Assistive robotics: research challenges and ethics education initiatives

Assistive robotics is a fast growing field aimed at helping healthcarers in hospitals, rehabilitation centers and nursery homes, as well as empowering people with reduced mobility at home, so that they can autonomously fulfill their daily living activities. The need to function in dynamic human-centered environments poses new research challenges: robotic assistants need to have friendly interfaces, be highly adaptable and customizable, very compliant and intrinsically safe to people, as well as able to handle deformable materials. Besides technical challenges, assistive robotics raises also ethical defies, which have led to the emergence of a new discipline: Roboethics. Several institutions are developing regulations and standards, and many ethics education initiatives include contents on human-robot interaction and human dignity in assistive situations. In this paper, the state of the art in assistive robotics is briefly reviewed, and educational materials from a university course on Ethics in Social Robotics and AI focusing on the assistive context are presented.Peer ReviewedPostprint (author's final draft

Multimodal Shared-Control Interaction for Mobile Robots in AAL Environments

This dissertation investigates the design, development and implementation of cognitively adequate, safe and robust, spatially-related, multimodal interaction between human operators and mobile robots in Ambient Assisted Living environments both from the theoretical and practical perspectives. By focusing on different aspects of the concept Interaction, the essential contribution of this dissertation is divided into three main research packages; namely, Formal Interaction, Spatial Interaction and Multimodal Interaction in AAL. As the principle package, in Formal Interaction, research effort is dedicated to developing a formal language based interaction modelling and management solution process and a unified dialogue modelling approach. This package aims to enable a robust, flexible, and context-sensitive, yet formally controllable and tractable interaction. This type of interaction can be used to support the interaction management of any complex interactive systems, including the ones covered in the other two research packages. In the second research package, Spatial Interaction, a general qualitative spatial knowledge based multi-level conceptual model is developed and proposed. The goal is to support a spatially-related interaction in human-robot collaborative navigation. With a model-based computational framework, the proposed conceptual model has been implemented and integrated into a practical interactive system which has been evaluated by empirical studies. It has been particularly tested with respect to a set of high-level and model-based conceptual strategies for resolving the frequent spatially-related communication problems in human-robot interaction. Last but not least, in Multimodal Interaction in AAL, attention is drawn to design, development and implementation of multimodal interaction for elderly persons. In this elderly-friendly scenario, ageing-related characteristics are carefully considered for an effective and efficient interaction. Moreover, a standard model based empirical framework for evaluating multimodal interaction is provided. This framework was especially applied to evaluate a minutely developed and systematically improved elderly-friendly multimodal interactive system through a series of empirical studies with groups of elderly persons

Designing robots with the context in mind -- One design does not fit all

Robots' visual qualities (VQs) impact people's perception of their characteristics and affect users' behaviors and attitudes toward the robot. Recent years point toward a growing need for Socially Assistive Robots (SARs) in various contexts and functions, interacting with various users. Since SAR types have functional differences, the user experience must vary by the context of use, functionality, user characteristics, and environmental conditions. Still, SAR manufacturers often design and deploy the same robotic embodiment for diverse contexts. We argue that the visual design of SARs requires a more scientific approach considering their multiple evolving roles in future society. In this work, we define four contextual layers: the domain in which the SAR exists, the physical environment, its intended users, and the robot's role. Via an online questionnaire, we collected potential users' expectations regarding the desired characteristics and visual qualities of four different SARs: a service robot for an assisted living/retirement residence facility, a medical assistant robot for a hospital environment, a COVID-19 officer robot, and a personal assistant robot for domestic use. Results indicated that users' expectations differ regarding the robot's desired characteristics and the anticipated visual qualities for each context and use case.Comment: Accepted to the 15th International Workshop on Human-Friendly Robotic

The impact of peoples' personal dispositions and personalities on their trust of robots in an emergency scenario

