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8	8	These functions are described and laid out in the sections, flowchart and storyboards below.
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11		-== Walking with the MiRo==
	11	+== 1. Walking with MiRo==
12	12	Walking with the MiRo is divided in two functional parts: Starting the walk and guiding the patient on the path.
13		-
14		-=== Starting the walk===
	13	+=== 1.1 Starting the walk ===
15	15	MiRo can be programmed with various walking routes. We assumed that, in general, the patients with dementia are not able to choose and/or set up a good/suitable walking routes by themselves, and therefore we think that placing this responsibility at the activity coordinator is the best option. The coordinators can set up new walking routes through an online portal in which they can draw a route on a floor plan of their building. The coordinators can then create profiles for each of their patients to specify a walking plan containing suitable routes.
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17		-The patient can start a walk by indicating to a caretaker that he/she wants to take a walk (for example in the form of a button). Once the patient presses the button, a caretaker will come to bring MiRo. The caretaker will also attach the proximity bracelet, see section ??? for its description. MiRo will then either automatically choose a suitable route or get instructed by the coordinator for a specific route.
	16	+The patient can start a walk by indicating to a caretaker that he/she wants to take a walk (for example in the form of a button). Once the patient presses the button, a caretaker will come to bring MiRo. The caretaker will also give the proximity grip, see the next section for its description. MiRo will then either automatically choose a suitable route or get instructed by the coordinator for a specific route.
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19		-=== Guiding the patient ===
20		-Once the route is started, MiRo walks ahead to show the way.
	18	+==== 1.1.1 Proximity grip====
	19	+To assist MiRo in ensuring the patient stays on route, the patient will wear proximity grip. The proximity grip is a small hand-held device which visually resembles a leash handle. It contains four main components: lights, a vibration motor, a accelerometer, and a distance sensor. The distance sensor will communicate the patients' distance to MiRo with MiRo so that MiRo knows when the patient stops following him. When this happens, the lights and the vibration motor can be used to bring the attention of the patient back to MiRo.
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22		-1. Walking and following a path
23		-- Walk ahead in the desired direction
24		-- Indicate which way to go by already slightly moving towards the desired direction/turn.
25		-- Positive reinforcement when human does well with excited sounds and wagging tail (dog emotions)
	21	+Ideally, the proximity grip would be replaced with an actual leash as this would resemble walking a dog more and would ensure that a patient does not walk away from MiRo. However, due to the frailty of MiRo, this not possible. This is explained in more detail in [[Humanoid Robot>>https://xwiki.ewi.tudelft.nl/xwiki/wiki/sce2022group02/view/Foundation/Technology/Humanoid%20Robot/]].
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27		-2. Guiding human back on path
28		-Description
29		-- Determine when the human going off the path
30		-- Getting attention of the human
31		- - Noises
32		- - Tilting head
33		- - Going towards human, gently blocking path
34		- - Alerting caretakers when human does not return to path
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36		-3. Snoezelen
	24	+=== 1.2 Guiding the patient ===
	25	+Once the route is started, MiRo walks ahead to show the way. When approaching turns, MiRo indicates which way to go by slightly moving towards the desired direction and moving his head to indicate the turn. When the patient does well (e.g. follows MiRo consistently), MiRo gives positive reinforcement in the form of excited sounds and a wagging tail.
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	27	+When the user gets distracted, is stubborn, or for some other reason strays from the original path, the system will be able to detect this through the distance sensor. MiRo tries to get the attention of the user first by barking and by colorful lights. If the user keeps walking away, MiRo can get closer to keep trying to get attention. MiRo can also (gently) block the users path, which should make it easier to get attention, as MiRo is now in the user's field of view. If all else fails: MiRo will notify the activity coordinator or a different caretaker to take the user back to their room.
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	29	+Once the user's attention is back at the MiRo, they should be convinced to turn back. This will be done mostly through emotions. MiRo will show excitement towards the correct path, by looking at it, taking some "steps" in its direction, making excited sounds, and wagging its tail. MiRo can also look at the user and tilt its head, similarly to how a dog would ask its owner to keep walking.
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	31	+If the user is confused, these methods, combined with the leash they're holding, could remind them what they are doing. If the user is being stubborn, the excitement and begging motion from MiRo could convince them to keep walking.
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41		-== Proximity bracelet ==
42		-
	33	+If at any point the user falls, the accelerometer in the proximity grip will notice this, and the activity coordinator or any nearby caretaker will notified.
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	36	+=== 1.3 Patient takes a break ===
	37	+- Wachten tot patient weer dichterbij komt
	38	+- Patient volgen - als te ver gaat caretaker alerten
	39	+- Range hangt af van caretaker/activity coordinator
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	41	+== 2. Snoezelen ==
	42	+- Snoezelen als optie
	43	+- Wel duidelijk aangeven dat miro wel wat functies/handigheden mist, maar dat het idee van een robot huisdier wel leuk is
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	45	+
46	46	Flowchart:
47	47	[[image:https://xwiki.ewi.tudelft.nl/xwiki/wiki/sce2022group02/download/Functions/WebHome/statediagram.png]]
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49		-
50		-
51	51	Storyboard compliant who likes dogs:
52	52	[[image:https://xwiki.ewi.tudelft.nl/xwiki/wiki/sce2022group02/download/Functions/WebHome/storyboardsce.PNG]]
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