J.M.R. Voncken CST 2013.

Investigation of the user requirements and
desires for a domestic service robot,
compared to the AMIGO robot
J.M.R. Voncken
CST 2013.
Open space report
Studentnumber:
0593470
Coach:
ir. J.J.M Lunenburg
dr.ir. J.H. Sandee
Supervisor:
prof.dr.ir. M. Steinbuch
Eindhoven University of Technology
Department of Mechanical Engineering
Control Systems Technology
Eindhoven, January, 2013
Contents
1
Introduction
1
2 Service Robot AMIGO
2.1 Background and purpose of AMIGO . . . . . . . . . . . . . . . . . . . . . . .
2.2 Hardware of AMIGO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.3 Software of AMIGO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3
Investigation of the functional tasks for a domestic service robot
3.1 Investigation of possible tasks . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2 Overview of all functional tasks . . . . . . . . . . . . . . . . . . . . . . . . . .
4 Assessment and categorization of functional tasks for a domestic service robot
4.1 Small jobs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2 Personal care . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.3 Health care . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.4 Observation, reminders & alerts . . . . . . . . . . . . . . . . . . . . . .
4.5 Social & amusement . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5
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27
Appearance and Human-Robot interaction
5.1 Appearance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2 Human-Robot Interaction . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.3 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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6 Comparison with Amigo
35
7
Conclusion
39
8 References
41
A Specification sheet
Clephas (2011)
45
B Aftekenlijst Verpleeg(technische) handelingen
47
C Tasks Guide dog
53
D
Mind map form workshop at home care company ’Florence’
57
E Other researches into service robots
63
F Overview preferred, doubtfull and non-preferred tasks for a service robot
67
1
Introduction
At this moment the community is aging and the amount of elderly is increasing. Moreover,
the level of independency for most of these human beings will decrease as the age increases,
as shown in Figure 1.1(a). As a result, elderly will become dependent of care and nursing
and meanwhile there will be less labor forces to supply this care, which is illustrated in Figure 1.1(b). This gap could be filled by for example providing services and care by robotic
devices. One example of such devices is the service robot developed by the faculty of Mechanical Engineering of the University of Technology in Eindhoven. This service robot is named
AMIGO, which is short for Autonomous Mate for IntelliGent Operations and is depicted in
Figure 2.1. The displayed robot does already exist and is able to perform a couple of tasks in
order to assist elderly, disabled people or patients. These tasks are mainly tasks that can be
performed during the @Home League from RoboCup.
140 Labor
Independence - dependece curve
100
force versus health care needs
135
130
Independent
125
120
115
110
Dependent
h
alt
He
105
Labor force
100
0
0
20
40
60
ds
ee
n
re
ca
80
95
2010
100
(a)
2015
2020
2025
2030
(b)
Figure 1.1: Increasing need for elderly care (Meskers, 2010)
1
2035
Research has shown that a majority of the elderly do not use supporting products because of rejection or incomprehensibility of the device (Scherer and Galvin, 1994). Therefore,
it is very important to investigate the user requirements and desires and compare these with
the current abilities, possibilities, appearance and interaction of the AMIGO.
The goal of this study is to investigate the user requirements and desires for a service
robot and compare these to the abilities of AMIGO. In this case users are elderly still living independently or living in a home for elderly and patients in a hospital. Since the AMIGO robot
is only able to move inside, only tasks that can be performed within doors are considered.
The investigation into user requirements and desires for a service robot will consist of two
parts: the functionality and the appearance/ human-robot interaction. This report will provide a categorized list of all possible tasks that can be performed by a domestic service robot.
From the judgements of potential users and health care professionals, reasons for acceptance
and rejection of tasks to be performed by a robot have been concluded. Secondly, the report
will provide some guidelines for appearance and human-robot interaction. From these investigations, it can be seen to what extend the hardware of the AMIGO robot should or could be
adapted in order to be embraced easier by the intended users. Of course also the software has
to be adapted, but this will not be discussed in depth in this report.
The outline of this report is schematically illustrated in Figure 1.2. To make the comparison between the AMIGO and the requirements and desires, first the background, hardware
and software of the AMIGO will be discussed in Chapter 2. Next, the requirements and wishes
of the users regarding functional tasks have been investigated. A list of possible tasks has been
compiled by combining lists of Activities of Daily Living, skills of nursing professionals, skills
of guide dogs, performances of comparable service robots and results of previous researches
among elderly and nursing professionals. By letting potential users and health care professions judge the extensive list of possible tasks, a selection of these tasks has been made in
Chapter 4. Since users have also requirements and desires regarding the appearance and
interaction of a robot, this aspect is discussed in Chapter 5. The lists of preferable tasks is
compared to the abilities of the AMIGO and subsequently the correspondence has been observed. The conclusions from the research after preferred tasks, appearance and interaction
will be given in Chapter 6, even as the advised improvements of the AMIGO robot and future
research, this can be found in Chapter 6.
2
Investigation of the user requirements and
desires, for the AMIGO robot
Investigation of the user
requirements and desires,
AMIGO 2012
Ch. 2
AMIGO Background
and purpose
Ch. 2.1
AMIGO Hardware
Ch. 3,4,5
AMIGO Software
Ch. 2.2
Investigation / selection
of the functional tasks
for the robot
Ch. 2.3
Ch. 3,4
Appearance and
interaction
Ch. 5
COMPARISON
AMIGO Hardware
AMIGO Software
Investigation / selection
of the functional tasks
for the robot
Appearance and
interaction
Ch. 6
Figure 1.2: Outline of the report
3
4
2
Service Robot AMIGO
AMIGO (Autonomous Mate for IntelliGent Operations) is a service robot developed by the department of Mechanical Engineering of the Eindhoven University of Technology, as depicted
in Figure 2.1. This chapter will discuss the background and purpose of the service robot in
the first section. The hardware elements will be discussed in Section 2.2, followed by an
explanation of the software in Section 2.3.
Kinect camera
7 DOF robotic arm
ball screw spindle
Underactuated gripper
Base
Laser Range Finder
Battery
Omni wheels
(a) hardware parts
(b) schematic rendering
Figure 2.1: Service Robot AMIGO
5
2.1
Background and purpose of AMIGO
The AMIGO robot is a research robot and demonstrator for the department of Mechanical
Engineering and is also a contribution to and/or outcome of several projects like Bobbie,
RoboEarth and RoboCup@Home. The collective goal of all of these projects is to push the
technology of domestic service robots. Nevertheless, they all have a different individual focus.
The Bobbie project aims to develop a commercial viable industry and to create a market
for personal robots. This is done by merging knowledge and means of the Dutch industries
and Knowledge Institutes, like Eindhoven University of Technology (Dutch ministery of Economic affairs , 2012).
Next, the RoboEarth project focusses on the creation of a network and database repository where robots can share information but also gain new knowledge, this functions like a
world wide web for robots.
Furthermore, RoboCup promotes robotics and artificial intelligence research by creating challenges that push the technology but also generate a social and economic impact. The
main challenge is stated as follows: ‘By mid-21st century, a team of fully autonomous humanoid robot soccer players shall win the soccer game, comply with the official rule of the
FIFA, against the winner of the most recent World Cup.’ (Robocup, 2012) In order to reach
that goal, annual competitions are organized where the state of the art technology is put to
the test. This challenge is tackled by the RoboCup Soccer league. Next to the soccer part there
are other challenges, from which one focusses on autonomous service robots and is known
as the RoboCup@Home league. This latter league is applicable to the AMIGO robot. The
challenges of the RoboCup@Home competition can give an impression of the tasks AMIGO
can perform. For example in 2012, AMIGO had to achieve the following five challenges in the
first round (Dessimoz et al., 2012):
• RIPS (Robot Inspection and Poster Session): the robot has to report itself to the jury
and subscribe. At the jury it will be inspected by a technical committee. In parallel, the
team gives a poster presentation on their focus and research.
• Follow me: the robot should safely follow an unknown person in a crowded open space.
• Clean up: a room full of objects has to be cleaned up.
• Who is who: the robot has to learn and recognize a previously unknown person and
serve this person a drink.
• Open challenge: the team has freedom of choice to show their recent research.
In general the purpose for the AMIGO robot is to assist people in their indoor activities of daily
living or assisting health care professionals in a hospital. As the background and purpose of
the AMIGO has been clarified, the next section will discuss the design of the hardware and
software.
2.2
Hardware of AMIGO
The AMIGO robot is about 1.50/1.60 m tall and is build on a holonimic base that can move
in any direction instantaneously, unlike conventional four wheeled vehicles. Moreover, it contains an extensible body, two 7 Degree-of-Freedom (DOF) robotic arms, a 2D and 3D vision
6
system, a speaker, a microphone and other sensors. This section will briefly explain these
hardware elements, illustrated by Figure 2.1(a).
The robot can rotate 360◦ around its own axis and move instantly in every direction
in a human environment, by four omni-wheels that are connected to the holonomic base of
AMIGO. These omni-wheels are designed for indoor use and experience difficulties in case
the robot has to move over an elevation.
The design of the base can be compared to the design of the Eifeltower and is made
out of aluminum and steel sheets, consequently the base becomes light and stiff. The motors
to drive the omni-wheels are positioned on the base and are manufactured by Maxon. A 43:1
planetary gearhead is connected to the motor to deliver the required torque and velocity. Next
to this, the necessary current is provided by Elmo Violin amplifiers. In addition, AMIGO is
coordinated, controlled and regulated by four mini-PCs that are connected to the sensors by
Beckhoff EtherCAT stacks. The entire robot is provided from electrical energy by four Makita
power tool batteries (Lunenburg et al., 2012).
Moreover, the robot has two 7-DOF robotic Philips Experimental Robotic Arms that are
connected to a gripper at the end. The maximum weight the arms can lift is 1.5 kg each,
in case the arm is fully stretched. Theoretically the arm should be able to lift more in bend
position, despite the wrist will not withstand these forces in practice (Lunenburg et al., 2012).
On top of the robot a 3D camera is positioned, known as Microsoft XBox 360 Kinect.
The camera can turn sidewards, upwards and downwards to be able to see a certain area in
front of the robot, to detect objects or persons. Next to the Kinect, a Hokuyo laser range finder
(LRF) is positioned in the front of the base. By sending laser pulses it can detect objects or
persons in the area and calculate at what distance. This is mainly used for navigation and
localization of objects (Lunenburg et al., 2012).
Furthermore, in order to grab objects from the floor as well as from higher places the
shoulders are connected to the base by a ball screw spindle mechanism. By sliding out the
spindle the robot can increase height from 1000 mm to 1410 mm.
For communication and voice recognition a speaker and a microphone are mounted on
the robot.
Finally, the robot is covered with white polymer sheets, for protection of the robot and
the user. The overall specification sheet can be found in Appendix A (Clephas, 2011).
2.3
Software of AMIGO
To control the hardware, and also for perception, world modeling, motion planning, task planning and execution, human-robot interaction and reasoning software is used. The software
of AMIGO is based on some packages from ROS (Robotic Operating System), that are extensively modified for the robot. ROS is a middleware product and provides user-contributed
packages for a number of functionalities. Moreover, the Orocos (Open RObot COntrol Software) RTT (Real-Time Toolkit) is used for low-level control. In addition, an experimental textto-speech (tts) package of Philips is implemented next to Google tts and Ubuntu tts Espeak,
for the communication. The recognition of speech is done by Pocketsphinx.
