Homecare Robot Research Articles

Electronic Skin as Human–Robot Interface for Human Grasp Recognition in Home-Care Robots: Introducing a Complete Set of Resources

Population aging has highlighted the significance of developing home-care robots to assist human life. However, traditional home-care robots work according to fixed procedures, which lack human–robot interaction to mimic human hand action. Human–robot interfaces provide an opportunity for interactions between robots and users, which play an important role in home-care robots. Traditional human–robot interfaces are based on rigid, cumbersome, and high-priced machines, which prevent their wide application in performing home-care tasks. An e-skin sensor with 11 stretchable resistors evenly distributed on the back of the human hand, which could be applied to monitor human finger motion and control robotic fingers to dexterously grasp diverse objects, is presented in this article. A 3D printer is employed to pattern high-performance wires into structurally soft and stretchable filamentary serpentines. The stretchable resistors are fabricated by a thin sensing film of mixed multiwalled carbon nanotubes (MWCNTs) and silicone elastomer. The e-skin sensor is applied in a hand-in-the-loop system for controlling a robotic hand to help grasp an object synchronously. A robot system is developed to connect the e-skin with the robotic hand to perform grasp actions with a success rate of more than 80%. By analyzing the experimental results of the e-skin sensor and robotic hand grasp, this work obtains insights showing that the skin sensor can help engineers design a home-care assistant plan for patients according to monitoring value or a human–robot interaction mode by robotic fingers mimicking human finger actions.

Robot-assisted homecare for older adults: A user study on needs and challenges

Background As the older adult population increases there is a great need of developing smart healthcare technologies to assist older adults. Robot-based homecare systems are a promising solution to achieving this goal. This study aims to summarize the recent research in homecare robots, understand user needs and identify the future research directions. Methods First, we present an overview of the state-of-the-art in homecare robots, including the design and functions of our previously developed ASCC Companion Robot (ASCCBot). Second, we conducted a user study to understand the stakeholders’ opinions and needs regarding homecare robots. Finally, we proposed the future research directions in this research area in response to the existing problems. Results Our user study shows that most of the interviewees emphasized the importance of medication reminder and fall detection functions. The stakeholders also emphasized the functions to enhance the connection between older adults and their families and friends, as well as the functions to improve the efficiency and productivity of the caregivers. We also identified three major future directions in this research area: human-machine interface, learning and adaptation, and privacy protection. Conclusions The user study discovered some new useful functions that the stakeholders want to have and also validated the developed functions of the ASCCBot. The three major future directions in the homecare robot research area were identified.

Object-Goal Navigation of Home Care Robot Based on Human Activity Inference and Cognitive Memory

Object-Goal Navigation of Home Care Robot Based on Human Activity Inference and Cognitive Memory

Robot-assisted homecare: A user study on needs and challenges

Background: As the older adult population increases there is a great need of developing smart healthcare technologies to assist older adults. Robot-based homecare systems are a promising solution to achieving this goal. This study aims to summarize the recent research in homecare robots, understand user needs and identify the future research directions. Methods: First, we present an overview of the state-of-the-art in homecare robots, including the design and functions of our previously developed ASCC Companion Robot (ASCCBot). Second, we conducted a user study to understand the stake- holders’ opinions and needs regarding homecare robots. Finally, we proposed the future research directions in this exciting research area in response to the existing problems. Results: Our user study shows that most of the interviewees emphasized the importance of medication reminder and fall detection functions. The stakeholders also emphasized the functions to enhance the connection between older adults and their families and friends, as well as the functions to improve the efficiency and productivity of the caregivers. We also identified three major future directions in this exciting research area: human-machine interface, learning and adaptation, and privacy protection. Conclusions: The user study discovered some new useful functions that the stakeholders want to have and also validated the developed functions of the ASCCBot. The three major future directions in the homecare robot research area were identified.

