Assistive technology design and development for acceptable robotics companions for ageing years

© 2013 Farshid Amirabdollahian et al., licensee Versita Sp. z o. o. This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivs license, which means that the text may be used for non-commercial purposes, provided credit is given to the author.A new stream of research and development responds to changes in life expectancy across the world. It includes technologies which enhance well-being of individuals, specifically for older people. The ACCOMPANY project focuses on home companion technologies and issues surrounding technology development for assistive purposes. The project responds to some overlooked aspects of technology design, divided into multiple areas such as empathic and social human-robot interaction, robot learning and memory visualisation, and monitoring persons’ activities at home. To bring these aspects together, a dedicated task is identified to ensure technological integration of these multiple approaches on an existing robotic platform, Care-O-Bot®3 in the context of a smart-home environment utilising a multitude of sensor arrays. Formative and summative evaluation cycles are then used to assess the emerging prototype towards identifying acceptable behaviours and roles for the robot, for example role as a butler or a trainer, while also comparing user requirements to achieved progress. In a novel approach, the project considers ethical concerns and by highlighting principles such as autonomy, independence, enablement, safety and privacy, it embarks on providing a discussion medium where user views on these principles and the existing tension between some of these principles, for example tension between privacy and autonomy over safety, can be captured and considered in design cycles and throughout project developmentsPeer reviewe

An Investigation and Application of Biology and Bioinformatics for Activity Recognition

Activity recognition in a smart home context is inherently difficult due to the variable nature of human activities and tracking artifacts introduced by video-based tracking systems. This thesis addresses the activity recognition problem via introducing a biologically-inspired chemotactic approach and bioinformatics-inspired sequence alignment techniques to recognise spatial activities. The approaches are demonstrated in real world conditions to improve robustness and recognise activities in the presence of innate activity variability and tracking noise

Discovering user mobility and activity in smart lighting environments

"Smart lighting" environments seek to improve energy efficiency, human productivity and health by combining sensors, controls, and Internet-enabled lights with emerging “Internet-of-Things” technology. Interesting and potentially impactful applications involve adaptive lighting that responds to individual occupants' location, mobility and activity. In this dissertation, we focus on the recognition of user mobility and activity using sensing modalities and analytical techniques. This dissertation encompasses prior work using body-worn inertial sensors in one study, followed by smart-lighting inspired infrastructure sensors deployed with lights. The first approach employs wearable inertial sensors and body area networks that monitor human activities with a user's smart devices. Real-time algorithms are developed to (1) estimate angles of excess forward lean to prevent risk of falls, (2) identify functional activities, including postures, locomotion, and transitions, and (3) capture gait parameters. Two human activity datasets are collected from 10 healthy young adults and 297 elder subjects, respectively, for laboratory validation and real-world evaluation. Results show that these algorithms can identify all functional activities accurately with a sensitivity of 98.96% on the 10-subject dataset, and can detect walking activities and gait parameters consistently with high test-retest reliability (p-value < 0.001) on the 297-subject dataset. The second approach leverages pervasive "smart lighting" infrastructure to track human location and predict activities. A use case oriented design methodology is considered to guide the design of sensor operation parameters for localization performance metrics from a system perspective. Integrating a network of low-resolution time-of-flight sensors in ceiling fixtures, a recursive 3D location estimation formulation is established that links a physical indoor space to an analytical simulation framework. Based on indoor location information, a label-free clustering-based method is developed to learn user behaviors and activity patterns. Location datasets are collected when users are performing unconstrained and uninstructed activities in the smart lighting testbed under different layout configurations. Results show that the activity recognition performance measured in terms of CCR ranges from approximately 90% to 100% throughout a wide range of spatio-temporal resolutions on these location datasets, insensitive to the reconfiguration of environment layout and the presence of multiple users.2017-02-17T00:00:00

A knowledge-based approach towards human activity recognition in smart environments

For many years it is known that the population of older persons is on the rise. A recent report estimates that globally, the share of the population aged 65 years or over is expected to increase from 9.3 percent in 2020 to around 16.0 percent in 2050 [1]. This point has been one of the main sources of motivation for active research in the domain of human activity recognition in smart-homes. The ability to perform ADL without assistance from other people can be considered as a reference for the estimation of the independent living level of the older person. Conventionally, this has been assessed by health-care domain experts via a qualitative evaluation of the ADL. Since this evaluation is qualitative, it can vary based on the person being monitored and the caregiver\u2019s experience. A significant amount of research work is implicitly or explicitly aimed at augmenting the health-care domain expert\u2019s qualitative evaluation with quantitative data or knowledge obtained from HAR. From a medical perspective, there is a lack of evidence about the technology readiness level of smart home architectures supporting older persons by recognizing ADL [2]. We hypothesize that this may be due to a lack of effective collaboration between smart-home researchers/developers and health-care domain experts, especially when considering HAR. We foresee an increase in HAR systems being developed in close collaboration with caregivers and geriatricians to support their qualitative evaluation of ADL with explainable quantitative outcomes of the HAR systems. This has been a motivation for the work in this thesis. The recognition of human activities \u2013 in particular ADL \u2013 may not only be limited to support the health and well-being of older people. It can be relevant to home users in general. For instance, HAR could support digital assistants or companion robots to provide contextually relevant and proactive support to the home users, whether young adults or old. This has also been a motivation for the work in this thesis. Given our motivations, namely, (i) facilitation of iterative development and ease in collaboration between HAR system researchers/developers and health-care domain experts in ADL, and (ii) robust HAR that can support digital assistants or companion robots. There is a need for the development of a HAR framework that at its core is modular and flexible to facilitate an iterative development process [3], which is an integral part of collaborative work that involves develop-test-improve phases. At the same time, the framework should be intelligible for the sake of enriched collaboration with health-care domain experts. Furthermore, it should be scalable, online, and accurate for having robust HAR, which can enable many smart-home applications. The goal of this thesis is to design and evaluate such a framework. This thesis contributes to the domain of HAR in smart-homes. Particularly the contribution can be divided into three parts. The first contribution is Arianna+, a framework to develop networks of ontologies - for knowledge representation and reasoning - that enables smart homes to perform human activity recognition online. The second contribution is OWLOOP, an API that supports the development of HAR system architectures based on Arianna+. It enables the usage of Ontology Web Language (OWL) by the means of Object-Oriented Programming (OOP). The third contribution is the evaluation and exploitation of Arianna+ using OWLOOP API. The exploitation of Arianna+ using OWLOOP API has resulted in four HAR system implementations. The evaluations and results of these HAR systems emphasize the novelty of Arianna+