Since the software is out of the scope of this report, it is advised to consult ‘Tech United
Eindhoven Team Description 2012’ (Lunenburg et al., 2012) for a more elaborated explanation.
7
8
3
Investigation of the functional tasks for a
domestic service robot
After the introduction of AMIGO in the previous chapter, this chapter will focus on domestic service robots in general. For these service robots, the requirements and desires of the
user can be subdivided into requirements and desires for the tasks users would prefer a robot
to perform and the requirement and desires for the appearance and interaction. This chapter discusses the preferable tasks, where the appearance and interaction will be discussed in
Chapter 5.
The robot should assist people in a lot of functional tasks. As stated in the introduction,
‘users’ are elderly still living independently or living in a home for elderly and patients in a
hospital. Since the AMIGO robot is only able to move inside, only task that can be performed
indoors are considered. In order to build a list of tasks, whether or not desired to be performed
by the robot, a couple of investigations have been done.
First, all kinds of lists of Activities of Daily Living (ADL) have been analyzed by collecting questionaires used for judging the level of independency of elderly. Secondly, the needed
skills of nursing professions have been investigated, by analyzing the skills they have to be
able to perform during their practical exams. Moreover, the skills of ADL assertive dogs, previously executed researches after this topic including a questionaire at a company for home
care (Florence), and other studies about comparable service robots have been examined. Since
the variety of tasks is extremely large, focus has been on indoor activities which are applicable
for elderly, disabled or bedridden patients. The different researches are further elaborated in
Section 3.1
9
Social &
amusement
Observation,
reminder & alerts
Personal
care
Small jobs
Health care
Figure 3.1: Categories of possible tasks
The results of the above mentioned investigations are combined and can be divided into five
subgroups as revealed by Figure 3.1:
• Social & Amusement
• Observations, Reminders & Alerts
• Small jobs
• Health care
• Personal care
The entire list of activities was judged by elderly and nursing staff and is schematically
illustrated at the end of this chapter in Figure 3.7. From this evaluation, the tasks in the different categories could be classified as preferable, doubtful and non-preferable tasks. This
classification of desirable tasks will be discussed in Chapter 4. First, the different investigations in order to compose the list of all possible tasks for a service robot will be explained.
10
3.1
Investigation of possible tasks
As previously mentioned, a couple of investigations were done to compose the list of possible tasks as shown in Figure 3.7. The following subsections will discuss inquiries into: ADL,
Nursing skills, Guide dogs, workshop at home care company ‘Florence’, other previous researches and other assistive robots, as outlined in Figure 3.2.
Nursing skills
ADL
Sec. 3.1.1
Sec. 3.1.2
Workshop at
home care company
‘Florence’
Guide dog
Sec. 3.1.3
Sec. 3.1.4
Other previous
researches
Other assitive
robots
Sec. 3.1.5
Sec. 3.1.6
Figure 3.2: Outline of the different investigations into possible tasks
3.1.1
ADL
Activities of Daily Living (ADL) are activities where a service robot could in assist. According
to the encyclopedia of aging (Schulz, 2006) ADLs are a range of common activities whose performance is required for personal self-maintenance and to remain a participating member of
society. To discover which tasks are ADL, questionaires of health care institutions that determine wether someone is able to live independently are analyzed. There are many measures
for the extent of independence. However, the most commonly used measures are the Katz
Activities of Daily Living Scale and the Instrumental ADL (IADL) scale. The Katz scale consists of Basic ADL tasks (BADL) like eating, breathing, dressing, toiletting etcetera (S. et al.,
1970). Instrumental ADLs (IADL), are more complex tasks necessary for independent living,
like shopping, taking medication, handling the telephone etcetera (Lawton and Brody, 1969).
Both questionnaires can be seen in Table 3.1 and Table 3.2 respectively.
Table 3.1: ADL scale
Activities
Independence:
Dependence:
No supervision, direction or personal
assistance
With supervision, direction, personal
assistance or total care
Bathing
(1 POINT) Bathes self completely or
needs help in bathing only a single part of
the body such as the back, genital area or
disabled extremity.
(0 POINTS) Needs help with bathing more
than one part of the body, getting in or out
of the tub or shower. Requires total bathing.
Dressing
(1 POINT) Gets clothes from closets and
drawers and puts on clothes and outer
garments complete with fasteners. May
have help tying shoes.
(0 POINTS) Needs help with dressing self
or needs to be completely dressed.
Toileting
(1 POINT) Goes to toilet, gets on and
off, arranges clothes, cleans genital area
without help.
(0 POINTS) Needs help transferring to
the toilet, cleaning self or uses bedpan or
commode.
Transferring
(1 POINT) Moves in and out of bed or chair
unassisted. Mechanical transferring aides
are acceptable.
(0 POINTS) Needs help in moving from
bed to chair or requires a complete transfer.
Continence
(1 POINT) Exercises complete self control
over urination and defecation.
(0 POINTS) Is partially or totally
incontinent of bowel or bladder.
Feeding
(1 POINT) Gets food from plate into mouth
without help. Preparation of food may be
done by another person.
(0 POINTS) Needs partial or total help with
feeding or requires parenteral feeding.
Total points
= ______
6 = High ( patient independent ) 0 = Low ( patient very dependent )
11
Table 3.2: IADL scale
Activities
Ability to use the telephone
Shopping
Food preparation
Functional level
x
x
x
x
x
x
x
x
x
x
x
Housekeeping
x
x
x
x
x
x
Laundry
Mode of transportation
x
x
x
x
x
x
x
Responsibility for own medications
x
x
x
Ability to handle finances
x
x
x
x
Operates telephone on own initiative; looks up and
dials
numbers
Dials a few well-known numbers
Answers telephone, but does not dial
Does not use telephone at all
Takes care of all shopping needs independently
Shops independently for small purchases
Needs to be accompanied on any shopping trip
Completely unable to shop
Plans, prepares, and serves adequate meals
independently
Prepares adequate meals if supplied with ingredients
Heats and serves prepared meals or prepares
meals but does not maintain adequate diet
Needs to have meals prepared and served
Maintains house alone with occasion assistance
(heavy work)
Performs light daily tasks such as dishwashing, bed
making
Performs light daily tasks, but cannot maintain
acceptable
level of cleanliness
Needs help with all home maintenance tasks
Does not participate in any housekeeping tasks
Does personal laundry completely
Launders small items, rinses socks, stockings, etc
All laundry must be done by others
Travels independently on public transportation or
drives own
car
Arranges own travel via taxi, but does not otherwise
use
public transportation
Travels on public transportation when assisted or
accompanied by another
Travel limited to taxi or automobile with assistance of
another
Does not travel at all
Is responsible for taking medication in correct
dosages at
correct time
Takes responsibility if medication is prepared in
advance in
separate dosages
Is not capable of dispensing own medication
Manages financial matters independently (budgets,
writes
checks, pays rent and bills, goes to bank); collects
and
keeps track of income
Manages day-to-day purchases, but needs help with
banking, major purchases, etc
Incapable of handling money
12
Points
1
1
1
0
1
0
0
0
1
0
0
0
1
1
1
1
0
1
1
0
1
1
1
0
0
1
0
0
1
1
0
3.1.2
Nursing skills
In case a user would be, for example disabled, a nurse would assist in some ADLs. Consequently, the robot could function as an autonomous assistant of the nurses. Therefore, the
actions that a nurse should be able to carry out are investigated by examining a list of actions
which nurses should be able to perform during their final exam. A summary of possible tasks
for a service robot conducted from this examination list can be seen in Table 3.3. The original
list, in Dutch, can be found in Appendix B.
Table 3.3: Examples of nursing skills that could be performed by a service robot
Nursing Skills
Medication exposure
Assisting with care of mucous membrane of the
mouth
Shaving beard with mustache using
a scraper
Dressing of a care recipient who
has be nursed lying flat
Taking care of the nails on the hands
of the care recipient
Cleaning of a denture
Operating a high-low bed
Taking care of hearing aids
Setting the table
Assisting with eating and drinking
Separation and guidance of a care recipient
Checking / registering of medication
Applying general bandage
Collecting samples for diagnostics
(non-sterile)
Applying the recovery position
Checking vital functions: respiration
Checking vital functions: heartbeat
Checking vital functions: blood pressure
Checking vital functions: body temperature
Checking vital functions: assessing
consciousness ( +Treatment and disposal)
Administer oxygen
Give bladder training
The use of a pot
Using a mechanical hoist
Assisting in rising from a chair
Assisting a care recipient in finding
of a suitable posture
Helping a care recipient out of bed
Assisting in walking
Stimulating care recipient to exercise
Putting on one’s elastic stockings
Toppling a care recipient in bed
Moving a care recipient in bed
Making a bed with a care recipient
Making a bed without a care recipient
Fixating a care recipient
The use of a urinal
The use of incontinence material
Assisting with toileting
Washing of a care recipient in bed
Assisting with bathing
Assisting with showering
Facial care
Washing ones hands
Washing of the hair on the bed
13
3.1.3
Guide dog
Guide dogs can serve as service dogs for people with a disability or illness. These dogs can
also assist in a lot of ADL and even give medical assistance. A list of several tasks are given in
Appendix C and a summary in Table 3.4.
Table 3.4: Examples of skills of a guide dog
Tasks guide dog
Example
Retrieve based tasks
Carrying based tasks (non retrieval)
Deposit based tasks
Tug based tasks
Nose nudge based tasks
Pawing based tasks (some dogs prefer it
to nose nudge)
Bracing based tasks (no harness)
Harness based tasks - Mobility Assistance
Other kinds of assistance in crisis
Medical assistance tasks (Sample)
3.1.4
Pick up dropped items
Carry mail or newspaper
Put trash into a wastebasket
Open drawers via strap
Dryer door – hard nudge
Dryer door
Transfer assistance from wheelchair to bed
Assist moving wheelchair on flat
Bark for help on command
Operate push button device to call 911
Workshop at home care company ‘Florence’
The care of people by nurses goes beyond the required maneuvers during their exam, as
discussed in Subsection 3.1.2. Therefore, brainstorm sessions were organized for groups consisting of health care professionals. This was performed during a workshop about service
robots and especially AMIGO of the Eindhoven University of Technology at the domiciliary
care company ‘Florence’ in 2011. This company, operating in the area of The Hague, offers
many forms of health care, health care advice and provides health care professionals in residential care centers, nursing homes, child health centers and also at home. During this
research a 45 minutes brainstorm session was organized for ten different groups, consisting
of 20-25 health care professionals each. Before the discussion started, a short presentation
was shown about service robots and especially the service robot AMIGO. The results could be
summarized into four main categories: Human, Health care professional, Entertainment and
Environment, as shown in Figure 3.3. A full overview of the mind map, in Dutch, could be
found in Appendix D. From the discussions has been concluded that it is preferred that:
• First, ‘personal supportive tasks’ (i.e. washing of the body) should be performed by
humans. However, ‘impersonal tasks’ could be performed by service robots.
• Secondly, the social contact of the user should be guarded, since it is undesirable that a
service robot replaces this task of the helper.
