©The SRS Consortium, 2010-2013

MultiMulti--Role Shadow Robotic System for Role Shadow Robotic System for

Independent Living (SRS)Independent Living (SRS)

Dr. Renxi Qiu (Cardiff School of Engineering, Cardiff University)

Tokyo 9-10 October 2012

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The SRS project is funded by the European Commission under the 7th Framework Programme (FP7) – Challenges 7: Independent living, Inclusion and Governance

WWW.SRS-PROJECT.EU

CONTENTSCONTENTS

n CONCEPT AND OBJECTIVES

n SCENARIOS AND PLATFORM

n TECHNICAL APPROACHES FOR REALISING THE SRS INNOVATIONS

n ADVANCED PROTOTYPE USER EVALUATIONS

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The SRS project is funded by the European Commission under the 7th Framework Programme (FP7) – Challenges 7: Independent living, Inclusion and Governance

WWW.SRS-PROJECT.EU

PROJECT INFORMATIONPROJECT INFORMATION

n Funded under 7th EU-Framework Programme for Research and Technological Development under FP7-ICT-CALL-4

n Reference: 247772

n Duration: 39 Months (Feb 2010 – April2013)

n Coordinator: Cardiff University

n 12 partners

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The SRS project is funded by the European Commission under the 7th Framework Programme (FP7) – Challenges 7: Independent living, Inclusion and Governance

WWW.SRS-PROJECT.EU

CONCEPT AND OBJECTIVES CONCEPT AND OBJECTIVES

n The project focuses on the development and prototyping of multi-purpose remotely-controlled, semi-autonomous robotic solutions in domestic

environments to support elderly people.

– Telepresence robot with manipulation capability, enable robots alter the environment as remote manipulators

– Accelerate the societal acceptance of robotic application for independent living by bringing users in early stage of the R&D cycles and demonstrating SRS solutions and scenarios

Project concept

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The SRS project is funded by the European Commission under the 7th Framework Programme (FP7) – Challenges 7: Independent living, Inclusion and Governance

WWW.SRS-PROJECT.EU

HARDWARE PLATFORMHARDWARE PLATFORM

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The SRS project is funded by the European Commission under the 7th Framework Programme (FP7) – Challenges 7: Independent living, Inclusion and Governance

WWW.SRS-PROJECT.EU

SCENARIOS SELECTION SCENARIOS SELECTION -- ACTIVITIES OF DAILY LIVING ACTIVITIES OF DAILY LIVING

TASKSTASKS

n Based on activities of daily living

n Demanded by prospective users

n Robot is required

n Can be accomplished in a standard private home

n Extensibility of scenarios

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The SRS project is funded by the European Commission under the 7th Framework Programme (FP7) – Challenges 7: Independent living, Inclusion and Governance

WWW.SRS-PROJECT.EU

SCENARIOS SELECTION SCENARIOS SELECTION -- ETHNOGRAPHIC RESEARCHETHNOGRAPHIC RESEARCH

n Participants:

– 17 frail elderly (13 women and 4 men with age-related health problems-10 aged 80 or older).

– Still able to live at their home: 12 single-person, 3 female/male couple

n Health conditions:

– Mild to severe motor impairments causing slowness, weakness, fatigue, risk of falls, legs and arms movement limitation

– Mild to severe Deafness and Vision problems are highly frequent

– Mild memory reported by many.

– Chronic diseases, like cardiopathy and respiratory system related diseases in some cases.

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The SRS project is funded by the European Commission under the 7th Framework Programme (FP7) – Challenges 7: Independent living, Inclusion and Governance

WWW.SRS-PROJECT.EU

SCENARIOS SELECTIONSCENARIOS SELECTION

* (still

considered

interesting in

the study for

eventual future

development

outside SRS)

Legend

1 to 5 scale:

•1- not at all

• 3- neutral

•5-yes a lot

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The SRS project is funded by the European Commission under the 7th Framework Programme (FP7) – Challenges 7: Independent living, Inclusion and Governance

WWW.SRS-PROJECT.EU

TECHNICAL SOLUTION TECHNICAL SOLUTION -- CONTROL STRUCTURE AND CONTROL STRUCTURE AND

DECISION MAKINGDECISION MAKING

n SRS control structure

– A brain like automatic task planner which initialises movements on the symbolic level.

– A cerebellum like action executive for coordination actions at the level of sensing and actuation

– App-store type modularised componentsto enable the extension and reuse of existing capabilities

Symbolic

Grounding

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The SRS project is funded by the European Commission under the 7th Framework Programme (FP7) – Challenges 7: Independent living, Inclusion and Governance

WWW.SRS-PROJECT.EU

TECHNICAL SOLUTION TECHNICAL SOLUTION -- CONTROL STRUCTURE AND CONTROL STRUCTURE AND

DECISION MAKINGDECISION MAKING

n Semi-autonomous control framework

Semi-autonomous operation

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The SRS project is funded by the European Commission under the 7th Framework Programme (FP7) – Challenges 7: Independent living, Inclusion and Governance

WWW.SRS-PROJECT.EU

TECHNICAL SOLUTION TECHNICAL SOLUTION -- CONTROL STRUCTURE AND CONTROL STRUCTURE AND

DECISION MAKINGDECISION MAKING

Questions

•Why move to table?

•Which table and where to find the table?

•What is “near” a table?

•What is a “reachable” distance for grasping?

•Why grasp after moving to a reachable position?