Investigation of Obstacle Prediction Network for Improving Home-Care Robot Navigation Performance

Home-care manipulation robot requires exploring and performing the navigation task safely to reach the grasping target and ensure human safety in the home environment. An indoor home environment has complex obstacles such as chairs, tables, and sports equipment, which make it difficult for robots that rely on 2D laser rangefinders to detect. On the other hand, the conventional approaches overcome the problem by using 3D LiDAR, RGB-D camera, or fusing sensor data. The convolutional neural network has shown promising results in dealing with unseen obstacles in navigation by predicting the unseen obstacle from 2D grid maps to perform collision avoidance using 2D laser rangefinders only. Thus, this paper investigated the predicted grid map from the obstacle prediction network result for improving indoor navigation performance using only 2D LiDAR measurement. This work was evaluated by combining the configuration of the various local planners, type of static obstacles, raw map, and predicted map. Our investigation demonstrated that using the predicted grid map enabled all the local planners to achieve a better collision-free path by using the 2D laser rangefinders only rather than the RGB-D camera with 2D laser rangefinders with a raw map. This advanced investigation considers that the predicted map is potentially helpful for future work in the learning-based local navigation system.

An efficient activity recognition for homecare robots from multi-modal communication dataset

Human environments are designed and managed by humans for humans. Thus, adding robots to interact with humans and perform specific tasks appropriately is an essential topic in robotics research. In recent decades, object recognition, human skeletal, and face recognition frameworks have been implemented to support the tasks of robots. However, recognition of activities and interactions between humans and surrounding objects is an ongoing and more challenging problem. Therefore, this study proposed a graph neural network (GNN) approach to directly recognize human activity at home using vision and speech teaching data. Focus was given to the problem of classifying three activities, namely, eating, working, and reading, where these activities were conducted in the same environment. From the experiments, observations, and analyses, this proved to be quite a challenging problem to solve using only traditional convolutional neural networks (CNN) and video datasets. In the proposed method, an activity classification was learned from a 3D detected object corresponding to the human position. Next, human utterances were used to label the activity from the collected human and object 3D positions. The experiment, involving data collection and learning, was demonstrated by using human-robot communication. It was shown that the proposed method had the shortest training time of 100.346 seconds with 6000 positions from the dataset and was able to recognize the three activities more accurately than the deep layer aggregation (DLA) and X3D networks with video datasets.

CBASH: A CareBot-Assisted Smart Home System Architecture to Support Aging-in-Place

Powered by IoT technologies, smart home systems effectively support aging-in-place. However, they have some limitations in comprehensive event perception and timely appropriate action. Homecare robot systems have been proven to be effective in homecare task executions but still have significant technological challenges. To address this problem, this paper proposes a smart home system architecture integrating a mobile robot with better event perception and task execution performance. To support the proposed system architecture, an ontology of the smart home is built to address the data heterogeneity issue. Then an event perception method is built upon multi-data integration. To perform complex tasks, this work implements an improved genetic algorithm for task planning. Finally, simulations and physical experiments are conducted to validate the feasibility of the proposed system architecture.

A Review of Artificial Intelligence and Robotics in Transformed Health Ecosystems.

Health care is shifting toward become proactive according to the concept of P5 medicine–a predictive, personalized, preventive, participatory and precision discipline. This patient-centered care heavily leverages the latest technologies of artificial intelligence (AI) and robotics that support diagnosis, decision making and treatment. In this paper, we present the role of AI and robotic systems in this evolution, including example use cases. We categorize systems along multiple dimensions such as the type of system, the degree of autonomy, the care setting where the systems are applied, and the application area. These technologies have already achieved notable results in the prediction of sepsis or cardiovascular risk, the monitoring of vital parameters in intensive care units, or in the form of home care robots. Still, while much research is conducted around AI and robotics in health care, adoption in real world care settings is still limited. To remove adoption barriers, we need to address issues such as safety, security, privacy and ethical principles; detect and eliminate bias that could result in harmful or unfair clinical decisions; and build trust in and societal acceptance of AI.

Home-care robots - Attitudes and perceptions among older people, carers and care professionals in Ireland: A questionnaire study.

