Comparison of proactive and reactive interaction modes in a mobile robotic telecare study

Mobile robotic telepresence systems require that information about the environment, the task, and the robot be presented to a remotely located user (operator) who controls the robot for a specific task. In this study, two interaction modes, proactive and reactive, that differ in the way the user receives information from the robot, were compared in an experimental system simulating a healthcare setting. The users controlled a mobile telepresence robot that delivered and received items (medication, food, or drink), and also obtained metrics (vital signs) from a simulated patient while the users performed a secondary healthcare-related task (they compiled health records which were displayed to them on the screen and answered related questions). The effect of the two interaction modes on overall performance and user perception was evaluated through a within-participant study design conducted with 50 participants belonging to two different types of populations (with and without a technological background). Efficiency, effectiveness, understanding, satisfaction, and situation awareness were defined as the dependent variables measured both objectively and subjectively. The proactive mode increased user performance, and understanding of the system and reduced the workload compared to the reactive mode. However, several of the users valued the option of increased user control experienced in the reactive mode. We, therefore, proposed design suggestions to highlight some of the benefits of factoring the reactive mode into the design as a hybrid mode.

Care-receivers with physical disabilities' perceptions on having humanoid assistive robots as assistants: a qualitative study

BACKGROUND

People with physical disabilities due to disease or injury face barriers to their daily activities and participation in society. Many depend on formal or informal caregivers for assistance to live independently. However, future healthcare challenges due to demographic changes threaten access to home care and assistants. Assistive technologies, such as robots for physical assistance, can support the independence and autonomy of people with physical disabilities. This study explore Norwegian care-receivers' perceptions of using robot assistance in their homes, including preferences for tasks acceptable or unacceptable for robot assistance and the underlying reasons.

METHOD

Purposive sampling was employed to recruit 18 participants, aged between 18 and 77 years, with differences in physical function including diagnoses such as stroke, spinal cord injury, amputations, and muscular dystrophy. Qualitative data were gathered through four focus group interviews wherein participants watched videos featuring a humanoid assistive robot, EVEr3. The collected data underwent analysis using reflexive thematic analysis.

RESULTS

Three themes with associated sub-themes were constructed: (a) How a robot could assist in daily life, (b) The robot's appearance and functionality, and (c) Concerns about having a robot as an assistant. The participants welcomed the idea of a future robotic assistant in areas that may contribute to an increased feeling of independence and autonomy.

CONCLUSION

A robot assisting in activities of daily living would need to be individually customized to meet the needs of each user in terms of which tasks to assist with, how to assist in these defined tasks, and how it is controlled.

Evaluating levels of automation with different feedback modes in an assistive robotic table clearing task for eldercare

This paper focuses on how the autonomy level of an assistive robot that offers support for older adults in a daily task and its feedback affect the interaction. Identifying the level of automation (LOA) that prioritizes older adults' preferences while avoiding passiveness and sedentariness is challenging. The feedback mode should match the cognitive and perceptual capabilities of older adults and the LOA. We characterized three LOAs and paired them with two modes of feedback in a human-robot collaborative task. Twenty-seven older adults participated in evaluating the LOA-feedback variations in a mixed experimental design, utilizing an experimental setup of an assistive robot in a table clearing task. The quality of the interaction was evaluated with objective and subjective measures. The combination of high LOA with voice feedback improved the overall interaction when compared to other LOA and feedback combinations. This study emphasizes the importance of appropriate coupling of LOA and feedback for successful interaction of the older adults with an assistive robot.

A rise-assisting robot extends life space and improves facial expressions of nursing home residents

BACKGROUND

The introduction of nursing care-support devices using robotic technology is expected to reduce the task burden in long-term care facilities.

OBJECTIVE

To investigate the use of the rise-assisting robot, Resyone, in extending and improving the life space of nursing home residents with severe care needs.

METHODS

We performed a feasibility study in which Resyone was used to facilitate visits to additional sites in and around the nursing home as part of the care package of three residents. Two weeks before and four weeks after implementation of the new arrangements, the 30 caregivers involved were asked to record transfer times and destinations, while also checking the residents' facial expressions.

RESULTS

Before implementation, participants had limited life spaces, but afterwards they regularly visited additional destinations including the garden, home entrance and corridors, which previously they had not visited frequently. The residents' facial expressions became more positive and less negative. This study demonstrates that Resyone can enrich care activities in severely disabled individuals.

CONCLUSION

These findings suggest that the sustainable use of Resyone would improve the quality of care at care facilities. Moreover, the extension of otherwise limited life space has the potential to improve care receivers' quality of life.

