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1		-For our project we wanted to make use of Miro. However, a companion robot like the [[Sony Aibo>>https://electronics.sony.com/more/aibo/p/ers1000]] might be more suitable for our purpose, as it has legs instead of wheels.
	1	+For our project we wanted to make use of the Miro. However, a companion robot like the [[Sony Aibo>>https://electronics.sony.com/more/aibo/p/ers1000]] might be more suitable for our purpose, since it has legs instead of wheels.
2	2
3	3	There are two main functions of the Miro that we want to design for:
4	4
5		-* Walking with Miro
6		-* Engage in snoezelen with Miro
	5	+* Walking with the Miro
	6	+* Engage in snoezelen with the Miro
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8	8	These functions are described and laid out in the sections, flowchart and storyboards below.
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10	10
11		-== 1. Walking with the MiRo==
	11	+== Walking with the MiRo==
12	12	Walking with the MiRo is divided in two functional parts: Starting the walk and guiding the patient on the path.
13	13
14		-=== 1.1 Starting the walk===
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.
	14	+=== Starting the walk===
	15	+The MiRo should be programmable with various walking routes. These walking routes will be created by the activity coordinator, as they have the best knowledge about what is most suitable for each patient. We also assume that, in general, the patients with dementia are not able to choose a good/suitable walking path by themselves, and therefore think that placing this responsibility at the activity coordinator is the best option.
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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.
	17	+The patient should have a way of indicating 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 and bring the MiRo so that the patient can start the walk. The caretaker will also attach the proximity bracelet, see section ??? for its description. MiRo will then automatically load a walking route based on the walks specified by the activity coordinator.
18	18
19		-=== 1.2 Guiding the patient ===
20		-==== 1.2.1 Indicating route ====
21		-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.
22	22
23		-==== 1.2.2 Guiding human back on route ===
	20	+=== Guiding the patient ===
	21	+To guide the patient along the walking route, MiRo will walk ahead.
	22	+
	23	+1. Walking and following a path
	24	+- Walk ahead in the desired direction
	25	+- Indicate which way to go by already slightly moving towards the desired direction/turn.
	26	+- Positive reinforcement when human does well with excited sounds and wagging tail (dog emotions)
	27	+
	28	+2. Guiding human back on path
24	24	Description
25	25	- Determine when the human going off the path
26	26	- Getting attention of the human
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29	29	- Going towards human, gently blocking path
30	30	- Alerting caretakers when human does not return to path
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32		-== 2. Snoezelen ==
	37	+3. Snoezelen
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	41	+Todo:
	42	+- Armband functies, ook redeneren waarom dit ipv lijntje ivm kwetsbaarheid van robot (ook al besproken bij Humanoid Robot)
	43	+- Hulp inschakelen functies (gps tracker)
	44	+-
36	36
37		-== Proximity bracelet ==
38		-
39	39
40	40
41		-
42	42	Flowchart:
43	43	[[image:https://xwiki.ewi.tudelft.nl/xwiki/wiki/sce2022group02/download/Functions/WebHome/statediagram.png]]
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