We made a short survey of indoor-map formats and adjacent software that could be used for modelling. Further, we developed the database for the navigation finder, the data format, as well as how to create models. We propose and describe the Soundvision Indoor Routing Format (SIRF) in this document. The location finder makes use of a map to facilitate the navigation functionality. The navigation is supposed to be performed indoors. The navigation accuracy will be ca. 1 m, so that small details in a room are not necessarily mapped.

• Schulz, Trenton & Saplacan, Diana (2022). Notes from Literature about Universal Design, Accessibility & Robots. Norsk Regnesentral. Full text in Research Archive Show summary

  This document collects results from a search that was done to find out what research have been done regarding universal design and accessibility of robots. The search turned up 13 articles in this topic. Articles about universal design focused more on how an environment could be made to be universally designed for a robot. There were also several articles about how robots can be an assistive technology for people with vision impairment or hearing impairment. There were a couple of articles that raised the topic of accessibility requirements for a robot. This was further developed in a PhD thesis from earlier this year that provides a promising starting point for future work.

• Schulz, Trenton & Saplacan, Diana (2022). Performing Accessibility Evaluations for Social Robot. Norsk Regnesentral. Full text in Research Archive Show summary

  This note is a compilation of several evaluations that were done as part of the UD-Robots project. The method used is based on WCAG-EM and initially introduced by Al-Qbilat. We have given it a name: Accessible Socially Assistive Robots Evaluation Method (ASAR-EM). We evaluate 5 robots: a NAO, a Pepper, AV1, Berntsen, and Tiago, and present the results from the evaluation.

• Fuglerud, Kristin Skeide; Halbach, Till; Schulz, Trenton & Simon-Liedtke, Joschua Thomas (2022). Tilrettelegging av forskningsmetoder for brukerinvolvering: Håndtering av erkjentlighetsgaver, teksting og transkribering av multimedia, verktøy for dataanalyse, personvern og taushetserklæring. Norsk Regnesentral. Full text in Research Archive Show summary

  Dette dokumentet beskriver forskningsmetodene Norsk Regnesentral bruker når brukere er involvert i forskningen. Metodene som er dokumentert er blant annet: - Hvordan transkribere samtaler (automatisk og manuelt) - Erkjentlighetsgaver til deltakere i prosjektaktiviteter og testbrukere - Verktøy for tematiske analyser og andre oppgaver - Taushetserklæring for involvering av sommerstudenter eller andre midlertidige prosjektdeltagere Dokumentet er ment som et øyeblikksbilde og bør oppdateres over tid.

• Schulz, Trenton & Leister, Wolfgang (2022). SoundVision D1.3 Technical Documentation for Making Models. Norsk Regnesentral. Full text in Research Archive Show summary

  This is a summary of what is needed to be done to create the models that are used in the SoundVision project. This includes hardware, software, gathering datasets, and workflows for how to create the models. The documentation should make it possible to start from scratch and creating models quickly (although training the models may take some time depending on the hardware).

• Schulz, Trenton; Leister, Wolfgang & Mavrodiev, Stefan (2022). SoundVision D1.3 Technical Documentation V3. Norsk Regnesentral. Full text in Research Archive Show summary

  This document is a summary of the technical components and the documentation for creating models used in the SoundVision project.

• Saplacan, Diana; Pajalic, Zada & Schulz, Trenton W. (2022). Report on user activities in UD-Robots Project - Are social robots universally designed? Norsk Regnesentral. Full text in Research Archive
• Schulz, Trenton; Leister, Wolfgang; Dineva, Doroteya & Zhelev, Zhelyazko (2022). SoundVision D6.1: Recruitment of focus group. Norsk Regnesentral. Full text in Research Archive Show summary

  This document collects the various bits of information around the recruitment of focus groups for the SoundVision project.