Humans should be able to trust that they can safely interact with their home companion robot. However, robots can exhibit occasional mechanical, programming or functional errors. We hypothesise that the severity of the consequences and the timing of a robot's different types of erroneous behaviours during an interaction may have different impacts on users' attitudes towards a domestic robot. First, we investigated human users' perceptions of the severity of various categories of potential errors that are likely to be exhibited by a domestic robot. Second, we used an interactive storyboard to evaluate participants' degree of trust in the robot after it performed tasks either correctly, or with 'small' or 'big' errors. Finally, we analysed the correlation between participants' responses regarding their personality, predisposition to trust other humans, their perceptions of robots, and their interaction with the robot. We conclude that there is correlation between the magnitude of an error performed by a robot and the corresponding loss of trust by the human towards the robot. Moreover we observed that some traits of participants' personalities (conscientiousness and agreeableness) and their disposition of trusting other humans (benevolence) significantly increased their tendency to trust a robot more during an emergency scenario.Peer reviewe

Ethical Control of Unmanned Systems: lifesaving/lethal scenarios for naval operations

Prepared for: Raytheon Missiles & Defense under NCRADA-NPS-19-0227This research in Ethical Control of Unmanned Systems applies precepts of Network Optional Warfare (NOW) to develop a three-step Mission Execution Ontology (MEO) methodology for validating, simulating, and implementing mission orders for unmanned systems. First, mission orders are represented in ontologies that are understandable by humans and readable by machines. Next, the MEO is validated and tested for logical coherence using Semantic Web standards. The validated MEO is refined for implementation in simulation and visualization. This process is iterated until the MEO is ready for implementation. This methodology is applied to four Naval scenarios in order of increasing challenges that the operational environment and the adversary impose on the Human-Machine Team. The extent of challenge to Ethical Control in the scenarios is used to refine the MEO for the unmanned system. The research also considers Data-Centric Security and blockchain distributed ledger as enabling technologies for Ethical Control. Data-Centric Security is a combination of structured messaging, efficient compression, digital signature, and document encryption, in correct order, for round-trip messaging. Blockchain distributed ledger has potential to further add integrity measures for aggregated message sets, confirming receipt/response/sequencing without undetected message loss. When implemented, these technologies together form the end-to-end data security that ensures mutual trust and command authority in real-world operational environments—despite the potential presence of interfering network conditions, intermittent gaps, or potential opponent intercept. A coherent Ethical Control approach to command and control of unmanned systems is thus feasible. Therefore, this research concludes that maintaining human control of unmanned systems at long ranges of time-duration and distance, in denied, degraded, and deceptive environments, is possible through well-defined mission orders and data security technologies. Finally, as the human role remains essential in Ethical Control of unmanned systems, this research recommends the development of an unmanned system qualification process for Naval operations, as well as additional research prioritized based on urgency and impact.Raytheon Missiles & DefenseRaytheon Missiles & Defense (RMD).Approved for public release; distribution is unlimited

Future bathroom: A study of user-centred design principles affecting usability, safety and satisfaction in bathrooms for people living with disabilities

Research and development work relating to assistive technology 2010-11 (Department of Health) Presented to Parliament pursuant to Section 22 of the Chronically Sick and Disabled Persons Act 197

Service Robots in Catering Applications: A Review and Future Challenges.

“Hello, I’m the TERMINATOR, and I’ll be your server today”. Diners might soon be feeling this greeting, with Optimus Prime in the kitchen and Wall-E then sending your order to C-3PO. In our daily lives, a version of that future is already showing up. Robotics companies are designing robots to handle tasks, including serving, interacting, collaborating, and helping. These service robots are intended to coexist with humans and engage in relationships that lead them to a better quality of life in our society. Their constant evolution and the arising of new challenges lead to an update of the existing systems. This update provides a generic vision of two questions: the advance of service robots, and more importantly, how these robots are applied in society (professional and personal) based on the market application. In this update, a new category is proposed: catering robotics. This proposal is based on the technological advances that generate new multidisciplinary application fields and challenges. Waiter robots is an example of the catering robotics. These robotic platforms might have social capacities to interact with the consumer and other robots, and at the same time, might have physical skills to perform complex tasks in professional environments such as restaurants. This paper explains the guidelines to develop a waiter robot, considering aspects such as architecture, interaction, planning, and executionpost-print13305 K