• Thirdly, the professionals thought that they should always have the final responsibility
and subsequently they did not want a robot to dispense medication or provide medication to the users.
14
Human
Professional
Care
Entertainment
Environment
Figure 3.3: Main categories of the mind map of the questionaire at the company ‘Florence’
3.1.5
Other previous researches
Before this study, three other researches already investigated the preferred tasks for a service
robot:
• A research study, consisting of a survey of 240 participants. The respondents ages
ranged from 10 to 65+ and the gender distribution was equal. (Ray et al., 2008).
• A research study, consisting of a survey of 358 people. The respondents are divided
into three normalized age groups, in average the age was 22 years. (Bugmann and
Copleston, 2011).
• A research study, consisting of a survey of 100 people (40 males and 60 females). The
respondents ages ranged from 56 to 90 years and all lived in Rome. (Cesta et al., 2011).
The graphical results of these researches can be found in Appendix E. By comparing
the outcomes of these researches, it can be concluded that the results are in some points
quite corresponding; most of the respondents prefer a service robot to perform small jobs,
so mainly to do some housekeeping. Another similarity is the opinion about being a social
companion; it is not preferred that the robot fulfills this role. Moreover, the role of babysitter
or taking care of children or pets is not appreciated.
Remarkable are tasks like serving drinks and preparing food; on the one hand the first
questionaire indicates this as not preferable, where the second questionaire places these kind
of tasks in the second place. A good reason for this difference could not be found in the conclusions of the researches itself. However, the difference might be caused by the difference in
age distribution. From Figure 3.4 can be seen that older people prefer these kind of serving
tasks much more than younger people, probably because these tasks will improve the independency and the quality of life which does not hold for younger people. Nevertheless, not all
articles published their age-distribution through which it is not possible to ground this theory.
15
0
50
HOUSEWORK
Vacuuming
Washing Up or Packing Dishwasher
General Cleaning
Clean Bedroom
Clean the Kitchen
Dust
Clean Windows
Laundry
Tidying
General Tidying
Tidy Bedroom
Ironing
Water Plants
Make Bed/s
General Housework
FOOD PREPARATION
Prepare Breakfast
Prepare Lunch
Prepare Tea
Make Drinks
Other Food PreparaƟon
GARDENING
General Gardening
Water the Garden
Cut the Lawn
Other Gardening
FAMILY HELP
Help Parents
Help with children
PET CARE
Walk the Dog/s
Feed Pets
Other Pet Care
SECURITY
Guard House
Make house look lived in
Check for Intrusions
STAY QUIET
Stay Quiet
PERSONAL SERVICES
Shopping
Run a bath
Get the paper
Answer the Phone
Use computer for Emails, downloading or researching
Go to work for owner
Wash/Clean Car
DIY
Drive car or be form of transport
Pack school bag
Sexual Service
SCHOOL WORK
School Work
PLAY
Play
General Play
Play sports
Play video games
100
150
200
250
11-17
18-60
60+
Figure 3.4: Quantitative results of the research of Bugmann et al.(Bugmann and Copleston, 2011)
16
3.1.6
Other assistive robots
As this is not the first research into functional tasks for a assistive robot, this is also not the
first assistive robot itself. Because other research institutes and companies focus on other
aspects, it could be helpful to also investigate studies about other assistive robots. In this
category, there are assistive service robots and assistive social robots. First, the differences in
design and functionality of the most referred assistive service robots in literature compared to
AMIGO will be discussed. Next, some examples of social service robots are mentioned.
Assistive Service Robots
Six service robots, similar to AMIGO, have been analyzed for this research, these are: Nursebot Pearl, PR2, Care-O-bot III, Mobiserv, ROSE, RIBA, as shown in Figure 3.5. Since the other
robots follow from other projects with different scopes, the robots will differ in design and
performance. This is described in Table 3.5.
17
(a )Nursebot ‘Pearl’
(b) PR2
(d )Mobiserv
(c) Care-O-bot III
(e) ROSE
(f) RIBA
Figure 3.5: Other comparable service robots to AMIGO (RIBA), (Pollack et al., 2001), (Beer et al.,
2012), (Graf et al., 2009), (Nani et al., 2010), (ROSE)
18
Table 3.5: Differences between other service robots and AMIGO
Service
Robot
Project focus
Largest differences in
design
Largest differences in
functionality
Nursebot
'Pearl'
This project focuses more
on observance of the user
and giving reminders/alerts
or social interaction.
intelligent reminding
software, tele-presence,
data collection and
surveillance, social
interaction, mobile
manipulation
no arms, screen for
communication, more facial
expressions, no vertical
movement, no holonomic
base
PR2
Is designed for software
and hardware research,
robust, edgy and functional
robot. Arms are spring
counter balanced, no
vertical movement, semiholonomic base, 5
MegaPixel camera
Care-Obot III
Is designed as a interactive
butler. Consequently, it will
assist people like a butler,
but there is no focus on
tasks like care or cleaning.
Is part of the project Smart
Homes and collaborates
with smart clothes to
measure vital functions and
a smart environments
(domotica) in order to assist
elderly
Is designed for assisting
and observing elderly in a
rest home. Robot has a
connection with a control
room from which nurses
can communicate with
users via
telecommunication
Is designed to assist
nursing professionals, with
lifting patients and
transferring.
demonstrations are
programmed in the software
as a research project by
multiple universities like:
fetching a beer, playing
pool, folding laundry,
cleaning, etc. However, the
robot cannot function
autonomous
situation monitoring,
emergency intervention,
potation supply,
entertainment and
activation of inhabitants
monitoring inhabitants,
health care alert, reminders
and tips,
data collection and
surveillance
in connection with control
room
edgy design, screen for
communication, no vertical
movement in base,
tactile sensors in arms,
moves in the directions
somebody pushes the arm,
mechanical impedance
actuators, joints in base
small robot with bear
shaped head, skin is soft,
no vertical movement,
Mobiserv
ROSE
RIBA
19
one large arm hidden
behind the robot,
rectangular design, no
vertical movement, no
holonomic base
Touch screen, no arms,
small robot, screen for
communication, no vertical
movement, no holonomic
base
Assistive social robots
Besides the already introduced assistive service robots there are also assistive social robots.
These are supposed to influence the social life and thereby affect the well-being of elderly.
There are many researches done about the effect of social robots on the mood and well-being
of elderly. One study compares 43 different research projects (Broekens et al., 2009), which
are done for eight different social robots: Aibo, Aibo real baby, Care-O-bot, Homie, iCat, Paro,
and Pearl, illustrated in Figure 3.6.
(a) HOMIE
(b) Paro
(c) Huggable
(d) Aibo
(e) PEARL
(f) iCat
(g) Care-O-bot I
(h) Care-O-bot II
(i) Care-O-bot III
Figure 3.6: Social Robots
20
It should be mentioned that two social robots from the list are also domestic service
robots comparable with AMIGO: Care-O-bot and Pearl. All of the robots had a positive outcome for companionship, also the service robots. The study concluded that these companion
type robots have positive effects in health care for the elderly with respect to bad mood, loneliness and social connections with others. However, the researchers note that a lot of researches
are performed badly, most of them without a control group, and the conclusions are therefore
subjective (Broekens et al., 2009).
This result is remarkable since researches after preferable robot tasks, as discusses in
Subsection 3.1.5, concluded that the task of social compagnon is not appreciated. This might
be caused by the fact that people have a certain view of a robot being a social robot which
might not correspond to the actual users’ sensation of a social robot. This point makes the
analysis by questionaires highly doubtful, since most of the people are influenced by there
prejudice and are not able to answer the surveys objectively.
3.2
Overview of all functional tasks
After investigating all kind of different sources to retrieve as many tasks as possible for a
service robot to perform, all these tasks have been categorized and depicted in Figure 3.7.
Tasks that are related to one similar subject are clustered, like checking of the vital function:
blood pressure, body temperature, assessing consciousness and heartbeat, are summarized
as one tasks: checking of vital functions. The complete list can be consulted in Appendix F.
21
reminder
medication
reminder
appointments
reminderbirthdays
reminder
drinking /
eating
reminder
toileting
assisting
with
toileting
assisting
with
eating /
drinking
regain
sitting /
standing
assistance
during
standing
assistance
for getting
up
assistance
finding
suitable
pos
pull out of
seated
position
alerts for
noises
alerts for
common
mistakes
alerts for
falling
alerts for
objects
causing
accidents
alerts for
waking up
put arm on
armrest
put foor on
footrest
positioning limbs
turn in bed
transferring
foster to
move
guidance
of a care
reciient
observing
activities
observing
rooms for
seek and
find
observing
and
recognize
emotions
observing
drinking /
eating
observing
falling
dressing pants
dressing sweater
dressing underwear
dressing coat
dressing other
brace/assis
ting to
walk
help climb
stairs
emergency
calls
exposure,
reading
inst, admin
med.
keeping up
last will/
testament
recognize
people
archive
observ.
data for
memories
dressing zipper
dressing laces
dressing button up
dressing velcro
feeding
scratching
toiletting
bathing
showering
wiping
erotic
handlings
nail
polishing
combing
hair
shaving
teeth
brushing
putting on
make up
assistance
glasses/len
ses/
hearing aid
baby
sitting
Observation,
Reminders &
Alerts
Personal care
play an
instrument
play
music
compose
music
singing
assistance
with
walking
stimulate
to exercise
separation
and
guidance
assisting in
rising from
a chair
fetch
insulin kit
fetch
respiratory
assisting
device
literature
turning
pages
Reading
writing
set the
table
assisting
with
eating and
drinking
find
caregiver
stock up
supply
checking /
register
medication
medication
exposure
jokes
being
funny
hugging
games
operating
high-low
bed
help move
in / out
bed
using a
mechanical hoist
use of a
pot / urinal
use of
urinal
use of
incontinence mat.
first aid
handelings
food
preparation
physical/
sexual
pleasure
physical
activities
massage
make bed
without
care
recipient
make bed
with care
recipient
assist in
finding
suitable
position
tilt a care
recipient in
bed
check vital
functions
care of
wounds
care of
tracheotomy
care of
tracheastoma
social
companion
reproducing smell
recognize
people
reproducing voices
put on
elastic
stockings
shaving
beard/mus
tache with
scraper
dressing
care
recipient
lying flat
fixate a
care
recipient
physiotherapy
apply
bandages
removing
stitches
and
tampons
applying
venipuncture
video call
telephone
childeren play
childeren baby sit
assisting
with
toileting
assisting
with
bathing
assisting
with
showering
washing
care
recipient in
bed
facial care
changing
and rem.
of an drip
blood
transfusion
Social &
amusement
catheterization of
bladder
activities
considering the
colon
activities
considering gastric
tube
care of a
deceased
making
solutions/
dilutions
collect
(non)steril
e samples
activities
considering the
bladder
admin.
liquids via
central
infusion
administration of
medication
administer
oxygen
infusion
pump
control
Health care
shopping
purchases
unload
bag
cleaning
the house
tidy up
laundry
dishes
make up
bed
move
blanket
water
plants
sewing
indoor
maintenance
set / clean
away the
table
preparation
sandwich
preparation food
microwave
preparation food
on stove
preparation
coffee/tea/
bev
put trash
in trashbin
fetch and
carry
medium
objects
fetch and
carry large
objects
fetch and
carry small
objects
fetch and
carry low
positioned
objects
fetch and
carry high
positioned
objects
fetch from
refridgerator
seek /
retrieve
objects
reading
small
characters
automatically
charging
operate
electronics
operate
internet
operate
light
operate
switch /
pedal
/button
operate
electric
door
haul door
opening
(sliding)
door
opening
furniture
opening
curtains
drive car
answer
doorbell
telephone
call alarm
avoid
abstacles
opening
food
containers
opening
packaging
Small Jobs
Figure 3.7: Overview of all possible tasks, without selection
22
4
Assessment and categorization of functional
tasks for a domestic service robot
In the previous chapter the investigation into the possible tasks for a service robot have been
discussed. Since not all of the tasks as illustrated in Figure 3.7 are functional for the robot,
a selection has to be made. This is done by interviewing elderly and nursing professionals
and by processing the outcomes of the investigation discussed in the previous chapter. In
case there are no remarks after a tasks it is denoted as preferred task, in case there is one
(small) remark it is indicated as doubtful, subsequently in case there are multiple remarks
the tasks is found to be non-preferred. In general, it can be concluded that tasks that improve
the independency and the quality of life of the user are accepted. Obviously, the kind of tasks
for which this yields differs from person to person, therefore the five different categories of
possible tasks, as illustrated in Figure 4.1 will be discussed in the next sections. In every
section the figure contains of three colors: black stands for preferable, blue for doubtful and
red for non-preferred.
