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Changes for page Functions

Last modified by Laura Ottevanger on 2022/04/05 13:57
From version Icon 54.1 Icon
edited by Harmen Kroon
on 2022/04/05 12:50
Change comment: There is no comment for this version
To version Icon 52.1 Icon
edited by Harmen Kroon
on 2022/04/05 12:47
Change comment: There is no comment for this version

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21 21  ====Snoezelen====
22 22  We imagine WAF to not only be a guiding robot but also pose itself as a companion. For this, WAF should allow for 'Snoezelen'. Clients should be able to pet WAF on its head and body, and it should respond to that affection with happy noises and movements. This helps the client to create a bond with WAF and it makes walks with WAF more enjoyable. Furthermore, it may reduce cognitive decline, as discussed in the lecture.
23 23  
24 -=== Function Realisation ===
25 -==== Guiding the patient along a path ====
24 +== Function Realisation ==
25 +=== Guiding the patient along a path ===
26 26  The patient can start a walk by indicating to a caretaker that they 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 WAF. The caretaker will also give the proximity bracelet, see the next section for its description. WAF will then either automatically choose a suitable route or get instructed by the coordinator for a specific route.
27 27  
28 28  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.
29 29  
30 -==== Ensuring the patient stays on path ====
30 +=== Ensuring the patient stays on path ===
31 31  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.
32 32  
33 33  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/]].
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38 38  
39 39  If the PwD does not walk further away from WAF, 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, WAF should allow for this. WAF will therefore wait patiently until the PwD starts following him again. Additionally, WAF occasionally tilts his head and makes a little noise to resemble a dog that is awaiting instructions/confused. Once the PwD starts coming closer to WAF again, WAF will resume its path.
40 40  
41 -==== Alerting caretaker ====
41 +=== Alerting caretaker ===
42 42  If the PwD diverts from their path too far, causing the proximity grip to lose connection, WAF will alert a caretaker or the activity coordinator so that they can intervene. Finally, it is also possible that the PwD falls. For this, the proximity grip will also contain an accelerometer. The accelerometer will be able to detect heavy vertical acceleration, which, combined with little to no change in distance to WAF would indicate a fall. If detected, WAF will automatically alert a caretaker.
43 43  
44 -==== Voice commands and customisable names ====
44 +=== Voice commands and customisable names ===
45 45  Unfortunately, due to the programming difficulties of the MiRo robot as described in [[Humanoid Robot>>https://xwiki.ewi.tudelft.nl/xwiki/wiki/sce2022group02/view/Foundation/Technology/Humanoid%20Robot/]], it was not possible to implement voice commands and customisable names.
46 -==== Path choice freedom ====
46 +=== Path choice freedom ===
47 47  Just like the voice commands, programming any form of path freedom was also not possible with the MiRo robot. Additionally, these limitations did not allow us to code any obstacle avoidance.
48 48  
49 -==== Snoezelen ====
49 +=== Snoezelen ===
50 50  Given the limitations with regard to the frailty of MiRo described in [[Humanoid Robot>>https://xwiki.ewi.tudelft.nl/xwiki/wiki/sce2022group02/view/Foundation/Technology/Humanoid%20Robot/]], 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 just a walking assistant to a robotic pet or companion. Our ideas and findings on this can be found in the [[Snoezelen>>https://xwiki.ewi.tudelft.nl/xwiki/wiki/sce2022group02/view/Main/Conclusion/]] section of the conclusion.
51 51  
52 52  === Flowchart ===