Skip to Content

Changes for page Functions

Last modified by Laura Ottevanger on 2022/04/05 13:57
From version Icon 46.1 Icon
edited by Tim Huisman
on 2022/04/05 10:16
Change comment: There is no comment for this version
To version Icon 47.1 Icon
edited by Tim Huisman
on 2022/04/05 10:19
Change comment: There is no comment for this version

Summary

Details

Icon Page properties
Content
... ... @@ -32,9 +32,9 @@
32 32  Once the route has been started, WAF walks ahead to show the way. When approaching turns, WAF 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 WAF consistently), WAF gives positive reinforcement in the form of excited sounds and a wagging tail.
33 33  
34 34  === Ensuring the patient stays on path ===
35 -To assist WAF in ensuring the patient stays on the route, the patient will wear a proximity bracelet. The proximity bracelet is a small hand-held device that visually resembles a leash handle. It contains four main components: lights, a vibration motor, an accelerometer, and a distance sensor. The distance sensor will communicate the patients' distance to WAF with WAF so that WAF 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 WAF.
35 +To assist WAF in ensuring the patient stays on the route, the patient will wear a proximity bracelet. It contains four main components: lights, a vibration motor, an accelerometer, and a distance sensor. The distance sensor communicates the patients' distance to WAF with WAF so that WAF knows when the patient stops following him. When this happens, the lights and the vibration motor are used to bring the attention of the patient back to WAF.
36 36  
37 -Ideally, the proximity bracelet 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 WAF. However, due to the frailty of WAF, this is 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/]].
37 +Ideally, we would replace the proximity bracelet with an actual leash containing each of the components mentioned before. This would resemble walking with a dog more and would ensure that a patient does not walk away from WAF. However, due to the frailty of MiRo, this is not possible. This is explained in more detail in [[Humanoid Robot>>https://xwiki.ewi.tudelft.nl/xwiki/wiki/sce2022group02/view/Foundation/Technology/Humanoid%20Robot/]].
38 38  
39 39  It is possible that at some point on the walking route, the PwD stops following WAF. The system will be able to detect this through the distance sensor and act upon this. First, WAF 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 WAF again, it will resume the current path. If not, the PwD can either be moving away from WAF or not moving at all.
40 40