Social &
amusement
Observation,
reminder & alerts
Personal
care
Small jobs
Health care
Figure 4.1: Categories of possible tasks
23
4.1
Small jobs
This section will discuss the most positively judged category by the respondents: small jobs.
Most people prefer the robot to mainly perform small jobs; tasks like cleaning (vacuuming,
cleaning windows, tidy up, wiping, scrubbing etc.), making up the bed, doing the laundry
and fetch and carry small, medium or large objects. Many tasks are listed in the list of IADLactivities from Section 3.1.1. An summarized overview of the tasks belonging to this category
are shown in Figure 4.2, the total list can be found in Appendix F. People experience these
tasks as boring and time consuming, and therefore would prefer a robot for performing them.
This is also affirmed by the different researches, as discussed in Section 3.1.6.
Less than 5% of the tasks is experienced as doubtful, indicated with blue, and no tasks are
non-preferable, as shown in Figure 4.2. Driving a car is considered doubtful since it will be
hard for the robot to handle unexpected situations that are common in traffic. Preparing food
and using a telephone are doubtful since the respondents believe this is could threaten their
social life, as explained in Subsection 3.1.6.
shopping
purchases
unload
bag
cleaning
the house
tidy up
laundry
dishes
make up
bed
move
blanket
water
plants
sewing
indoor
maintenance
set / clean
away the
table
preparation
sandwich
preparation food
microwave
preparation food
on stove
preparation
coffee/tea/
bev
put trash
in trashbin
fetch and
carry
medium
objects
fetch and
carry large
objects
fetch and
carry small
objects
fetch and
carry low
positioned
objects
fetch and
carry high
positioned
objects
fetch from
refridgerator
seek /
retrieve
objects
reading
small
characters
automatically
charging
operate
electronics
operate
internet
operate
light
operate
switch /
pedal
/button
operate
electric
door
haul door
opening
(sliding)
door
opening
furniture
opening
curtains
drive car
answer
doorbell
telephone
call alarm
avoid
abstacles
opening
food
containers
opening
packaging
Small Jobs
Figure 4.2: All collected tasks related to small jobs, black: preferable, blue: doubtful, red: non-preferable
4.2
Personal care
Besides performing small tasks, a service robot could also assist users with personal care.
Personal care considers mainly tasks that people would perform in the morning, like washing,
toiletting, getting dressed, mouth care etc. In this category most tasks from the BADL list can
be found, as provided in Table 3.2. A total overview of possible tasks for personal care are
shown in Figure 4.3.
There is some discussion about highly intimate tasks, like bathing and showering. Although
these tasks are very time consuming for nursing professionals, some nurses would not prefer
a robot because of ethical reasons. Users also indicate this as less preferred. In addition,
tasks around the users face are unappreciated, because of reliability and safety. A solution
would be that the robot would only assist the user in these kind of tasks at first. Some of the
24
doubtful and rejected tasks do also involve the lack of trust from the people who answered the
questionaire. In case these respondents could experience a service robot, the answers might
be more objective.
assisting
with
toileting
assisting
with
eating /
drinking
regain
sitting /
standing
assistance
during
standing
assistance
for getting
up
assistance
finding
suitable
pos
pull out of
seated
position
put arm on
armrest
put foor on
footrest
positioning limbs
turn in bed
transferring
foster to
move
guidance
of a care
reciient
dressing pants
dressing sweater
dressing underwear
dressing coat
dressing other
brace/assis
ting to
walk
help climb
stairs
dressing zipper
dressing laces
dressing button up
dressing velcro
feeding
scratching
toiletting
bathing
showering
wiping
erotic
handlings
nail
polishing
combing
hair
shaving
teeth
brushing
putting on
make up
assistance
glasses/len
ses/
hearing aid
Personal care
Figure 4.3: All collected tasks related to personal care, black: preferable, blue: doubtful, red: nonpreferable
4.3
Health care
As already shown in the previous section, a service robot can also function as a carer. Basically the tasks listed in the category ’Personal care’ could also be covered by the category
Health care. Therefore, this category consists of all kind of nursing skills beyond personal
(morning) care, considering the administration of medication, wound care, checking vital
functions, moving patient, activities considering bladder/colon/gastric tube and other types
of care as demonstrated in Figure 4.4. These possible tasks are defined in the investigation
into nursing skills (Section 3.1.2) and at the home care company Florence (Section 3.1.4). It
can be concluded that examining and observing tasks are preferred for the robot to perform.
Next to this, there are also some tasks that are clearly not preferred by most of the users and
health care professionals, like complicated (in vivo) nursing tasks or specific medical procedures (indicated with red). The main reason are ethical reasons and responsibility. Tasks, like
checking vital functions, where the robot makes direct contact with the patient/user are seen
as doubtful (indicated with blue), which is a matter of trust and probably inexperience.
25
assistance
with
walking
stimulate
to exercise
separation
and
guidance
assisting in
rising from
a chair
fetch
insulin kit
fetch
respiratory
assisting
device
set the
table
assisting
with
eating and
drinking
find
caregiver
stock up
supply
checking /
register
medication
medication
exposure
operating
high-low
bed
help move
in / out
bed
using a
mechanical hoist
use of a
pot / urinal
use of
urinal
use of
incontinence mat.
first aid
handelings
make bed
without
care
recipient
make bed
with care
recipient
assist in
finding
suitable
position
tilt a care
recipient in
bed
check vital
functions
care of
wounds
care of
tracheotomy
care of
tracheastoma
put on
elastic
stockings
shaving
beard/mus
tache with
scraper
dressing
care
recipient
lying flat
fixate a
care
recipient
physiotherapy
apply
bandages
removing
stitches
and
tampons
applying
venipuncture
assisting
with
bathing
assisting
with
showering
washing
care
recipient in
bed
facial care
changing
and rem.
of an drip
blood
transfusion
infusion
pump
control
activities
considering the
colon
activities
considering gastric
tube
care of a
deceased
making
solutions/
dilutions
collect
(non)steril
e samples
assisting
with
toileting
catheterization of
bladder
activities
considering the
bladder
admin.
liquids via
central
infusion
administration of
medication
administer
oxygen
Health care
Figure 4.4: All collected tasks related to health care, black: preferable, blue: doubtful, red: non-preferable
4.4
Observation, reminders & alerts
Next to functioning as a home keeper or carer, a service robot is also equipped to observe its
environment and could use this data to remind or alert it’s user. Other comparable service
robots already focussed on observing users and giving them reminders and alerts, for example the Nursebot and the Mobiserv. In experiments with these robots, it could be seen that
observing and accordingly reminding or alerting is well received by the users. The result of
another study also shows that potential users believe that these kind of tasks are liked, useful
and acceptable (Cesta et al., 2011). The tasks that are part of this category are listed in Figure 4.5. However, tasks that include watching over or interacting with a user’s young children
are not preferred. Additionally, tasks that might infringe one’s privacy are also marked as
doubtful. Again, it holds that respondents have a lot of doubt whether their privacy can be
guaranteed, which seems to decrease in case users actually do experience a robot observing
them as shown in the researches.
26
reminder
medication
reminder
appointments
reminderbirthdays
reminder
drinking /
eating
reminder
toileting
alerts for
noises
alerts for
common
mistakes
alerts for
falling
alerts for
objects
causing
accidents
alerts for
waking up
observing
activities
observing
rooms for
seek and
find
observing
and
recognize
emotions
observing
drinking /
eating
observing
falling
emergency
calls
exposure,
reading
inst, admin
med.
keeping up
last will/
testament
recognize
people
archive
observ.
data for
memories
Observation,
Reminders &
Alerts
baby
sitting
Figure 4.5: All collected tasks related to observation, reminders and alerts, black: preferable, blue:
doubtful, red: non-preferable
4.5
Social & amusement
Where the previous categories focus on tasks in which a user needs help or assistance due to
its need of support, this category focusses on the possible social benefits and the amusement
of a service robot. Tasks related to music, literature, games, jokes, companionship and (sexual)
amusement belong to this category and are provided by Figure 4.6. As already mentioned in
Subsection 3.1.6, there are some comparable domestic service robots on the market that also
fulfil a social function. From the analyzed researches could be concluded that social robots are
positively experienced, but without any real-life experience they are also feared. Consequently,
tasks that reduce social interference are disputable, like video calls, social companion or cooking. Although these tasks can regain their independency, some people experience human
aid as a social activity and therefore do not want to become independent. This is supported
by the study of Arras and Cerqui (Arras and Cerqui, 2005), where a majority of the elderly
notifies that they feel more autonomous by assistance of a human instead of assistance of a
robot. An explanation for this answer could be that elderly assume that autonome stands for
‘home alone with a robot’, and that they are afraid for becoming lonely and socially isolated.
Moreover, people are sceptic about new technology introduced into their live. On the other
hand, they are highly sensitive to the improvement of the quality of live. Consequently, it
can be seen that technology improves the quality of live, elderly are willing to overcome their
sceptism.
Returning to the reduction of social contact, a robot might also have a positive influence,
since users could visit friends or family virtually or they have something to talk about with
their friends and relatives during an actual visit (Sharkey and Sharkey, 2010). Another reason
for sceptism is an increase of the feeling of objectification of the elderly, in case they would
be assisted by only the robot. Most of these beliefs rely on prejudices due to inexperience and
lack of good studies. Better informing and grounding of this information with examples and
studies could decrease the amount of deception.
27
play an
instrument
play
music
compose
music
singing
literature
turning
pages
Reading
writing
jokes
being
funny
hugging
games
food
preparation
physical/
sexual
pleasure
physical
activities
massage
social
companion
reproducing smell
recognize
people
reproducing voices
video call
telephone
childeren play
childeren baby sit
Social &
amusement
Figure 4.6: All collected tasks related to social and amusement, black: preferable, blue: doubtful, red:
non-preferable
28
5
Appearance and Human-Robot interaction
In the previous chapter preferable tasks of a service robots have been discussed. However, performing the right tasks does not necessarily lead to acceptance or rejection of a robot. Users
also have desires and wishes regarding the appearance of and the human-robot interaction of
a service robot. Since these are also important factors for acceptance, they will be discussed
in the next sections.
