In experiments, NAO robot gave voice instruction and was maneuvered to cooperate and demonstrate the exercises from the library. For this purpose, a kinematic model of human upper-extremity was developed based on modified Denavit-Hartenberg notations. A library of recommended rehabilitation exercises involving shoulder (i.e., abduction/adduction, vertical flexion/extension, and internal/external rotation), and elbow (i.e., flexion/extension) joint movements was formed in Choregraphe (graphical programming interface). To instruct and demonstrate rehabilitation exercise, this research used NAO robot. One promising remedy could be the use of robotic assistive devices. With increasing number of disabled individuals, we face deficiency in the number of expert therapists. People with impaired upper limb function can regain their motor functionality undergoing intense rehabilitation exercises. The aim of this research is to develop a robot-assistive training approach for the disabled individuals with impaired upper limb functions. Together, the findings set the stage for further investigation into the psychological underpinnings of self-disclosures to artificial agents and their potential role in eliciting disclosures as part of mental and physical health interventions. Our findings suggest that participants overall disclose more to humans than artificial agents, that agents' embodiment influences disclosure quantity and quality, and that people are generally aware of differences in their personal disclosures to three agents studied here. We performed a number of objective evaluations of disclosures to these three agents via speech content and voice analyses and also probed participants' subjective evaluations of their disclosures to three agents. Three within-subject experiments were conducted with participants interacting with another person, a humanoid social robot, and a disembodied conversational agent (voice assistant). Given the importance of self-disclosure for psychological health, this study assessed the viability of using social robots for eliciting rich disclosures that identify needs and emotional states in human interaction partners. As social robots are increasingly introduced into health interventions, one potential area where they might prove valuable is in supporting people's psychological health through conversation.
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