In children–robot interactions, an impression of a robot’s “social presence” (i.e., an interactive agent that feels like a person) links positively to an improved relationship with the robot. However, building relationships takes many exposures, and there is an intellectual gap in how social presence and familiarity collaborate in modulating children–robot relationships. We investigated whether social presence altered over time, how repeated exposure and social presence affected rapport, and how social presence would modulate children’s attitudes toward the robot. Fourteen children (four female, age = 10.79 ± 1.12) interacted with a companion robot for four days in spontaneous interactions. The findings revealed that children who perceived the robot as having a higher social presence developed a stronger rapport than those who perceived a lower social presence. However, repeated encounters did not change the children’s perceptions of the robot’s social presence. Children rated higher rapport after repeated interactions regardless of social presence levels. This suggests that while a higher social presence initially elevated the positive relationship between children and the robot, it was the repeated interactions that continued solidifying the rapport. Additionally, children who perceived a higher social presence from the robot felt less relational uneasiness about their relationship with robots. These findings highlight the importance of robots’ social presence and familiarity in promoting positive relationships in children–robot interaction.

This paper demonstrates the development of an automatic mobile trainer employing inertial movement units (IMUs). The device is inspired by Neuro-Developmental Treatment (NDT), which is an effective rehabilitation method for stroke patients that promotes the relearning of motor skills by repeated training. However, traditional NDT training is very labor intensive and time consuming for therapists, thus, stroke patients usually cannot receive sufficient rehabilitation training. Therefore, we developed a mobile assisted device that can automatically repeat the therapists’ intervention and help increase patient training time. The proposed mobile trainer, which allows the users to move at their preferred speeds, consists of three systems: the gait detection system, the motor control system, and the movable mechanism. The gait detection system applies IMUs to detect the user’s gait events and triggers the motor control system accordingly. The motor control system receives the triggering signals and imitates the therapist’s intervention patterns by robust control. The movable mechanism integrates these first two systems to form a mobile gait-training device. Finally, we conducted preliminary tests and defined two performance indexes to evaluate the effectiveness of the proposed trainer. Based on the results, the mobile trainer is deemed successful at improving the testing subjects’ walking ability.