•All in all, why the sequence is like this? •Many more questions…

Task planning for “Fetch and Carry”: get milk

One would expect the following sequence of actions:

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The SRS project is funded by the European Commission under the 7th Framework Programme (FP7) – Challenges 7: Independent living, Inclusion and Governance

WWW.SRS-PROJECT.EU

TECHNICAL SOLUTION TECHNICAL SOLUTION -- USER INTERFACE FOR LOCAL USER INTERFACE FOR LOCAL

USER (ELDERLY AT HOME)USER (ELDERLY AT HOME)

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The SRS project is funded by the European Commission under the 7th Framework Programme (FP7) – Challenges 7: Independent living, Inclusion and Governance

WWW.SRS-PROJECT.EU

TECHNICAL SOLUTION TECHNICAL SOLUTION -- USER INTERFACE FOR USER INTERFACE FOR

INFORMAL CAREGIVERINFORMAL CAREGIVER

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The SRS project is funded by the European Commission under the 7th Framework Programme (FP7) – Challenges 7: Independent living, Inclusion and Governance

WWW.SRS-PROJECT.EU

TECHNICAL SOLUTION TECHNICAL SOLUTION -- USER INTERFACE FOR USER INTERFACE FOR

PROFESSIONAL TELEPROFESSIONAL TELE--ASSISTANTSASSISTANTS

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The SRS project is funded by the European Commission under the 7th Framework Programme (FP7) – Challenges 7: Independent living, Inclusion and Governance

WWW.SRS-PROJECT.EU

ADVANCED PROTOTYPE USER EVALUATIONS ADVANCED PROTOTYPE USER EVALUATIONS

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The SRS project is funded by the European Commission under the 7th Framework Programme (FP7) – Challenges 7: Independent living, Inclusion and Governance

WWW.SRS-PROJECT.EU

ADVANCED PROTOTYPE USER EVALUATIONS ADVANCED PROTOTYPE USER EVALUATIONS

People assessed • 16 elderly : Mean age 79,6 , Barthel index :55 to 100; 1 young disable man

(23 y.o.)

• 12 private caregivers :Mean age 54,1

• 5 professionals operators : mean age 33,2

Test sessions • Before robot coming to test site: explanation of srs concept, showing videos and

interfaces

• 4 test sessions each day with the robot in the test site

Short introduction to participants

Up to 3 SRS usage experiences (depending on technical robot performance)

Questionnaires administration /Technical effectiveness recording

Indicators: • Technical indicators

Evaluation check list for technical performance

• Users indicators

Interactive think-aloud with moderators next to participants

Ad hoc developed quantitative and qualitative questionnaires

Standard Attrackdiff questionnaire

Safety-ethical-privacy issues focus group

Users’s validation

if:

• Attrakdiff results� results belonging to area called “desired”

• Ad hoc questionnaires results� indicators threshold ”>3,5 (1 to 5 scale)

• Qualitative consideration emerging, behavior observations and focus groups

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The SRS project is funded by the European Commission under the 7th Framework Programme (FP7) – Challenges 7: Independent living, Inclusion and Governance

WWW.SRS-PROJECT.EU

ADVANCED PROTOTYPE USER EVALUATIONS ADVANCED PROTOTYPE USER EVALUATIONS

3.06 (0.423)

3.19 (0.368)

3.25 (0.382)

3.38 (0.386)

3.38 (0.417)

3.40 (0.407)

3.60 (0.387)

3.75 (0.382)

3.75 (0.323)

3.94 (0.359)

4.00 (0.354)

4,06 (0.347)

4,06 (0.347)

4.13 (0.364)

4.31 (0.254)

4.38 (0.272)

4.38 (0.272)

4.38 (0.287)

1,00 1,50 2,00 2,50 3,00 3,50 4,00 4,50 5,00

I would like to buy the SRS system as soon as it is available

I’m satisfied with the time it took to complete the task using

the robot

I could effectively use the robot to execute simple tasks by

myself

I’m satisfied with the robot size

I would like to use the SRS system if it is available

Having SRS at home, I would NOT be worried that the robot

could break something at home

Having SRS at home, I would NOT be worried to break the

system

I think that SRS would put me in a position to perform

certain tasks without having to wait for someone to come …

I’m satisfied with how the robot looks

Having SRS at home, I would feel less afraid of being at

home alone

I could effectively use the robot to contact people and

receive assistance

I think that SRS would Make it easier to perform some

activities of daily living

Having SRS at home, I would’nt feel too much controlled

Having SRS at home, I would feel more independent

I think that SRS would make it safer to run some activities of

daily living

I found the robot useful

It was fun interacting with the robot

I’m satisfied with the usability of the interface

Rating scale:

from 1: totally disagree to 5 : totally agree

Ad hoc questionnaire - mean results and error bars

Elderly people

Usability/learnability

SRS requirements: Safety

Technical Effectiveness

Acceptability

Acceptability

SRS requirements: Independence

Acceptability

SRS requirements: Facilitating ADL

SRS requirements: Safety

Acceptability

SRS requirements: Autonomy

Acceptability

SRS requirements: home integrat

Intention to adopt

Usability/learnability

Technical Effectiveness

Intention to adopt

SRS requirements: home integrat

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The SRS project is funded by the European Commission under the 7th Framework Programme (FP7) – Challenges 7: Independent living, Inclusion and Governance

WWW.SRS-PROJECT.EU

SRS TESTING VIDEOSRS TESTING VIDEO

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The SRS project is funded by the European Commission under the 7th Framework Programme (FP7) – Challenges 7: Independent living, Inclusion and Governance

WWW.SRS-PROJECT.EU

DISSEMINATION EVENTSDISSEMINATION EVENTS

n Rehacare 2012 - October, 2012 - Düsseldorf, Germany

n IEEE/RSJ International Conference on Intelligent Robots and Systems - October, 2012 – Algarve, Portugal

n Workshop at House of Lords, Westminster Hall – 30th November, 2012 – London, U.K.