User-centered design of a dynamic-autonomy remote interaction concept for manipulation-capable robots to assist elderly people in the home

In this article, we describe the development of a human-robot interaction concept for service robots to assist elderly people in the home with physical tasks. Our approach is based on the insight that robots are not yet able to handle all tasks autonomously with sufficient reliability in the complex and heterogeneous environments of private homes. We therefore employ remote human operators to assist on tasks a robot cannot handle completely autonomously. Our development methodology was user-centric and iterative, with six user studies carried out at various stages involving a total of 241 participants. The concept is under implementation on the Care-O-bot 3 robotic platform. The main contributions of this article are (1) the results of a survey in form of a ranking of the demands of elderly people and informal caregivers for a range of 25 robot services, (2) the results of an ethnography investigating the suitability of emergency teleassistance and telemedical centers for incorporating robotic teleassistance, and (3) a user-validated human-robot interaction concept with three user roles and corresponding three user interfaces designed as a solution to the problem of engineering reliable service robots for home environments

Smart kitchen for Ambient Assisted Living

El envejecimiento de la población es una realidad en todos los países desarrollados. Las predicciones de crecimiento de esta población son alarmantes, planteando un reto para los servicios sociales y sanitarios. Las personas ancianas padecen diversas discapacidades que se van acentuando con la edad, siendo más propensas a sufrir accidentes domésticos, presentando problemas para realizar tareas cotidianas, etc. Esta situación conlleva a una pérdida paulatina de capacidades que en muchas ocasiones acaba con la vida autónoma de la persona. En este contexto, las Tecnologías de la Información y Comunicación (TIC) aplicadas al entorno doméstico pueden jugar un papel importante, permitiendo que las personas ancianas vivan más tiempo, de forma independiente en su propio hogar, presentando, por tanto, una alternativa a la hospitalización o institucionalización de las mismas. Este trabajo da un paso más en este sentido, presentando el diseño y desarrollo de un Ambiente Inteligente en la cocina, que ayuda a las personas ancianas y/o con discapacidad a desempeñar sus actividades de la vida diaria de una forma más fácil y sencilla. Esta tesis realiza sus principales aportaciones en dos campos: El metodológico y el tecnológico. Por un lado se presenta una metodología sistemática para extraer necesidades de colectivos específicos a fin de mejorar la información disponible por el equipo de diseño del producto, servicio o sistema. Esta metodología se basa en el estudio de la interacción Hombre-Máquina en base a los paradigmas y modelos existentes y el modelado y descripción de las capacidades del usuario en la misma utilizado el lenguaje estandarizado propuesto en la Clasificación Internacional del Funcionamiento, de la Discapacidad y de la Salud (CIF). Adicionalmente, se plantea el problema de la evaluación tecnológica, diseñando la metodología de evaluación de la tecnología con la finalidad de conocer su accesibilidad, funcionalidad y usabilidad del sistema desarrollado y aplicándola a 61 usuarios y 31 profesionales de la gerontología. Desde un punto de vista técnico, se afronta el diseño de un ambiente asistido inteligente (Ambient Assisted Living, AAL) en la cocina, planteando y definiendo la arquitectura del sistema. Esta arquitectura, basada en OSGi (Open Services Gateway initiative), oferta un sistema modular, con altas capacidades de interoperabilidad y escalabilidad. Además, se diseña e implementa una red de sensores distribuida en el entorno con el fin de obtener la mayor información posible del contexto, presentando distintos algoritmos para obtener información de alto nivel: detección de caídas o localización. Todos los dispositivos presentes en el entorno han sido modelados utilizando la taxonomía propuesta en OSGi4AmI, extendiendo la misma a los electrodomésticos más habituales de la cocina. Finalmente, se presenta el diseño e implementación de la inteligencia del sistema, que en función de la información procedente del contexto y de las capacidades del usuario da soporte a las principales actividades de la vida diaria (AVD) en la cocina

The development of a rich multimedia training environment for crisis management: using emotional affect to enhance learning