5.1
Appearance
The appearance of a robot can be quite a subject for debate. Some people might not care at all
about the appearance of a device, others will refuse to buy something with a particular look.
Although a big part will be a matter of taste, there are some researches that discovered some
relations in the appreciation of the robot design.
One of the most known theories is the Uncanny Valley; this theory states that there is a optimal appearance of a human-like robot, in which the robot should look mainly like a human
but still be discernible, since the familiarity will decrease enormously if the alikeness of the
robot becomes too large but not perfect. This principle is illustrated in Figure 5.1. The goal is
to develop a robot device which is positioned at the peak of the curve and to prevent the design
of falling into the uncanny valley (Mori, 1970). This model is a theoretical model which is verified and accepted by several studies but is also criticized. Proponents have several suggestions
for the underlying mechanism of the Uncanney valley. One is the ‘disgust response’: making
humans avoiding disease (Rhodes and Zebrowitz, 2002). Others assume that the appearance
of a robot can elicit the fear of dead (MacDorman and Ishiguro, 2006). Also the violation
of norms and religion could be a theory (Saygin et al.). A resent study in Princeton tried to
prove that increased realism does not necessarily lead to increased acceptance. This was positively performed by monkeys, also resulting in the conclusion that the underlying mechanism
would not be cultural but evolutionary (Steckenfinger and Ghazanfar, 2009). However, critics
disagree with the Uncanny Valley theory. Hanson states that a good design can lift humanlooking entities out of the valley and that the fear for human likeness can be at any degree
(Hanson et al., 2005). Moreover, studies concluded that cultural background do have influ29
ence at the valley (Bartneck et al., 2007). Due to the many contradictions as mentioned above
this theory should be used as guideline but should not be a main consideration. Nevertheless,
this theory is tested on AMIGO in order to find out what the human likeness is in the next
chapter.
Furthermore, it is believed that people are more tended to approach a human-like robot
for a conversation than a machine-like robot. This is tested with two different appearances of
robots made of Robotx Vox Centurion. If people would approach a robot and greet them, they
would start a conversation. Out of fifty test persons only two people completed the task for the
machine-like robot versus twelve for the human-like robot. Given this, it may be inferred that
people are more likely to engage a robot with a human-like appearance than a not human-like
robot. The main reason would be that people prefer a human-like head with mouth and eyes
as a focus point, which is a basis for human-machine interaction (Kiesler and Goetz, 2002).
Figure 5.1: Mori’s Uncanny Valley
Another study questioned 240 people about their opinions about domestic robots (Ray
et al., 2008). The results of three questions from that questionaire are shown in Figure 5.2.
There can be seen that respondents prefer a small machine as a domestic robot and do not
want it to look human-like. Additionally, it was deduced that the result was age-dependent.
Whereas, elderly prefer less a human-like appearance, young people prefer more human-like
(Arras and Cerqui, 2005).
Human likeness is not the only factor which can cause rejection form a robot. A robot
device should blend with the ecology of the user(Forlizzi et al., 2004). The ecology of aging
people is a set of three interdependent parts: products, environment and people. If these
parts are balanced the elderly can interact independently. If for example the elder cannot
use products he or she is used to, the parts will become unbalanced and there will arise a
gap between the elder and the environment, see Figure 5.3. Restoring the balance might be
possible by changing the environment, like moving to an assisted living facility. However, if
the elderly does not support that change, it will even enlarge the gap. Another possibility is
to replace the product by a robotic device, like a service robot. This robot should guarantee
independence (the state of being competent and self-supporting) and dignity (the state of
being worthy respect). Furthermore, the robot should support changing values within the
ecology and changes within functionality. For example, a bedridden patient can become more
mobile by the care of a service robot and subsequently the robot should be able to adjust to
30
9
Other
3
5
58
Big machine
14
Q9 In your mind, what a
robot looks like?
21
Small machine
58
55
5
Creature
59
6
Animal
Q10.1 What a domestic
robot should absolutely
not look like?
12
78
20
22
Human
%
Q10.1 What a domestic
robot should look like?
23
21
55
0
20
40
60
80
100
!
Figure 5.2: What should a robot look like(Ray et al., 2008)
this new (more mobile) situation. In general, it may be inferred from the theory of Forlizzi
et al. that the design of the service robot should be adjustable to individual customer desires
and needs.
31
(a)
(b)
(c)
Figure 5.3: a) A balanced elderly ecology, b) An imbalanced elderly ecology c) A balanced elderly ecology
including robotic products
32
5.2
Human-Robot Interaction
Interaction between the robot and the user is done by verbal and non verbal communication,
in this section both aspects will be briefly discussed.
A study after verbal communication observed the difference between a playful and serious robot personality (Kiesler and Goetz, 2002). Both robots tried to stimulate the test person
to exercise with two different dialogues that are shown in Table 5.1. The results showed that the
the playful robot was graded more positively across all personality traits but the participants
were more inclined to listen to the advice and instructions of the serious robot. This inclines
that for different purposes and different tasks the robot should use a different personality and
dialogue.
Table 5.1: Two different dialogues between a user and a service robot, left: playful, right: seriously
Playful
R: Do you like to exercise?
P: Kind of.
R. That’s ok. These are fun-you’ll love
them. Let’s start. I want you to breathe
to warm up. Do you know how to breathe?
Serious
R: Do you exercise?
P: Sort of.
R: It is very important to your health.
R: I would like to have you do some exercises now. Would that be okay?
P: Sure.
R: Good, try to do everything that I say
as best you can.
R: Let’s start with a breathing exercise.
Are you ready?
P: Yes
P: Yes
R: Ha ha ha! I hope so. Ready to start?
R: Close your eyes.
R: Relax. Breathe in.
R: Don’t forget to breathe out. I don’t
want you to pass out!
R: Close your eyes.
R: Relax. Breathe in.
R: Breathe out. Are you feeling relaxed?
Besides communication during a conversation, also feedback is very important. From
a research after the verbal communication of the predecessor of the Nursebot Pearl: Flo, became clear that the test persons were able to understand, although during silences they were
not sure whether the robot could not understand them or was processing data (Pollack et al.,
2001). This indicates that it is also important to give feedback to the user about the processes
of the robot. Elderly often have hearing loss and for that reason it would also be advisable to
give nonverbal feedback. Nevertheless, speech has to be the number one means of communication, since a majority would like to communicate by speech and in a human like manner
instead of communicating via for example a touch screen (Ray et al., 2008; Dautenhahn et al.,
2005).
Facial expression is a way of nonverbal communication which is an valuable communication signals for the robot, since it enhances the social interaction with humans and increases
the level of trust and engagement and enforces messages and advises by the robot.
Facial expression is largely determined by eye-contact. From a study with the Nao humanoid
33
robot, it was concluded that robotic facial expressions differ a lot from human facial expressions. However, the results showed that the eye contact from the Nao, as depicted in Figure 5.4, is experienced the same as human eye contact (Breazeal, 2004; van der Pol et al.,
2010).
Figure 5.4: Different gaze directions of the Nao Robot
Moreover, the way the service robot approaches a user is important (Dautenhahn et al.,
2006). The article states that a frontal approach is experienced as slightly threatening, intimidating and an intrusion on one’s comfort zone. Besides, the user was afraid the robot would
not stop in time, resulting in a frontal collision. Since this service robot, comparable in size
to the AMIGO robot, had a remote control in front of the robot, a frontal approach was the
easiest way to reach the remote. Nevertheless, an approach from left or right was generally
preferred since this felt more natural and comfortable. The main reason for right or left was
the users preference, i.e., left handedness or right handedness.
5.3
Conclusion
Several studies recommended that the service robot should look more like a small machine
instead of human-like. Other studies report that users are more likely to approach a slightly
human-like robot compared to a totally machine-like design. From all of these studies the
tendency is that the service robot should look something between a human and a small machine, which can be recognized in the famous Uncanny valley theory, where the perfect look
is a human likeness around 50 % -70 %. From a small survey, the average human/machine
appearance was around 49 %, so the robot might become slightly more human-like but not
to much. The largest difference will be made by changing the face and the base. Next to
the appearance, the design should be easy to adapt in different environments and it should
be possible to make small customer-dependent changes. As far as communication concerns,
speech is preferred over a screen. The tone of the voice should differ depending on the message, and the robot should give a lot of feedback, for example also while processing data. To
enforce messages facial expressions and eye contact can be very important. Finally, it should
be avoided to approach the user frontally, since this could experienced slightly threatening
and intimidating.
34
6
Comparison with Amigo
To improve the robot the tasks from the previous chapter have been compared to the abilities
of the AMIGO robot. At this moment the robot is not able to perform much more tasks than
necessary to (partly) complete the challenges for the RoboCup@Home league, which are explained in Chapter 2. However, tasks could be realized by adapting some software, since the
hardware of the AMIGO is theoretically able to perform much more tasks than currently possible due to the software limitation. Therefore, only the desired adjustments to the hardware
will be discussed in the next sections. Besides these specific hardware parts also the general
hardware design will be considered, like water resistance and appearance. Improvements in
human-robot interaction will not be discussed in this chapter, since this is mainly a software
issue. Finally, it should be mentioned, that there will only be made some suggestions for
adjustments, further research should be done for exploring all options in order to be able to
execute certain tasks.
Vision
Vision is necessary for the majority of tasks that the robot performs in all five categories as
discussed in the previous chapter. Obviously, it is a necessary feature for observation of activities, rooms and people, as mentioned in Section 4.4. Moreover, vision is also used for
object/people recognition in order to fetch something or guide and assist a person. While the
robot is moving, vision is used for building a map in order to reach the necessary destination
without bumping into objects or people. Nevertheless, for some social/amusement activities
and for reminders vision is not used. These are tasks like giving reminders, singing, telling
jokes and playing music.
For vision, the Kinect camera of AMIGO has a resolution of 640×480 pixels or 0,3 Megapixels
at 30 Hz for both the RGB- and dept-camera. This is too less for reading for example small
characters, since the minimal requirement for Optical Character Recognition (OCR) is 300
dpi (OCR). To reach this, a camera with at least resolution about 3 Megapixels should be used.
Moreover, the camera has a blind spot for objects directly in front or the robot. Also this drawback should be taken into account for an improved version.
35
Arms
After something or someone is recognized by the camera, the arms can be used to guide or
move. This concept can be applied to many tasks from all different categories. It should be
mentioned that for most tasks the arms itself do not operate individually but cooperate with
the grippers as will be discussed in the next paragraph. Nevertheless, the arms are necessary for tasks like assistance with walking, showering, bathing, toiletting, fetch and carry of
all kind of objects, dressing and cleaning. The arms are less used during tasks considering
observation, reminders and alerts and from the category: ’social and amusement’.