Many countries face major challenges to ensure that their health and social care systems are ready for the growing numbers of older people (OP). As a way of realising ageing in place, assistive technologies such as home-care robots are expected to play a greater role in the future. In Asia and Europe, robots are gradually being adopted as a public policy solution to the workforce shortage. Yet, there is still a strongly held belief that such technologies should not be part of human and personal care services such as OP's care. However, there has been little research into attitudes and perceptions of potential users regarding home-care robots which can provide companionship and support with activities of daily living. To explore these in more detail, a questionnaire study was carried out in Finland, Ireland and Japan. This study reports findings from the Irish cohort (114 older people [OP], 8 family carers and 56 Health and Social Care Professionals [HSCPs]). Seventy per cent of the total respondents (N=178) reported being open to the use of home-care robots, and only one quarter had a negative image of robots. People with care responsibilities in their private capacity expressed more interest in, and readiness to use, home-care robots, while stressing the importance of 'privacy protection' and 'guaranteed access to human care'. Both OP and HSCPs identified observation and recording of OP's mental and physical condition as desirable functions of such robots, whereas practical functions such as fall prevention and mobility support were also deemed desirable by HSCPs. There is generally positive interest in home-care robots among Irish respondents. Findings strongly suggest that the interest is generated partly by great need among people who deliver care. Should such robots be developed, then careful consideration must be given to user-centred design, ethical aspects and national care policy.

The ageing ‘care crisis’ in Japan: is there a role for robotics-based solutions?

Japan is facing a ‘care crisis’. There is an urgent need to ascertain the extent to which potential users are willing to use robotics-aided care before its roll-out as a formal policy. Based on our recent survey, we discuss home-care professionals’ real perceptions and their implications for the future development and implementation of home-care robots. While they showed some concerns about robotics-aided care, they perceived ‘physical support’, ‘communication’ and ‘monitoring’ functions positively. A small number of care professionals recommended assistive technologies listed in the insurance payment scheme. We conclude that both individual preferences and formal policy options are necessary for an effective implementation of robotics-aided care.

The essential needs for home-care robots in Japan

Purpose This study aims to compare the level of needs for home-care robots amongst older adults, family caregivers and home-care staff and clarify the factors constituting these needs. Design/methodology/approach A cross-sectional, anonymous questionnaire survey was administered. It included 52 items related to needs for home-care robots rated on a four-point Likert scale. Means and standard deviations were calculated, and the Kruskal-Wallis test was performed for each item. Factor analysis was conducted on the needs of home-care staff. Findings Responses from 79 older adults, 54 family caregivers and 427 home-care staff were analysed. For all three groups, the level of agreement was high for the following needs: to inform family and support personnel immediately when older adults fall, about their location in case of natural disasters and about mismanagement of fire by older adults with dementia. For family caregivers and home-care staff, the level of need concerning monitoring was higher than for older adults. Extracted using factor analysis, the six factors representing the essential needs for home-care robots were risk minimisation, daily monitoring of the physical condition, supporting activities of daily living (ADL) and instrumental ADL, pre-empting problems, communication and miscellaneous support. Originality/value The results showed that the education of caregivers and the co-design process of robot development should involve home-care staff, older adults and family caregivers, which are important for making decisions about the use of home-care robots for older adults.

Exploring perceptions toward home-care robots for older people in Finland, Ireland, and Japan: A comparative questionnaire study

