Changes for page Functions

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Author

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1		-XWiki.tim_huisman
	1	+XWiki.ricardovogel

Content

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3	3	There are two main functions of the Miro that we want to design for:
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5	5	* Walking with Miro
6		-* Engage in snoezelen
	6	+* Engage in snoezelen with Miro
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8		-However, given the limitations imposed by the design of MiRo described in [[Robotic Partner>>https://xwiki.ewi.tudelft.nl/xwiki/wiki/sce2022group02/view/Foundation/Human%20Factors/Robotic%20Partner/]], snoezelen is not feasible. However, we do think that it could potentially be an interesting area for future work, as it could change the robot from a walking assistant to a robotic pet. Our ideas and findings on this can be found in future work [ADD REFERENCE]
	8	+These functions are described and laid out in the sections, flowchart and storyboards below.
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	10	+
10	10	== 1. Walking with MiRo==
11	11	Walking with the MiRo is divided in two functional parts: Starting the walk and guiding the patient on the path.
12	12	=== 1.1 Starting the walk ===
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17	17	==== 1.1.1 Proximity grip====
18	18	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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20		-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 [[Robotic Partner>>https://xwiki.ewi.tudelft.nl/xwiki/wiki/sce2022group02/view/Foundation/Human%20Factors/Robotic%20Partner/]].
	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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	23	+
22	22	=== 1.2 Guiding the patient ===
23		-Once the route has been 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.
	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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25		-It is possible that at some point on the walking route, the PwD stops following MiRo. The system will be able to detect this through the distance sensor and act upon this. First, MiRo will turn around and try to get the attention of the PwD by barking and flashing its colourful lights. If the PwD appears to follow MiRo again, it will resume the current path. If not, the PwD can either be moving away from MiRo or not moving at all.
	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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27		-If the PwD moves away from MiRo, MiRo will follow them and keep trying to get their attention by making noises and flashing lights. 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. 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. 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. However, if the PwD diverts from their path too far, MiRo will alert a caretaker or the activity coordinator so that they can intervene. It will be up to the caretaker or activity coordinator to determine the degree of walking freedom a PwD is allowed on a walk.
	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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29		-If the PwD does not walk further away from MiRo, we assume them to be taking a break either by resting or by talking with someone. As both of these options are important for PwD's, MiRo should allow for this. MiRo will therefore wait patiently until the PwD starts following him again. Additionally, MiRo occasionally tilts his head and makes a little noise to resemble a dog that is awaiting instructions/confused. Once the PwD starts comes closer to MiRo again, MiRo will resume its path.
	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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31		-Finally, it is also possible that the PwD falls. For this, the proximity grip will also contain an acceleromenter. The accelerometer will be able to detect heavy vertical acceleration, which, combined with little to no change in distance to MiRo would indicate a fall. If detected, MiRo will automatically alert a caretaker.
	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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	35	+== 2. Snoezelen ==
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	37	+
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33	33	Flowchart:
34	34	[[image:https://xwiki.ewi.tudelft.nl/xwiki/wiki/sce2022group02/download/Functions/WebHome/statediagram.png]]
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