Internet of robotic things : converging sensing/actuating, hypoconnectivity, artificial intelligence and IoT Platforms

The Internet of Things (IoT) concept is evolving rapidly and influencing newdevelopments in various application domains, such as the Internet of MobileThings (IoMT), Autonomous Internet of Things (A-IoT), Autonomous Systemof Things (ASoT), Internet of Autonomous Things (IoAT), Internetof Things Clouds (IoT-C) and the Internet of Robotic Things (IoRT) etc.that are progressing/advancing by using IoT technology. The IoT influencerepresents new development and deployment challenges in different areassuch as seamless platform integration, context based cognitive network integration,new mobile sensor/actuator network paradigms, things identification(addressing, naming in IoT) and dynamic things discoverability and manyothers. The IoRT represents new convergence challenges and their need to be addressed, in one side the programmability and the communication ofmultiple heterogeneous mobile/autonomous/robotic things for cooperating,their coordination, configuration, exchange of information, security, safetyand protection. Developments in IoT heterogeneous parallel processing/communication and dynamic systems based on parallelism and concurrencyrequire new ideas for integrating the intelligent “devices”, collaborativerobots (COBOTS), into IoT applications. Dynamic maintainability, selfhealing,self-repair of resources, changing resource state, (re-) configurationand context based IoT systems for service implementation and integrationwith IoT network service composition are of paramount importance whennew “cognitive devices” are becoming active participants in IoT applications.This chapter aims to be an overview of the IoRT concept, technologies,architectures and applications and to provide a comprehensive coverage offuture challenges, developments and applications

Combining Multiple Sensors for Event Detection of Older People

International audienceWe herein present a hierarchical model-based framework for event detection using multiple sensors. Event models combine a priori knowledge of the scene (3D geometric and semantic information, such as contextual zones and equipment) with moving objects (e.g., a Person) detected by a video monitoring system. The event models follow a generic ontology based on natural language, which allows domain experts to easily adapt them. The framework novelty lies on combining multiple sensors at decision (event) level, and handling their conflict using a proba-bilistic approach. The event conflict handling consists of computing the reliability of each sensor before their fusion using an alternative combination rule for Dempster-Shafer Theory. The framework evaluation is performed on multisensor recording of instrumental activities of daily living (e.g., watching TV, writing a check, preparing tea, organizing week intake of prescribed medication) of participants of a clinical trial for Alzheimer's disease study. Two fusion cases are presented: the combination of events (or activities) from heterogeneous sensors (RGB ambient camera and a wearable inertial sensor) following a deterministic fashion, and the combination of conflicting events from video cameras with partially overlapped field of view (a RGB-and a RGB-D-camera, Kinect). Results showed the framework improves the event detection rate in both cases

Developing an Autonomous Mobile Robotic Device for Monitoring and Assisting Older People

A progressive increase of the elderly population in the world has required technological solutions capable of improving the life prospects of people suffering from senile dementias such as Alzheimer's. Socially Assistive Robotics (SAR) in the research field of elderly care is a solution that can ensure, through observation and monitoring of behaviors, their safety and improve their physical and cognitive health. A social robot can autonomously and tirelessly monitor a person daily by providing assistive tasks such as remembering to take medication and suggesting activities to keep the assisted active both physically and cognitively. However, many projects in this area have not considered the preferences, needs, personality, and cognitive profiles of older people. Moreover, other projects have developed specific robotic applications making it difficult to reuse and adapt them on other hardware devices and for other different functional contexts. This thesis presents the development of a scalable, modular, multi-tenant robotic application and its testing in real-world environments. This work is part of the UPA4SAR project ``User-centered Profiling and Adaptation for Socially Assistive Robotics''. The UPA4SAR project aimed to develop a low-cost robotic application for faster deployment among the elderly population. The architecture of the proposed robotic system is modular, robust, and scalable due to the development of functionality in microservices with event-based communication. To improve robot acceptance the functionalities, enjoyed through microservices, adapt the robot's behaviors based on the preferences and personality of the assisted person. A key part of the assistance is the monitoring of activities that are recognized through deep neural network models proposed in this work. The final experimentation of the project carried out in the homes of elderly volunteers was performed with complete autonomy of the robotic system. Daily care plans customized to the person's needs and preferences were executed. These included notification tasks to remember when to take medication, tasks to check if basic nutrition activities were accomplished, entertainment and companionship tasks with games, videos, music for cognitive and physical stimulation of the patient

SHELDON Smart habitat for the elderly.

An insightful document concerning active and assisted living under different perspectives: Furniture and habitat, ICT solutions and Healthcare