PurposeTo clarify potential users’ perceptions toward the development and social implementation of home-care robots in Japan, Ireland, and Finland. MethodsUnsigned, self-administered questionnaires were distributed to adults aged 65 or older, family caregivers, and home-care/health and social care professionals (HSCPs). A total of 1004 responses were collected. ResultsIn Japan, many people were already familiar with robots in their daily lives. The most notable finding about their perspectives on home-care robots was related to safety. Moreover, 93.7 % of the Japanese respondents said, “If the user cannot decide whether to use a home-care robot, family members who know the user well should decide,” followed by 76.4 % in Ireland and 83.1 % in Finland (p < .001). In Ireland, 81.8 % of the respondents said, “I want to help other people and society by participating in the research and development of home-care robots” (Japan: 69.9 %; Finland: 67.5 %) (p = .006). In Finland, many people had a negative impression of robots compared to the other two countries. Finland had the highest percentage (75.4 %) of respondents who said, “Health care professionals should be allowed to use secondary information collected by a home-care robot” (Japan and Ireland: 64 %) (p = .024). Moreover, Ireland and Finland emphasized the need to guarantee the entitlement to receive human care. ConclusionsDevising optimal strategies for the development and social implementation of home-care robots by incorporating various perspectives while valuing human dignity will require examination of each country’s characteristics with respect to history, culture, policies, and values related to robots.

Home-care Professionals’ Ethical Perceptions of the Development and Use of Home-care Robots for Older Adults in Japan

ABSTRACT Because of the workforce shortage in Japan, the use of home-care robots, or carebots, is increasingly perceived as a realistic option. Developing and implementing these carebots requires careful consideration of the ethical implications for all types of users. Few studies, however, have addressed the ethical principles and concepts involved in carebot use, and consequently, the discussion regarding roboethics in the home-care environment has been inadequate. This questionnaire study explored the relationship between the willingness of home-care professionals to use carebots, their experiences with robots, and their ethical perceptions. The principal factors affecting home-care staff perceptions were perceived benefit, use of personal information, the protection of privacy, and perceptions of risk. While perceived benefit was the common predictor affecting home-care staff willingness to use a robot for the care of all user types, concerns regarding the use of personal information were more prominent for older people.

49 Health and Social Care Professionals’ Perceptions Regarding Home-Care Robots for Older People in Ireland: A Questionnaire Study

Abstract Background Home-care robots have been developed as one of the assistive technologies, and benefits and challenges of their use have been debated in many countries. Research teams in Japan, Finland and Ireland carried out a questionnaire to explore perceptions of potential users (older people, family caregivers, and health and social care professionals (HSCPs)) towards the use of home-care robots. As part of a larger tri-country comparative study, this paper reports preliminary findings from the data collected from the online survey of HSCPs in Ireland. Methods Questionnaire was developed iteratively among the research teams in three countries. Questions related to the use of advocates in deciding whether to use home-care robots, desirable functions in such robots, and perceptions of privacy protection. Based on networks of professional and advocacy groups, HSCPs were contacted and 123 respondents took part in the questionnaire, and 46 fully completed the questionnaire. Results Out of 46 respondents (44 female, 1 male and 1 did not wish to specify), 80% answered that they are open to the use of home-care robots. Safety monitoring and alert functions were considered to be most desirable in home-care robots. 76% of the respondents placed importance on the guarantee of entitlement to receiving human care, irrespective of the use of home-care robots. 30% answered that they have a negative impression of robots, to some extent. The overall majority (N=39, 85%) felt strongly that a decision as to whether to use home-care robots should be made by the user, and that the access to data collected in any form by robots requires extra care. Conclusion While there was generally a positive perception of the use of home-care robots among Irish HSCPs, cautious attitudes were evident in the areas of decision-making and privacy. This study was funded by the Pfizer Health Research Foundation.

Grasping Objects From the Floor in Assistive Robotics: Real World Implications and Lessons Learned

This paper presents a system enabling a mobile robot to autonomously pick-up objects a human is pointing at from the floor. The system does not require object models and is designed to grasp unknown objects. The robot decides by itself if an object is suitable for grasping by considering measures of size, position and the environment suitability. The implementation is built on the second prototype of the home care robot Hobbit, thereby verifying that complex robotic manipulation tasks can be performed with economical hardware. The presented system was already tested in real apartments with elderly people. We highlight this by discussing the additional complexity for complete autonomous behavior in apartments compared with tests in labs.