Currently, the arms can lift up to 1.5 kg, which should be enough to for example lift small objects and leaning on the robot during walking. However, the lift capacity should be increased
in order to for example lift limbs. From the list of tasks it is assumed that lifting a lower leg
is the heaviest necessary tasks to be fulfilled. Generally, the lower leg and foot are 5.8% of the
total body mass, resulting in 4.6 kg for a human of 80 kg (Chaffin et al., 1999). Therefore, it
would be desirable for the new design to be able to lift up to 2.5 kg, since the weight can be
divided over two arms
Grippers
As already mentioned in the section above, the grippers mainly collaborate with the arms. As
a result, the tasks that are and are not applicable for the arms also yield of the grippers. The
grippers are responsible for the final stroke of the maneuver, like actually grasping an object,
whereas the arm ensures that the wrist is at the right spot to be able to grasp.
AMIGO has an underactuated gripper which is not able to perform all tasks. At this moment
highly precision tasks or for example the task to push a button are inexecutable. Due to the
type of actuation and the limited amount of applicable force it becomes hard to grasp something with highly precision, which is especially necessary in case the robot operates near a
user since misplacement could lead to a collision with the human body. Moreover, again due
to the underactuation it is not possible to push, since one actuator only operates in pull direction. Pushing would be a necessary movement in order to for example push a button or open
a bottle. Therefore, the grippers of the AMIGO have to be changed. A possible new design
can be found in T. Teunissen van Manen (van Manen, 2012).
Base
The visual hardware, the arms and gripers should be able to used at different positions and
heights, like a human would normally bend or stretch. Technically this means the robot has to
be able to grasp something from the floor, from a height of 2 m, from all heights in between
and something from a table with a radius of 0.7 m. Consequently, the design of the base
affects all tasks that are applicable to the arms and grippers as mentioned above. Moreover,
the design of the base could be beneficial for the camera. In case the camera becomes able
to operate at different heights, the range will be extended. This results in a good chance to
produce a complete as possible world map of the environment of the robot, which enables the
robot to find objects quicker and observing better.
At this moment, it is not possible to reach the extremities (0 m - 2 m height and a radius of
0.7 cm ), which should be changed in a new design. Moreover, the base decreases the range of
the arms at this moment, therefore the possibilities to decrease the size of the base, in at least
in direction, should be investigated in order to extend the range of the arms. Other solution
would be a repositioning from the arms or a differently designed torso.
36
Wheels
The wheels of the AMIGO robot make it possible to execute all kind of different tasks at different locations, which mainly will be performed by the above mentioned hardware parts. This
means that the wheels are applicable to all tasks mentioned in the previous chapter. Since the
robot is designed for indoor usage, it should be able to reach all areas at the base floor. Although is it possible and probably necessary (depending on the situation) that the living area
is adjusted for the robot, it still should be be able to move over small objects like garments and
cords and have grip on different surfaces. This because these kind of small objects should not
prevent the robot from being able to reach a user in emergency situations. At this moment the
wheels can lose some grip on too smooth surfaces or too uneven surfaces which should be enhanced. The reason for this lies in the history of the robot, since the omni-wheels are initially
designed for playing on a specially designed robot soccer field, with an ideal surface and without irregularities. Furthermore, AMIGO has four wheels which causes the system to become
statically overdetermined. This results in slip and wrong directions in case one wheel loses
grip and the other three wheels keep moving. Consequently, the design of the wheels have
to be adjusted in order to become statically determined and be able to move over small objects.
Water resistance
Some tasks demand the robot to be splash proof like toiletting, making coffee/tea, watering plants, serving drinks, mopping, doing laundry and handle trash. These tasks, which
are mostly from the categories ‘small jobs’ and ‘personal care’, will not directly get the robot
drenched, but in case the maneuver goes wrong the water should not harm the robot. Additionally, there are tasks that require the robot to be fully water proof, like bathing, showering,
cleaning windows and doing dishes.
In the beginning one of the functions of the covers of the AMIGO was to make the robot
splash prove, but due to ventilation reasons these covers are not protecting the robot against
water anymore. Therefore, the covers of the robot should be adjusted in a way that the robot
does have enough ventilation and becomes splash/water proof. Furthermore, parts that are
currently not shielded by the covers should also become protected.
Appearance
In order to know in what extend people see the AMIGO robot as human-like, a small questionnaire has been performed among thirty (fifteen females and males) robotic unrelated students. They were asked to grade the AMIGO robot, as illustrated in Figure 6.2, between 0
and 10. The grade 0 would indicate that there is no likeness with humans and 10 would mean
that is would be perfectly human-like, as illustrated in Figure 6.1. The students gave an average mark of 4.9, where the grades varied between 3 and 7. The main reasons were first the
lack of legs and secondly the head. Compared to the Uncanney Valley theory and the other
researches, the robot should look between a human and a small machine, which is satisfied
by the score of 4.9. Moreover, the robot should become (slightly) adaptive to different desires
of different users in order to become fully accepted, as explained in Section 5.1 in the theory
of Forlizzi.
37
0
10
Figure 6.1: Questionaire to grade the appearance of AMIGO, where 0 is equal to fully machine-like and
10 is equal to fully human-like
Figure 6.2: Picture of AMIGO as shown during the questionnaire
38
7
Conclusion
The goal of this study is to investigate the user requirements and desires for a domestic service
robot and compare these to the abilities of AMIGO. In this case users are elderly still living
independently or living in a home for elderly and patients in a hospital. Since the AMIGO
robot is only able to move indoors, only task that can be performed within doors are considered. The user requirements regarding service robots have been investigated and have been
divided in requirements and wishes regarding tasks to be performed by a robot and regarding
the appearance and human-robot interaction.
Tasks to be performed by a service robot could be divided into five categories:
• Social & Amusement
• Observations, Reminders & Alerts
• Small jobs
• Health care
• Personal care
Small jobs are the most popular category people would like to be executed by a service robot.
The category ‘social and amusement’ is the least favorite. In general, it can be concluded
that in case the task improves the independency and the quality of life of the user it will be
accepted. In case the tasks are rejected it is caused by several reasons:
• Tasks in health care are not preferred for a service robot due to responsibility, trust or
privacy issues, because it is indistinct who is responsible when something goes wrong
• Trusts and fear are another reason for rejection of a tasks, since it is hard for people to
trust something they have never experienced in real life
• Social activities are non preferred because people are afraid that because the extra social
attention of the robot, friends and relatives will decrease their contribution which would
lead to be ’home alone with the robot’
• Privacy is mainly applicable to observation, since it is difficult to guarantee that the data
stored only for observation and reminders and will never be used for something else
39
The second part of the research goal was to investigate requirements and wishes regarding
the appearance and human-robot interaction. From this the following conclusions are drawn:
• The external appearance should look in between a small machine and a human
• The design should be slightly adjustable to individual costumer wishes
• The robot should give a lot of feedback, even during processing data
• Messages should be brought orally
• Messages can be enforced by facial expressions and eye-contact
• The robot should avoid to frontally approach a user, since this might be experience as
lightly threatening and intimidating
After investigating all these requirements, the functionality and the appearance of the AMIGO
has been compared to the results. It can be concluded that many tasks, which the robot is not
able to perform at the moment, become possible by extending the software. For the remaining
tasks the following hardware parts should be adjusted:
• The camera, since OCR is not possible and object recognition (especially directly in
front of the robot) could be improved
• The arms, to become able to also lift heavier objects up to 2.5 kg
• The grippers, since it is not able to push something or to execute highly precision tasks
• The base, since the arms are not able to reach all the necessary positions
• The wheels, in order to become become statically determined and to decrease the deviation during moving and slip
• The covers for water/splash resistance
40
8
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44
Computing
Four on-board PCs
Per PC:
• Dual-Core i5/i7
• 8 GB ram
A
• 500 GB Hard Drive
Sensors
Base
• Hokuyo UTM-30LX Laser Scanner
Specification sheet
Clephas (2011)
Head
• Microsoft Kinect
Arms
• Force sensors per joint
• Force sensor in gripper actuator
Arms
Arm DOFs
• Arm: 7
• Gripper: 1
• Liftable force in fully stretched
position: 1.5 kg
Arm Link Lengths
• Upper Arm: 320 mm
• Forearm: 280 mm
• Wrist to Gripper Surface:
90 to 180 mm
Head, Spine & Base
Networks
• Distance between shoulder joints:
219 mm
Pan Tilt Head
Gigabit Ethernet
◦
• Pan: 300
◦
• Cisco Linksys E2000 router
Arm Range of Motion
• Tilt: 120
• Gigabit Ethernet switch
• Shoulder yaw: 180◦
Spine
EtherCAT Network
• Shoulder roll: 90◦
Height Range from Floor to head:
• 1 kHz Control to Base Motors
• Shoulder pitch: 180◦
• Elbow yaw: 210◦
• 1000 – 1410 mm
• Elbow pitch: 145◦
Omni Directional Base
• Wrist Yaw: 90◦
• Omniwheels: 4 driven
• Wrist Pitch: 114◦
• Base diameter: 675 mm
• Gripper: 90 mm max
• Speed: up to 2 m/s
• Diagnostic signals from robot
vitals
• Expandable with further
Beckhoff modules
B
Aftekenlijst Verpleeg(technische)
handelingen
47
Haarlem
3. Aftekenlijst Verpleegtechnische handelingen
ƒ
Let op De nummers 4 t/m17 kunnen pas in de praktijk (onder begeleiding) worden geoefend nadat men een
(tweetal) handtekeningen heeft voor het uitzetten, controleren/registreren van medicatie. Men dient tevens te
voldoen aan de vaardigheid oplossingen/verdunningen maken. Deze laatste vaardigheid wordt op de
Academie voor Psychiatrie getoetst met een “rekentoets”, men moet voldoen aan de norm. De uitslag van de
toets toevoegen aan je portfolio
ƒ
De vaardigheden gemerkt met een * kunnen pas in de praktijk worden geoefend, nadat ze in theorie
behandeld en afgetekend zijn. Dat wil zeggen je hebt de desbetreffende context en casussen binnen I-care
afgerond en de vaardigheid laten zien in het skillslab. De overige handelingen kunnen alvast onder
begeleiding worden geoefend tijdens je werk.