TRIAL REGISTRATION

UMIN Clinical Trials Registry No. UMIN000039204 (20/01/2020); retrospectively registered; interventional study; parallel, non-randomized, single blinded. URL of trial registry records: https://upload.umin.ac.jp/cgi-open-bin/ctr_e/ctr_view.cgi?recptno=R000044709 .

Integrating Socially Assistive Robots into Japanese Nursing Care

This paper presents experiences of integrating assistive robots in Japanese nursing care through semi-structured interviews and site observations at three nursing homes in Japan during the year 2019. The study looked at experiences with the robots Paro, Pepper, and Qoobo. The goal was to investigate and evaluate the current state of using robots within the nursing care context, which involved: firsthand experiences with intended and real users; and response from the elderly, and nursing staff. The qualitative analysis results pointed out user satisfaction, adjusted purpose, therapeutic and entertaining effects. The potentials of using robots to assist in elderly care has been evident. Limitations currently relate to the lack of ways to fully utilize and integrate robots.

Mechanical Sensing for Lower Limb Soft Exoskeletons: Recent Progress and Challenges

Soft exoskeletons hold promise for facilitating monitoring and assistance in case of light impairment and for prolonging independent living. In contrast to rigid material-based exoskeletons, they strongly demand for new approaches of soft sensing and actuation solutions. This chapter overviews soft exoskeletons in contrast to rigid exoskeletons and focuses on the recent advancements on the movement monitoring in lower limb soft exoskeletons. Compliant materials and soft tactile sensing approaches can be utilized to build smart sensorized garments for joint angle measurements (needed for both control and monitoring). However, currently there are still several open challenges derived from the needed close interaction between the human body and the soft exoskeleton itself, especially related to how sensing function and robustness are strongly affected by wearability, which will need to be overcome in the near future.

Model-based control for exoskeletons with series elastic actuators evaluated on sit-to-stand movements

BACKGROUND

Currently, control of exoskeletons in rehabilitation focuses on imposing desired trajectories to promote relearning of motions. Furthermore, assistance is often provided by imposing these desired trajectories using impedance controllers. However, lower-limb exoskeletons are also a promising solution for mobility problems of individuals in daily life. To develop an assistive exoskeleton which allows the user to be autonomous, i.e. in control of his motions, remains a challenge. This paper presents a model-based control method to tackle this challenge.

METHODS

The model-based control method utilizes a dynamic model of the exoskeleton to compensate for its own dynamics. After this compensation of the exoskeleton dynamics, the exoskeleton can provide a desired assistance to the user. While dynamic models of exoskeletons used in the literature focus on gravity compensation only, the need for modelling and monitoring of the ground contact impedes their widespread use. The control strategy proposed here relies on modelling of the full exoskeleton dynamics and of the contacts with the environment. A modelling strategy and general control scheme are introduced.

RESULTS

Validation of the control method on 15 non-disabled adults performing sit-to-stand motions shows that muscle effort and joint torques are similar in the conditions with dynamically compensated exoskeleton and without exoskeleton. The condition with exoskeleton in which the compensating controller was not active showed a significant increase in human joint torques and muscle effort at the knee and hip. Motor saturation occurred during the assisted condition, which limited the assistance the exoskeleton could deliver.

CONCLUSIONS

This work presents the modelling steps and controller design to compensate the exoskeleton dynamics. The validation seems to indicate that the presented model-based controller is able to compensate the exoskeleton.

Using assistive robots to promote inclusive education

PURPOSE

This paper describes the development and test of physical and virtual integrated augmentative manipulation and communication assistive technologies (IAMCATs) that enable children with motor and speech impairments to manipulate educational items by controlling a robot with a gripper, while communicating through a speech generating device.

METHOD

Nine children with disabilities, nine regular and nine special education teachers participated in the study. Teachers adapted academic activities so they could also be performed by the children with disabilities using the IAMCAT. An inductive content analysis of the teachers' interviews before and after the intervention was performed.

RESULTS

Teachers considered the IAMCAT to be a useful resource that can be integrated into the regular class dynamics respecting their curricular planning. It had a positive impact on children with disabilities and on the educational community. However, teachers pointed out the difficulties in managing the class, even with another adult present, due to the extra time required by children with disabilities to complete the activities.

CONCLUSIONS

The developed assistive technologies enable children with disabilities to participate in academic activities but full inclusion would require another adult in class and strategies to deal with the additional time required by children to complete the activities. Implications for Rehabilitation Integrated augmentative manipulation and communication assistive technologies are useful resources to promote the participation of children with motor and speech impairments in classroom activities. Virtual tools, running on a computer screen, may be easier to use but further research is needed in order to evaluate its effectiveness when compared to physical tools. Full participation of children with motor and speech impairments in academic activities using these technologies requires another adult in class and adequate strategies to manage the extra time the child with disabilities may require to complete the activities.