29Developing a Questionnaire on User Needs and Decision-Making Regarding Home-Care Robots for Older People in Japan, Ireland and Finland

29Developing a Questionnaire on User Needs and Decision-Making Regarding Home-Care Robots for Older People in Japan, Ireland and Finland

15What are the Key Criteria for Decision-Making Concerning the Use of Home-Care Robots? Findings from a Questionnaire Study in Japan

15What are the Key Criteria for Decision-Making Concerning the Use of Home-Care Robots? Findings from a Questionnaire Study in Japan

Using Robots at Home to Support Patients With Chronic Obstructive Pulmonary Disease: Pilot Randomized Controlled Trial.

BackgroundSocially assistive robots are being developed for patients to help manage chronic health conditions such as chronic obstructive pulmonary disease (COPD). Adherence to medication and availability of rehabilitation are suboptimal in this patient group, which increases the risk of hospitalization.ObjectiveThis pilot study aimed to investigate the effectiveness of a robot delivering telehealth care to increase adherence to medication and home rehabilitation, improve quality of life, and reduce hospital readmission compared with a standard care control group.MethodsAt discharge from hospital for a COPD admission, 60 patients were randomized to receive a robot at home for 4 months or to a control group. Number of hospitalization days for respiratory admissions over the 4-month study period was the primary outcome. Medication adherence, frequency of rehabilitation exercise, and quality of life were also assessed. Implementation interviews as well as benefit-cost analysis were conducted.ResultsIntention-to-treat and per protocol analyses showed no significant differences in the number of respiratory-related hospitalizations between groups. The intervention group was more adherent to their long-acting inhalers (mean number of prescribed puffs taken per day=48.5%) than the control group (mean 29.5%, P=.03, d=0.68) assessed via electronic recording. Self-reported adherence was also higher in the intervention group after controlling for covariates (P=.04). The intervention group increased their rehabilitation exercise frequency compared with the control group (mean difference −4.53, 95% CI −7.16 to −1.92). There were no significant differences in quality of life. Of the 25 patients who had the robot, 19 had favorable attitudes.ConclusionsThis pilot study suggests that a homecare robot can improve adherence to medication and increase exercise. Further research is needed with a larger sample size to further investigate effects on hospitalizations after improvements are made to the robots. The robots could be especially useful for patients struggling with adherence.Trial RegistrationAustralian New Zealand Clinical Trials Registry ACTRN12615000259549; http://www.anzctr.org.au (Archived by WebCite at http://www.webcitation.org/6whIjptLS)

Homecare Robots to Improve Health and Well-Being in Mild Cognitive Impairment and Early Stage Dementia: Results From a Scoping Study

ObjectivesThis scoping study is the first step of a multiphase, international project aimed at designing a homecare robot that can provide functional support, track physical and psychological well-being, and deliver therapeutic intervention specifically for individuals with mild cognitive impairment. DesignObservational requirements gathering study. Participants and settingsSemistructured interviews were conducted with 3 participant groups: (1) individuals with memory challenges, mild cognitive impairment (MCI), or mild dementia (patients; n = 9); (2) carers of those with MCI or dementia (carers; n = 8); and (3) those with expertise in MCI or dementia research, clinical care, or management (experts; n = 16). Interviews took place at the university, at dementia care facilities or other workplaces, at participant's homes, or via skype (experts only). MeasurementsSemistructured interviews were conducted, transcribed, and reviewed. ResultsSeveral key themes were identified within the 4 topics of: (1) daily challenges, (2) safety and security, (3) monitoring health and well-being, and (4) therapeutic intervention. ConclusionsA homecare robot could provide both practical and therapeutic benefit for the mildly cognitively impaired with 2 broad programs providing routine and reassurance; and tracking health and well-being. The next phase of the project aims to program homecare robots with scenarios developed from these results, integrate components from project partners, and then test the feasibility, utility, and acceptability of the homecare robot.

080Developing a Questionnaire to Understand Perceptions towards Home-care Robots among Older People who Receive Home-care, Family Caregivers, and Home-care Professionals

080Developing a Questionnaire to Understand Perceptions towards Home-care Robots among Older People who Receive Home-care, Family Caregivers, and Home-care Professionals