ƒ
De grijs gemarkeerde handelingen zijn (verplichte) handelingen binnen de opleiding aan de Academie voor
Psychiatrie (I-care)
Nr
Verpleegtechnische handelingen
1*
Medicijnen uitzetten
2*
Controleren/registreren van medicatie
3*
Oplossingen/ verdunningen maken
4*
Het toedienen van orale medicatie
5*
Het toedienen van rectale medicatie
6*
Het toedienen van vaginale medicatie
7*
Het toedienen van medicijnen via de huid
8*
Het toedienen van medicijnen via de
Behandeld
in
context en
casus
(i-care)
Datum
skillslab
situatie
Stempel
Academie
voor
Psychiatrie
Paraaf en datum
praktijkbeoordeling
(kan handeling
zelfstandig
uitvoeren)
luchtwegen
9*
Het toedienen van medicijnen via de
slijmvliezen
10*
Het toedienen van medicatie via het oor
11*
Vloeistoffen toedienen via perifeer infuus
12*
Een infuus controleren
13*
Infuuspomp bedienen
14*
Vloeistoffen toedienen via centraal infuus
15*
Medicijnen subcutaan toedienen per
injectie
16*
Medicijnen toedienen met behulp van een
prikpen
17*
Med. intramusculair toed. per injectie
Aftekenlijst Verpleeg(technische)handelingen
5 van 8
versie 1.2 Mei 2007
Haarlem
Nr
Verpleegtechnische handelingen
Behandeld
in
context en
casus
(i-care)
18*
Medicijnen toedienen via infuussysteem
19*
Een perifeer intraveneus infuus
Datum
skillslab
situatie
Stempel
Paraaf en datum
Academie
praktijkbeoordeling
voor
(kan handeling
Psychiatrie
zelfstandig
uitvoeren)
inbrengen
20
Rode wond verzorgen
21
Gele wond verzorgen
22
Zwarte wond verzorgen
23*
Verzorgen wond met hechtingen
23a
Verzorgen van smetplekken
24
Hechtingen en tampons verwijderen
25*
Verzorgen van een wond met een drain
26
Toepassen algemene
zwachteltechnieken
27*
Wonddrains verwijderen
28
Zwachteltechniek volgens ambulante
compressie therapie (ACT)
29
Een tracheacanule verzorgen
30
Een tracheastoma verzorgen
31
Verzorgen van een stoma colo / ileo / uro
*
(doorhalen wat niet gewenst is)
32
Monsters verzamelen t.b.v. diagnostiek
(niet-steriel)
33
Monsters verzamelen t.b.v. diagnostiek
(steriel)
34*
Eerste hulp verlenen bij verwondingen
35*
Eerste hulp verlenen bij vergiftigingen
36*
Eerste hulp verlenen bij verstikking
37*
Eerste hulp verlenen bij verslikking
38*
Toepassen van de stabiele zijligging
39
Controle vitale functies: meten van de
ademhaling
40
Controle vitale functies: meten van de
hartslag
41
Controle v. f.s: meten van de bloeddruk
Aftekenlijst Verpleeg(technische)handelingen
6 van 8
versie 1.2 Mei 2007
Haarlem
Nr
Verpleegtechnische handelingen
Behandeld
in
context en
casus
(i-care)
42
Datum
skillslab
situatie
Stempel
Paraaf en datum
Academie
praktijkbeoordeling
voor
(kan handeling
Psychiatrie
zelfstandig
uitvoeren)
Controle vitale functies meten van de
lichaamstemperatuur
43
Controle vitale functies: beoordelen van
het bewustzijn
44*
Reanimatie
45*
Katheteriseren van de blaas bij vrouwen
(+ verzorging en verwijdering)
46*
Katheteriseren van de blaas bij mannen
(+ verzorging en verwijdering)
47*
Blaasspoelen
48*
Verwisselen en verzorgen van een
suprapubiskatheter
49*
Een maagsonde inbrengen voor voeding
(+ toediening, verzorgen verwijdering)
50*
Een maagsonde inbrengen voor
maagspoelen
51*
Venapunctie toepassen
52*
Maagspoelen
53*
Verwijderen van een maagsonde
54*
Verwisselen en verwijdering van een
infuus
55*
Transfusie. Aansluiten van bloed op een
bestaand infuus
56*
Toedienen van zuurstof
57
Blaastraining geven
58
Het gebruik van een po
59
Het gebruik van een urinaal
60
Het toepassen van incontinentie
materiaal
61
Hulp bieden bij de toiletgang
62*
Blaasspoeling
63
Darmspoeling
64*
Maagspoelen
65
Klysma toedienen
66
De wasbeurt van een zorgvrager op bed
67
Een zorgvrager ondersteunen bij het
baden
68
Een zorgvrager ondersteunen bij het
douchen
Aftekenlijst Verpleeg(technische)handelingen
7 van 8
versie 1.2 Mei 2007
Haarlem
Nr
Verpleegtechnische handelingen
Behandeld
in
context en
Datum
skillslab
situatie
casus
(i-care)
69
Gezichtsverzorging
70
Handen wassen
71
Het wassen van het haar op bed
72
Hulp bieden bij verzorging mondslijmvlies
73
Scheren van baard met snor met behulp
Stempel
Paraaf en datum
Academie
praktijkbeoordeling
voor
(kan handeling
Psychiatrie
zelfstandig
uitvoeren)
van een krabber
74
Uit en aankleden van een zorgvrager die
platliggend verpleegd moet worden
75
Verzorgen van de nagels aan de handen
van de zorgvrager
76
Verzorgen van een gebitsprothese
77
Een hoog-laag bed bedienen
78
Verzorgen van een hoortoestel
79
Dekken van de tafel
80
Hulp bieden bij eten en drinken
81*
Fixeren van een zorgvrager
82*
Separeren en begeleiding van een
zorgvrager
83
Gebruik van een mechanische tillift
84
Het verzorgen van een overledene
85
Assisteren bij opstaan uit een stoel
86
Zorgvrager ondersteunen bij het vinden
van een geschikte lichaamshouding
87
Een zorgvrager uit bed helpen
88
Hulp bieden bij het lopen
89
Zorgvrager tot bewegen stimuleren
90
Aantrekken van elastische kousen
91
Kanteling van zorgvrager in bed
92
Een zorgvrager verplaatsen in bed
93
Een bed opmaken met een zorgvrager
94
Een bed opmaken zonder een
zorgvrager
Aanvullende handelingen
Aftekenlijst Verpleeg(technische)handelingen
8 van 8
versie 1.2 Mei 2007
C
Tasks Guide dog
53
Assistance Dog Tasks
Page 5 of 8
dependency on loved ones, prevent injuries or get help in a crisis.
RETRIEVE BASED TASKS
z
z
z
z
z
z
z
z
z
z
z
z
z
z
z
z
z
z
z
z
Bring portable phone to any room in house
Bring in groceries - up to ten canvas bags
Unload suitable grocery items from canvas sacks
Fetch a beverage from a refrigerator or cupboard
Fetch food bowl(s)
Pick up dropped items like coins, keys etc., in any location
Bring clothes, shoes, or slippers laid out to assist with dressing
Unload towels, other items from dryer
Retrieve purse from hall, desk, dresser or back of van
Assist to tidy house or yard - pickup, carry, deposit designated items
Fetch basket with medication and/or beverage from cupboard
Seek & find teamwork - direct the dog with hand signals, vocal cues to: retrieve an unfamiliar
object out of partner's reach, locate TV remote control, select one of several VCR tapes atop
TV cabinet, other surfaces
Remove VCR tape from machine after eject button pushed
Use target stick to retrieve an indicated item off shelves in stores retrieve one pair of shoes
from a dozen in closet
Use laser pointer to target an item to be retrieved
Drag Cane from its customary location to another room
Pick up and return cane if falls off back of wheelchair
Pickup or fetch Canadian crutches from customary location
Drag walker back to partner
Fetch wheelchair when out of reach
CARRYING BASED TASKS (non retrieval)
z
z
z
z
z
z
z
z
z
z
Move bucket from one location to another, indoors & outdoors
Lug a basket of items around the house
Transport items downstairs or upstairs to a specific location
Carry item(s) from the partner to a care-giver or family member in another room
Send the dog to obtain food or other item from a care-giver and return with it.
Dog carries a prearranged object to care-giver as a signal help is needed
Carry items following a partner using a walker, other mobility aids
Pay for purchases at high counters
Transfer merchandise in bag from a clerk to a wheelchair user's lap
Carry mail or newspaper into the house
DEPOSIT BASED TASKS
z
z
z
z
z
z
z
z
Put trash, junk mail into a wastebasket or garbage can
Deposit empty soda pop can or plastic bottle into recycling bin
Assist partner to load clothing into top loading washing machine
Dirty food bowl [dog's] - put into kitchen sink
Put silverware, non breakable dishes, plastic glasses in sink
Deliver items to "closet" [use a floor marker to indicate drop location]
Deposit dog toys into designated container
Put prescription bag, mail, other items on counter top
http://www.iaadp.org/tasks.html
8-7-2012
Assistance Dog Tasks
Page 6 of 8
TUG BASED TASKS
z
z
z
z
z
z
z
z
z
z
z
z
z
z
z
z
z
z
z
z
z
Open cupboard doors with attached strap
Open drawers via strap
Open refrigerator door with a strap or suction cup device
Open interior doors via a strap with device to turn knob
Answer doorbell and open front door with strap attached to lever handle
Open or close sliding glass door with a strap or other tug devices
Shut restroom door that opens outward via a leash tied to doorknob
Close stall door that opens outward in restroom by delivering end of the leash to partner
Shut interior home, office doors that open outward
Shut motel room exterior door that opens inward
Assist to remove shoes, slippers, sandals
Tug socks off without biting down on foot
Remove slacks, sweater, coat
Drag heavy coat, other items to closet
Drag laundry basket through house with a strap
Drag bedding to the washing machine
Wrestle duffle bag or other objects from the van into the house
Pull a drapery cord to open or close drapes
Assist to close motel room drapes by tugging on edge near bottom of drape, backing up
Operate rope device that lifts blanket and sheet or re-covers disabled person when he or she
becomes too hot or cold.
Alternatively, take edge of a blanket and move backwards, tugging to remove it or assist
someone to pull the blanket up to their chin if cold
NOSE NUDGE BASED TASKS
z
z
z
z
z
z
z
z
z
z
z
z
z
Cupboard door or drawers - nudge shut
Dryer door - hard nudge
Stove drawer - push it shut
Dishwasher door - put muzzle under open door, flip to shut
Refrigerator & freezer door - close with nudge
Call 911 on K-9 rescue phone - push the button
Operate button or push plate on electric commercial doors
Turn on light switches
Push floor pedal device to turn on lamp
Turn on metal based lamps with touch-lamp device installed - nudge base
Assist wheelchair user to regain sitting position if slumped over
Help put paralyzed arm back onto the armrest of wheelchair
Return paralyzed foot to the foot board of a wheelchair if it is dislodged
PAWING BASED TASKS (some dogs prefer it to nose nudge)
z
z
z
z
z
z
z
z
z
Cupboard door - shut it with one paw
Dryer door - shut it with one paw
Refrigerator & freezer door - one forepaw or both
Call 911 on K-9 rescue phone - hit button with one paw
Operate light switch on wall - jump up, paw the switch
Depress floor pedal device to turn on appliance(s) or lamp
Jump up to paw elevator button [steady dog if he tries it on slippery tile floor]
Operate push plate on electric commercial doors
Close heavy front door, other doors - jump up, use both forepaws
BRACING BASED TASKS (no harness)
http://www.iaadp.org/tasks.html
8-7-2012
Assistance Dog Tasks
z
z
z
z
z
z
z
Page 7 of 8
Transfer assistance from wheelchair to bed, toilet, bathtub or van seat - hold Stand Stay
position, then brace on command, enabling partner to keep their balance during transfer
Assist to walk step by step, brace between each step, from wheelchair to nearby seat
Position self and brace to help partner catch balance after partner rises from a couch or other
seats in a home or public setting
Prevent fall by bracing on command if the partner needs help recovering balance.