• Schulz, Trenton & Leister, Wolfgang (2022). SoundVision D4.6 Read out loud Functionality. Norsk Regnesentral. Full text in Research Archive
• Haugen, Bjørn K; Schulz, Trenton; Leister, Wolfgang & Kristoffersen, Thor O. (2022). SoundVision – User Evaluation Report from Norway. Norsk Regnesentral. Full text in Research Archive Show summary

  This document is a collection of different deliverables in the SoundVision project for user evaluation and focus groups. The document contains the deliverables: D1.7 Report from focus group work, trials, D6.2 User testing, 1st round, D6.3 User testing, 2nd round, and D6.4 User testing 3rd round. The deliverables are presented together for ease of reading, but each of these deliverables is presented in their own section. The user evaluation and focus groups shows that people are interested in the concept of the device and the app, but there are many things that must be improved in a future version.

• Schulz, Trenton (2022). SoundVision D5.1: Test plan for mobile app. Norsk Regnesentral. Full text in Research Archive
• Schulz, Trenton & Leister, Wolfgang (2022). SoundVision D4.1: Machine learning models for mobile device. Norsk Regnesentral. Full text in Research Archive Show summary

  This is a summary of the information for the work done for the first revision of the model for the SoundVision project.

• Schulz, Trenton (2021). Motivation mechanisms for children with ASD: some findings from literature. Norsk Regnesentral. Full text in Research Archive Show summary

  This note is a collection of possible motivation mechanisms for children with autism. The reason for looking at these is to find possible mechanisms we can use for our robot. We will first review some of the literature that is found in human-robot interaction (HRI), but we need to expand this to non-robot-based literature.

• Schulz, Trenton & Fuglerud, Kristin Skeide (2021). Rosa Prosjekt: D1.2a Risikoanalyse. Norsk Regnesentral. Full text in Research Archive Show summary

  Robot-supported language development for children with ASD (ROSA) er et norsk samarbeidsprosjekt med seks organisasjoner fra forskning, det offentlig sektor og næringslivet. Prosjektarbeid må håndtere forskjellige risikoer; særlig prosjekter som handler om nye teknologier og ideer. Dokumentet er til medlemmer i ROSA-konsortium. Hensikter er å identifiserer risikoer i prosjektet og hvordan man kan minimisere eller minske risikoene. Vi presentere først bakgrunn og omfang i dokumentet. Så presentere vi risikoer vi har identifisert. Risikoene er gruppert i to grupper: organisatoriske risikoer og tekniske risikoer. Organisatoriske risikoer er risiko relatert til prosjektledelse og «sluttbrukeren». Tekniske risikoer handler om teknisk utfordringer.

• Leister, Wolfgang; Schulz, Trenton Wade; Hannay, Jo Erskine; Simon-Liedtke, Joschua Thomas; Tjøstheim, Ingvar & Fuglerud, Kristin Skeide [Show all 9 contributors for this article] (2020). Aspects of Digitalisation. Norsk Regnesentral. Full text in Research Archive Show summary

  This document describes the work performed in the project GB-DIGITALISERING 2020 Covid19, which is funded by the Research Council of Norway. The project identified technological barriers and obstacles for digitalisation in today’s society and provided ideas on how to mitigate these. The use of AR/VR/MR technologies, social robotics, and wide use of data from sensors and devices in the IoT in diverse application areas are important technologies to make migration from analogue to digital solutions possible. The project results will be used to support the industry and the public sector to mitigate barriers related to properties of usability, universal design, privacy, security, personalization of services, user engagement, and others.

• Leister, Wolfgang; Halbach, Till; Schulz, Trenton Wade & Østvold, Bjarte M. (2020). Security & Privacy in Social Robots. Norsk Regnesentral. Full text in Research Archive Show summary

  This note reviewed security aspects of social robots with an emphasis on Nao. We also looked at aspects to how and where to process data from sensors, that are necessary for the operation of the robot, such as a microphone, camera, and so on. Further, we presented elements that could be used for an evaluation of social robots. Such evaluation includes security and privacy, as well as other aspects such as usability and quality.

