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1		-= Conclusion =
	1	+== Conclusion ==
2	2	People with dementia may lose the ability to take a walk on their own due to the decline in their cognitive abilities, causing them to rely on their caretakers to assist them in doing so. In this project, we aimed to design a robotic partner that could replace the caretakers during these walks. This robotic partner could potentially increase the perceived autonomy of people with dementia during walks compared to walking under the guidance of a caretaker, which could increase the overall wellbeing of people with dementia as a consequence.
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4	4	The robot we used for creating this robotic partner is MiRo. MiRo is a small dog-like robot that is able to drive around on small wheels and exert dog-like behaviour such as tail-wagging, head tilting and movement of its ears. We imagined our robotic partner, called WAF, to be programmable with walking routes specified by activity coordinators or caretakers. WAF would then lead the way for PwD on walks while making sure the PwD keeps following them and alerting caretakers when something out of its control happens. Additionally, we imagined WAF to also function as a robot companion, allowing for Snoezelen.
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10	10	To conclude, our prototype did not manage to achieve our claims. However, the experiment itself had many limitations, described in [[Test>>https://xwiki.ewi.tudelft.nl/xwiki/wiki/sce2022group02/view/Test/]], which have most definitely influenced our results. Also, the many limitations posed by MiRo caused us to not be able to implement every function that we would have liked to implement, potentially reducing the effectiveness of WAF in achieving our goals. We think that, with a more sophisticated robot, one could create a robotic partner that is able to increase the perceived autonomy of PwD in taking walks, while still ensuring safety during the walk, achieving our goals. However, a more sophisticated robot would also cost significantly more, which would deteriorate the feasibility of this solution. Perhaps, if such robots become more affordable in the future, this solution would be feasible to employ at care homes, but for now, we do not think it is.
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13		-= Future Work =
	13	+== Future Work ==
14	14	As described above, the MiRo robot came with many limitations that ultimately did not allow us to implement many of the functions that we had imagined. This section contains an overview of the future work that should be done to create a sophisticated robotic partner that is truly able to guide PwD on walks.
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16	16	One of the limitations of the MiRo is that it is unable to walk on floors that are either uneven, carpeted or black. A new robot prototype should have some form of limbs that allow it to be able to walk up steps and traverse rough terrain, allowing the person with dementia to walk outside. Also, the robot is currently unable to walk a path that is not entirely hardcoded. The robot should be able to follow a predefined path and should be able to differ from that path if an obstacle is detected. Next to this, the robustness of a new version should be improved. This could allow for touch and/or cuddling (more on this later), but also for a physical connection such as a leash to the robot. Currently, our prototype was only able to regain the attention of the PwD by the proximity wristband and by movement. With a physical connection, this regaining of attention would be much easier. If this is not possible, however, there should an evaluation on which type of attention gaining is most effective.
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24	24	To further strengthen this bond between the person with dementia and their robot dog companion, the new version should allow for Snoezelen. The next section contains our ideas for this additional functionality, and how we would evaluate this function if our prototype allowed for this.
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26		-== Snoezelen ==
	26	+=== Snoezelen ===
27	27	We imagined 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. For this, WAF must not be too fragile so people can pet its head and body. Preferably, WAF's skin should be soft or nice to touch, so petting it would be preferable to petting a hard plastic dog like the MiRo.
28	28	We did take Snoezelen as a secondary function into account for our [[Ontology>>https://xwiki.ewi.tudelft.nl/xwiki/wiki/sce2022group02/view/Main/Ontology/]], [[Use Cases>>https://xwiki.ewi.tudelft.nl/xwiki/wiki/sce2022group02/view/Use%20Cases/]], [[Functions>>https://xwiki.ewi.tudelft.nl/xwiki/wiki/sce2022group02/view/Functions/]] and [[Claims>>https://xwiki.ewi.tudelft.nl/xwiki/wiki/sce2022group02/view/Claims/]].
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