A real-time human-robot interaction system based on gestures for assistive scenarios

Natural and intuitive human interaction with robotic systems is a key point to develop robots assisting people in an easy and effective way. In this paper, a Human Robot Interaction (HRI) system able to recognize gestures usually employed in human non-verbal communication is introduced, and an in-depth study of its usability is performed. The system deals with dynamic gestures such as waving or nodding which are recognized using a Dynamic Time Warping approach based on gesture specific features computed from depth maps. A static gesture consisting in pointing at an object is also recognized. The pointed location is then estimated in order to detect candidate objects the user may refer to. When the pointed object is unclear for the robot, a disambiguation procedure by means of either a verbal or gestural dialogue is performed. This skill would lead to the robot picking an object in behalf of the user, which could present difficulties to do it by itself. The overall system — which is composed by a NAO and Wifibot robots, a KinectTM v2 sensor and two laptops — is firstly evaluated in a structured lab setup. Then, a broad set of user tests has been completed, which allows to assess correct performance in terms of recognition rates, easiness of use and response times.Postprint (author's final draft

Overcoming barriers and increasing independence: service robots for elderly and disabled people

This paper discusses the potential for service robots to overcome barriers and increase independence of elderly and disabled people. It includes a brief overview of the existing uses of service robots by disabled and elderly people and advances in technology which will make new uses possible and provides suggestions for some of these new applications. The paper also considers the design and other conditions to be met for user acceptance. It also discusses the complementarity of assistive service robots and personal assistance and considers the types of applications and users for which service robots are and are not suitable

The PFI Sustainability Evaluation Tool: A methodology for evaluating of sustainability within PFI housing projects

In the UK there is a need to provide more housing in order to meet increased demand. The problem is particularly acute in the social housing sector. There is also a drive to reduce CO2 emissions from housing, whilst addressing issues of social sustainability. Accordingly governments have sought to combine the goals of sustainable development with housing policy in order to provide not just more housing, but more sustainable housing. In a time of public sector expenditure restraint the Private Finance Initiative (PFI) has been used as a means to procure social housing using private money, however sustainability within PFI housing projects has received little attention. This paper introduces a methodology for evaluating sustainability within PFI bids. Developed and tested during the procurement stage of a large PFI housing project in the North East of England, results suggest that the introduction of clear, transparent and robust evaluation criteria can enhance sustainability