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Changes for page Humanoid Robot

Last modified by Pierre Bongrand on 2022/04/05 20:48
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edited by Pierre Bongrand
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1 -XWiki.PierreBongrand
1 +XWiki.Mathieu
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1 1  = Robot Choice =
2 -For this project on dementia, we chose to make use of a semi-humanoid robot namely [[Pepper>>https://www.softbankrobotics.com/emea/en/pepper]].
3 3  
4 --> Need to find/write reasons
3 +We were offered to work with three robots: [[Pepper>>https://www.softbankrobotics.com/emea/en/pepper]], [[Nao>>https://www.softbankrobotics.com/emea/en/nao]] and [[Miro>>https://www.miro-e.com]].
4 +As our main goal is to improve the quality of life of the patient with dementia by providing some some social support. We believe that the human size semi-humanoid form of Pepper and its capacity to communicate easily with humans are great comparative advantages to choose it.
5 5  
6 -
7 7  = Pepper Description =
7 +
8 8  Pepper is a robot that allows easy communication robot/user, thanks to its ability kit that includes:
9 +
9 9  * Speech recognition
10 10  * Voice
11 11  * Tablet
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12 12  * Cameras
13 13  * Humanoid form
14 14  
15 -The image below refers all the robot sensors.
16 16  [[image:Pepper-robot-sensors-18.jpg]]
17 +Figure 1: All sensors and actuators provided by Pepper
17 17  
18 18  = Pepper usage =
19 -We tried to make full use of the sensors provided within Pepper. As we had limited amount of time we mainly focused on working with: the microphones, the speakers, the display and the
20 20  
21 +We tried to make full use of the sensors provided within Pepper. As we had limited amount of time we mainly focused on working with: the microphones, the speakers, the display and the arms movement of Pepper.
21 21  
22 -In assumption, we planned to make it possible for the HCP to modify the calendar/reminder
23 - features with touching the tablet. Besides, to enable Pepper moving around to take care of the PwDs with the help of sensors. Also, it's better to let Pepper communicate with the PwDs both by dictating and showing images, for the decline of recognition ability of PwDs.
23 +The actions we implemented for our prototype include:
24 24  
25 -For the actual implemented version, we have enabled Pepper to show images about the current activity when interacting with the PwDs, which can not only
26 -improve the efficiency of communication between them, but also makes PwDs feel more cared.
25 +* Playing music
26 +* Listening and understanding the PwD
27 +* Speaking to the PwD
28 +* Displaying information on the tablet
29 +* Moving arms to convey message
27 27  
31 +For the actual implemented version, we have enabled Pepper to show images about the current activity when interacting with the PwDs, which can not only improve the efficiency of communication between them, but also makes PwDs feel more cared.
32 +
28 28  = Iterative Process =
29 --> Describe a bit a philosophy from slides: SCE framework & PACT analysis.
30 30  
31 -based on:
35 +Through the course of the development of Pepper, we followed an iterative process of design where we programmed and re-programmed certain aspects to accommodate weekly feedback. This approach aided us in ameliorating existing functionality, while adding new features. The following is brief indication of how this iterative process looked for our development pipeline:
32 32  
33 -[1]: Neerincx, Mark & van Vught, Willeke & Blanson Henkemans, Olivier & Oleari, Elettra & Broekens, Joost & Peters, Rifca & Kaptein, Frank & Demiris, Yiannis & Kiefer, Bernd & Fumagalli, Diego & Bierman, Bert. (2019). Socio-Cognitive Engineering of a Robotic Partner for Child's Diabetes Self-Management. Frontiers in Robotics and AI. 6. 118.
37 +1. Research overview of how Pepper works, and look into the Interactive Robotics platform and Choregraphe
38 +2. Use the virtual version of Pepper on Choregraphe to make some initial behaviors (based off usecases)
39 +3. Review implemented behaviors using physical version of Pepper
40 +4. Make some adjustments and debug according to observed behaviors of previous iteration
41 +5. Add new behaviors and test once again with physical version of Pepper
42 +6. Test and improve the final behaviors!
34 34  
35 -[2]: Benyon, David (2019). Designing User Experience: A Guide to HCI, UX and Interaction Design. Pearson UK.
44 +== PACT analysis ==
36 36  
46 +
47 +->need to add a bit of text
48 +**People** perform **activities** in specific **contexts** with **technologies**, which affect the situated activities, which set new user requirements.
37 37  
50 +Using this method leads to a cyclic process of progression as can be seen on the image [1] below presented during the lecture.
51 +
52 +[[image:PACT.png||width="700" height="576"]]
53 +
38 38  Moreover, using [[Choregraphe>>http://doc.aldebaran.com/2-4/software/choregraphe/choregraphe_overview.html]], Pepper is highly parameterizable, it is relatively easy to expand the functionalities by programming new blocks, and prototypes can also be done quickly. This is very valuable as we expanded every week our prototype to include new features based on the content from the lecture.
39 39  
40 40  
41 41  For more information on our use of Pepper to help people with dementia, please check the [[Robotic Partner >>https://xwiki.ewi.tudelft.nl/xwiki/wiki/sce2022group04/view/Foundation/Human%20Factors/Robotic%20Partner/]] section.
42 42  
43 -
59 +[1]: Benyon, David (2019). Designing User Experience: A Guide to HCI, UX and Interaction Design. Pearson UK.
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