PANDORA is an EU FP7-funded project developing a novel training and learning environment for Gold Commanders, individuals who carry executive responsibility for the services and facilities identified as strategically critical e.g. Police, Fire, in crisis management strategic planning situations. A key part of the work for this project is considering the emotional and behavioural state of the trainees, and the creation of more realistic, and thereby stressful, representations of multimedia information to impact on the decision-making of those trainees. Existing training models are predominantly paper-based, table-top exercises, which require an exercise of imagination on the part of the trainees to consider not only the various aspects of a crisis situation but also the impacts of interventions, and remediating actions in the event of the failure of an intervention. However, existing computing models and tools are focused on supporting tactical and operational activities in crisis management, not strategic. Therefore, the PANDORA system will provide a rich multimedia information environment, to provide trainees with the detailed information they require to develop strategic plans to deal with a crisis scenario, and will then provide information on the impacts of the implementation of those plans and provide the opportunity for the trainees to revise and remediate those plans. Since this activity is invariably multi-agency, the training environment must support group-based strategic planning activities and trainees will occupy specific roles within the crisis scenario. The system will also provide a range of non-playing characters (NPC) representing domain experts, high-level controllers (e.g. politicians, ministers), low-level controllers (tactical and operational commanders), and missing trainee roles, to ensure a fully populated scenario can be realised in each instantiation. Within the environment, the emotional and behavioural state of the trainees will be monitored, and interventions, in the form of environmental information controls and mechanisms impacting on the stress levels and decisionmaking capabilities of the trainees, will be used to personalise the training environment. This approach enables a richer and more realistic representation of the crisis scenario to be enacted, leading to better strategic plans and providing trainees with structured feedback on their performance under stress

Learning to automatically detect features for mobile robots using second-order Hidden Markov Models

In this paper, we propose a new method based on Hidden Markov Models to interpret temporal sequences of sensor data from mobile robots to automatically detect features. Hidden Markov Models have been used for a long time in pattern recognition, especially in speech recognition. Their main advantages over other methods (such as neural networks) are their ability to model noisy temporal signals of variable length. We show in this paper that this approach is well suited for interpretation of temporal sequences of mobile-robot sensor data. We present two distinct experiments and results: the first one in an indoor environment where a mobile robot learns to detect features like open doors or T-intersections, the second one in an outdoor environment where a different mobile robot has to identify situations like climbing a hill or crossing a rock.Comment: 200

Moregrasp: Restoration of Upper Limb Function in Individuals with High Spinal Cord Injury by Multimodal Neuroprostheses for Interaction in Daily Activities

The aim of the MoreGrasp project is to develop a noninvasive, multimodal user interface including a brain-computer interface (BCI) for intuitive control of a grasp neuroprosthesis to support individuals with high spinal cord injury (SCI) in everyday activities. We describe the current state of the project, including the EEG system, preliminary results of natural movements decoding in people with SCI, the new electrode concept for the grasp neuroprosthesis, the shared control architecture behind the system and the implementation of a user-centered design

Autonomous Vehicles in Road Tunnels : A Risk Safety Perspective

This study examines the challenges associated with deploying autonomous vehicles (AVs) in road tunnels, focusing on both operational aspects and vehicle-human interaction. This work explored that road tunnels present unique constraints, such as limited visibility and confined spaces, which necessitate careful consideration for AV integration. It is observed that factors like varying light conditions and restricted communication capabilities within tunnels impact AVs' performance. Additionally, the study investigates and categorizes challenges related to tunnel geometries, infrastructure modifications, sensor technologies, emergency situations, and human-machine interaction. Furthermore, this work comprehensively explored academic and non-academic literature, gathering contemporary knowledge on AVs in road tunnels in one place to provide a foundational base for researchers on this topic. In this regard, the adopted methodological framework is also presented for researchers' review. The other notable contribution is to specifically highlight the critical operational issues of human-AV interaction in tunnel environments. In the last section, it also proposes potential solutions to these issues. In doing so, it keeps the directional approach open for other researchers as there are insightful risk-related implications for further research in this significant domain