Steady partner getting in or out of the bathtub
Assist partner to turn over in bed; have appropriate backup plan
Pull up partner with a strap [tug of war style] from floor to feet on command, then brace till
partner catches balance
HARNESS BASED TASKS - Mobility Assistance
(Only appropriate for large sturdy adult dogs with sound joints, proper training)
z
z
z
z
z
z
z
z
z
z
z
Assist moving wheelchair on flat [partner holds onto harness pull strap] avoiding obstacles
Work cooperatively with partner to get the wheelchair up a curb cut or mild incline; handler
does as much of the work as possible, never asking the dog to attempt an incline unaided
Haul open heavy door, holding it ajar using six foot lead attached to back of harness, other end
of lead attached to door handle or to a suction cup device on a glass door
Tow ambulatory partner up inclines [harness with rigid handle or pull strap may be used]
Brace on command to prevent ambulatory partner from stumbling [rigid handle]
Help ambulatory partner to climb stairs, pulling then bracing on each step [rigid handle or
harness with pull strap may be used to assist partner to mount a step or catch balance]
Pull partner out of aisle seat on plane, then brace until partner catches balance [harness with a
rigid handle and a pull strap, or pull strap only]
Brace, counter balance work too, assisting ambulatory partner to walk; the partner pushes
down on the rigid handle as if it were a cane, after giving warning command, when needed
Help ambulatory partner to walk short distance, brace between each step [rigid handle]
Transport textbooks, business supplies or other items up to 50 lbs in a wagon or collapsible
cart, weight limit depends on dog's size, physical fitness, type of cart, kind of terrain
Backpacking - customary weight limit is 15% of the dog's total body weight;10% if a dog
performing another task, such as wheelchair pulling in addition to backpacking; total weight
includes harness (average 3 - 4 lbs.). Load must be evenly distributed to prevent chafing.
OTHER KINDS OF ASSISTANCE IN CRISIS
z
z
z
z
Bark for help on command
Find the care-giver on command, lead back to location of disabled partner
Put forepaws in lap of wheelchair user, hold that upright position so wheelchair user can
access medication or cell phone or other items in the backpack
Wake up partner if smoke alarm goes off, assist to nearest exit
MEDICAL ASSISTANCE TASKS (Sample)
z
z
z
Operate push button device to call 911, an ambulance service or another person to help in a
crisis; let emergency personnel into home and lead to partner's location
Fetch insulin kit, respiratory assist device or medication from customary place during a
medical crisis
Lie down on partner's chest to produce a cough, enabling patient to breath, when suction
machine and/or care-giver unavailable
Comments? Questions? Contact Joan: iaadp@aol.com
http://www.iaadp.org/tasks.html
8-7-2012
D
Mind map form workshop at home care
company ’Florence’
The mind map exists of four categories: Human, professional, environment and entertainment. There categories are further divided into subcategories on the next pages of this appendix.
Human
Professional
Care
Entertainment
Environment
Figure D.1: Mind map
57
E
Other researches into service robots
Table E.1: Quantitative results of the research of Bugmann et al.(Bugmann and Copleston, 2011)
Housework
Vacuuming, washing up or packing dishwasher, general cleaning, clean
bedroom, clean the kitchen, clean the bathroom, dust, clean windows,
laundry, tidying, ironing, water plants, make bed/s general housework, other
housework.
Food Preparation
Prepare breakfast, prepare lunch, prepare tea, make drinks, other food
preparation
Gardening
General gardening, water the garden, cut the lawn, other gardening
Family Help
Help parents, help with children, help elderly
Pet Care
Walk the dog/s, feed pets, other pet care
Security
Guard house, make the house look lived in, check for intrusions, protect
against fire
Stay Quiet
Stay quiet, stay out of my way
Personal Service
Shopping, run a bath, get the paper, answer the phone, use computer for
emails, downloading or research, got to work for owner, wash/clean car, DIY,
drive car or be form of transport, pack school bag, Sexual Service
School Work
School work
Play
General play, play sports, play games or with toys, play video games,
acrobatics
63
5
Vacuum cleaning
73
Windows cleaning
6
Watch over the house
6
Floor cleaning
7
69
65
65
5
Move heavy things
64
Ironing
7
Dust cleaning
7
Bathroom cleaning
6
To do the laundry
7
Dish washing
7
64
61
58
56
55
9
Swimming pool cleaning
53
Clear the snow
11
Clean the car
12
Lawn-mowing
12
51
50
49
16
Water the plants
42
16
Assemble furniture
40
15
Sewing
37
17
Tidy up the house
37
22
Take care of me when I will be old
25
30
Give me a massage
25
24
20
23
Be my sport partner
Take care of the garden
Serve drinks, meals
22
Take care of animals
19
Cooking
19
Entertain me
18
Read me a book
17
Drive my car
16
Help my children to work
15
Keep me company
12
Play with my children
12
Baby sit my children
%
31
30
28
40
30
41
48
40
44
47
58
7
0
20
40
I would like it a lot
60
80
I would not like at all
100
!
Figure E.1: Opinions about possible tasks performed by a service robots (Ray et al., 2008)
Copleston 11 - 61+
School Work
Play
Personal Service
Housework
Stay Quiet
Security
Pet Care
Family Help
Food Preparation
Gardening
Figure E.2: Quantitative results of the research of Bugmann et al.(Bugmann and Copleston, 2011)
Figure E.3: Likelihood, usefulness, and acceptability of the domestic robot in everyday situations (Cesta
et al., 2011)
F
Overview preferred, doubtfull and
non-preferred tasks for a service robot
67
YES
SMALL JOBS
Laundry
Shopping
Purchases
Preparation sandwich
Preparation of food by a microwave
Preparation of coffee/tea/beverages
Set the table
Unload bag
Fetch and carry small, medium and large objects
Fetch and carry high and low positioned objects
Fetch from refridgerator
Load dryer/washing machine
Unload dryer/washing machine
Seek objects
Find objects
Retrieve objects
Drag walker back
Housekeeping
Wipe
Vacuum
Cleaning windows
Tidy up
Clean away table
Dishes
General cleaning
Make up bed
General cleaning of rooms
Dust
Ironing
Water plants
Mopping
Clean sheets
Scrub floor
Sewing
Indoor maintenance
Reading small characters
Sealed packages
Operating electronics
Operating internet
Operate light
Get mail
Opening doors
DOUBTFUL
NO
Opening closet
Opening drawer
Opening curtains
Open (food) containers
Open cans
Open jars
Open sliding door
Operate electric door
Operate floor pedal
Haul door
Operate switch
Move blanket
Call alarm
Avoid obstacles
Carry garbage
Put trash in waste basket
Recycle trash
Answer doorbell
Hang coat on hat rack
Guiding user inside or outside
Automatically charging
Telephone
Drive car
Preparation of food stove
PERSONAL JOBS
Transfer assistance
Scratching
Regain sitting
Regain standing
Assistance during standing
Assistance while getting up
Put arm on armrest
Put foot on footrest
Positioning limbs
Brace/assisting to walk
Foster to move
Guidance of a care recipient
Dressing – zipper
Dressing – button up
Dressing – pants
Dressing – sweater
Dressing – underwear
Dressing – laces
Dressing – Velcro
Dressing – coat
Dressing – other
Dressing medical (elastic stockings, prosthesis)
Nail polishing
Assisting with toileting
Assisting with eating and drinking
Operate high-low bed
Bathing
Showering
Toileting
Transferring
Feeding
Pull out of seated position
Help climb stairs
Turn in bed
Wiping
Assistance of finding a suitable position
Erotic handlings
Continence
Assistance with glasses/lenses/hearing aid
Combing hair
Teeth brushing
shaving
Putting on make up
Physiotherapy
HEALTH CARE
Assisting with toileting
Operating a high-low bed
Set the table
Assisting with eating and drinking
Assistance with walking
Stimulate care recipient to exercise?
Put on one’s elastic stockings
To make a bed without a care recipient
Fetch insulin kit
Fetch respiratory assisting device
Find caregiver
Stock up supply
Medication exposure
Checking / register of medication
Check vital functions: measuring the respiration
Check vital functions: measuring the heartbeat
Check vital functions: measuring blood pressure
Check vital functions: body temperature
Check vital functions: assessing consciousness
Supporting a care recipient in bath
Supporting a care recipient in the shower
Separation and guidance of a care recipient
Assisting a care recipient in finding of a suitable posture
Helping a care recipient out of bed
Move a care recipient in bed
To make a bed with a care recipient
Making solutions / dilutions
Administration of oral medication
Administration of rectal medication
Administration of vaginal medication
Administration of drugs through the skin
Administration of drugs through the airways
Administration of drugs through the mucosa
Administration of medication via the ear
Fluids administered via peripheral infusion control
Infusion pump control
Administration of liquids via central infusion
Administration of subcutaneously Medications per injection
Administer medications with the aid of a pen injector
Med. administered intramuscularly by injection
Administer of medication via a drip
Insert a peripheral intravenous drip
Red wound care
Yellow wound care
Black Wound care
Taking care of wound with sutures
Taking care of infectant spots
Removing stitches and tampons
Taking care of a wound with a drain
Apply general bandage
Taking care of a wound with a drain
Bandage according ambulatory compression therapy (ACT)
Taking care of a tracheotomy
Taking care of a tracheastoma
Taking care of a stoma colon / ileo / uro (delete as required)
Collecting samples for diagnostics (non-sterile)
Collecting samples for diagnostics (sterile)
First aid in injury
First aid in poisoning
First aid in choking
First aid in choking
Applying the recovery position
Resuscitation
Catheterization of a women’s bladder (+ Treatment and disposal)
Catheterization of a men’s bladder (+ Treatment and disposal)
Flushing bladder
Exchanging and providing a suprapubiskatheter
Insertion of a gastric tube for feeding (+ Administration, arrange deletion)
Insertion of a gastric tube for gastric lavage
Applying venipuncture
Remove a gastric tube
Changing and removal of an drip
Transfusion: Connecting blood to an existing drip
Administer oxygen
Give bladder training
The use of a pot
The use of a urinal
The use of incontinence material
Bladder Rinsing
Intestinal lavage
Gastric lavage
Enema administration
Washing of a care recipient in bed
Facial care
Wash ones hands
Washing of the hair on the bed
Assisting with care of mucous membrane of the mouth
Shaving beard with mustache using a scraper
Dressing of a care recipient who has be nursed lying flat
Taking care of the nails on the hands of the care recipient
Cleaning of a denture
Taking care of hearing aids
Fixate a care recipient
Using a mechanical hoist
The care of a deceased
Assisting in rising from a chair
Tilt a care recipient in bed
Giving medicine in correct dose
Physiotherapy
bladder training
OBSERVATION, REMINDERS & ALERTS
Reminder for medication
Reminder for appointments
Remidner for birthdays
Reminder for drinking and eating
Reminder for toileting
Alerts for noises
Alerts for common mistakes
Alerts for falling or objects on the floor causing accidents
Alerts for waking up
Emergency calls
Exposure, reading of instruction, administer medicine
Keeping up last will and testament
Archive observation data for memories history
Observing falling
Observing activities/behavior for health care professionals and feedback
for improvement
Observing eating drinking for choking
Observing rooms for seek and find
Observing and recognize emotions
Recognize people
SOCIAL AND AMUSEMENT
Play an instrument
Play music
Literature
Turning page
Physical activities
Massage
Reading
Writing
Jokes
Being funny
Hugging
Games
Video call
Food preparation
Recognize people
Reproducing voices
Reproducing smell
Social companion
Compose music
Singing
Physical pleasure/ sexual pleasure
Children - play
Children - baby sit
Interacting with children
Interacting with friends/relatives
Telephone