Wiki source code of Functions

Version 37.1 by Tim Huisman on 2022/04/04 18:29

version	line-number	content
36.1	1	For this project, we chose the MiRo robot. The reason for our choice can be found in section [[Humanoid Robot>>https://xwiki.ewi.tudelft.nl/xwiki/wiki/sce2022group02/view/Foundation/Technology/Humanoid%20Robot/]]. This section contains a description of the functions we want MiRo to be able to do, and how we imagine them to be realized. Additionally, we provide a flowchart to show what actions the robot should take in certain situations. Next to this, we give several storyboards to visualise our ideas.
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35.1	3	There are two main functions of the MiRo that we want to design for:
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36.1	5	* Guiding a person with dementia during a walk
	6	* Engage in Snoezelen
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36.1	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 just a walking assistant to a robotic pet. Our ideas and findings on this can be found in the [[Future Work>>https://xwiki.ewi.tudelft.nl/xwiki/wiki/sce2022group02/view/Main/Conclusion/]] section of the conclusion.
13.1	9
22.1	10	== 1. Walking with MiRo==
19.1	11	Walking with the MiRo is divided in two functional parts: Starting the walk and guiding the patient on the path.
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23.1	13	=== 1.1 Starting the walk ===
19.2	14	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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25.1	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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24.1	18	==== 1.1.1 Proximity grip====
25.1	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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27.1	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 [[Robotic Partner>>https://xwiki.ewi.tudelft.nl/xwiki/wiki/sce2022group02/view/Foundation/Human%20Factors/Robotic%20Partner/]].
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20.1	23	=== 1.2 Guiding the patient ===
27.1	24	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.
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27.1	26	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.
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32.1	28	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. Additionally, the proximity grip will flash small lights and start vibrating. 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, causing the proximity grip to lose connection, 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. (Is this last sentence needed? as the connection to wristband is probably enough as a limit)
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27.1	30	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.
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27.1	32	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.
25.1	33
4.1	34	Flowchart:
31.1	35	[[image:https://xwiki.ewi.tudelft.nl/xwiki/wiki/sce2022group02/download/Functions/WebHome/
	36	Flowchart_MiRo.png]]
4.1	37
8.1	38	Storyboard compliant who likes dogs:
4.1	39	[[image:https://xwiki.ewi.tudelft.nl/xwiki/wiki/sce2022group02/download/Functions/WebHome/storyboardsce.PNG]]
	40
8.1	41	Storyboard reluctant elder who doesn't like dogs or doesn't want to be led by a dog (Constantijn)
7.1	42	[[image:https://xwiki.ewi.tudelft.nl/xwiki/wiki/sce2022group02/download/Functions/WebHome/storyboard_reluctant.PNG]]
6.1	43
10.1	44	Storyboard for a fallen PwD:
	45	[[image:https://xwiki.ewi.tudelft.nl/xwiki/wiki/sce2022group02/download/Functions/WebHome/Fallenstoryboard.PNG]]
	46
12.1	47	Storyboard for a PwD who is very social and talks in the hallway:
	48	[[image:https://xwiki.ewi.tudelft.nl/xwiki/wiki/sce2022group02/download/Functions/WebHome/socialstoryboard.PNG]]
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	50	Storyboard for a petting session with the robot dog:
	51	[[image:https://xwiki.ewi.tudelft.nl/xwiki/wiki/sce2022group02/download/Functions/WebHome/
	52	snoezelenstoryboardhappy.PNG]]
	53
	54	Storyboard for a petting session with the robot dog for Contantijn (person who doesn't like dogs):
	55	[[image:https://xwiki.ewi.tudelft.nl/xwiki/wiki/sce2022group02/download/Functions/WebHome/snoezelenhatestoryboard.PNG]]