• Schulz, Trenton Wade (2020). Exploration of Moving Things in the Home. Universitetet i Oslo. Full text in Research Archive Show summary

  With more and more people getting older and needing extra medical attention, robots may be a way of helping them live independently at home longer. Robots in the home, however, can gather lots of personal information about people living in the home and a robot may be confusing to understand. It is therefore important that these robots respect the residents' privacy and can be seen as friendly and welcome in the home. Future designers of robots can address privacy concerns by examining what data the robot collects, what dilemmas can come from the data collection, and design to address the dilemmas. In addition, these designers can use techniques from animation, such as the twelve principles of animation, to add expressiveness to a robot and make it easier to understand. The dissertation presents a technique for moving a robot with the animation principle of slow in and slow out and investigate how people experience a robot moving in the home using this technique.

• Schulz, Trenton Wade; Fuglerud, Kristin Skeide & Solheim, Ivar (2020). Social Robots in Therapy for Children with Autism Spectrum Disorder: Some findings from the literature. Norsk Regnesentral. Full text in Research Archive Show summary

  This note provides a summary of several articles discussing the use of social robots in different forms of therapy for children with autism spectrum disorder (ASD). We provide some information about ASD and the possible economic burden of caring for children with ASD. We then highlight six different articles (five academic articles, one a Norwegian news report) that discuss different studies involving robots and children with autism spectrum disorder.

• Schulz, Trenton Wade & Halbach, Till (2020). Social Robots as Language Teachers: Findings from the Literature. Norsk Regnesentral. Full text in Research Archive Show summary

  This document presents notes that we have gathered from different articles about using robots in teaching language. Since the robot’s ability to understand and speak a language is important for language education, we have also selected articles that discuss issues surrounding robot voice and some of the challenges with understanding child speech.

• Fuglerud, Kristin Skeide; Ellingsen, Kjersti Lunde; Urrang, Kristin K. & Schulz, Trenton Wade (2017). RevmaRApp prosjektrapport: En app for aktivitetsregulering og egenmestring ved vedvarende mangel på energi ved revmatisk sykdom. Norsk Regnesentral. ISSN 9788253905440. Full text in Research Archive Show summary

  Denne rapporten oppsummerer erfaringer, valg, beslutninger og resultater fra RevmaRApp prosjektet. Gjennom prosjektet har vi utviklet en egenmestringsapp for i mennesker med revmatisme og andre mennesker som opplever tretthet og utmattelse over tid. Appen er basert på aktivitetsregulering. Det er en mestringsstrategi som går ut på å prioritere og porsjonere de daglige aktivitetene for gjennom det å utnytte den begrensede energien mest mulig effektivt. Det kan gi økt mestring og bedre mulighet for å delta i prioriterte og betydningsfulle aktiviteter Gjennom appen kan brukerne registrere sine daglige aktiviteter over en begrenset periode. Deretter kan de sortere aktivitetene i forhold til energibruk og etydning, og dermed få oversikt over egne aktivitetsmønstre. Applikasjonen kan bidra til at brukere setter egne mål, som kan føre til en atferdsendring. Målet er å hjelpe brukeren til å få en oversikt over sine egne aktivitetsmønstre, og deretter reflektere over hvorvidt og hvordan de kan prioritere og regulere sine aktiviteter, for å bedre opprettholde energi for de viktigste tingene i livet.

• Leister, Wolfgang; Chen, Liming; Schiboni, Giovanni; Qi, Jun & Schulz, Trenton Wade (2016). Decision Support, Metrics, and Estimation Models for SpA Patients' Self-Management. Norsk Regnesentral. Full text in Research Archive Show summary

  This research note contains the combined Deliverables D5.1 and D6.1 of the MOSKUS project. This document describes the concepts for decision making in a self-management setting. The decisions by the system will be used by the patients as guidance. Currently, we have implemented a system based on the same heuristics that are used by health personnel. Further, we suggested reasoning methods to facilitate self-management in a more flexible way by means of rule-based decision support, a fuzzy rule-based evidential rule (FURBER) based approach for deciding on the patient’s current status beyond the currently defined indices and cut-off rules, and an approach that allows temporal reasoning about the disease development.

View all works in NVA