Development of a skincare robot

Tsumaki, Yuichi; Kon, T.; Suginuma, A.; Imada, Kouji; Sekiguchi, Akinori; Nenchev, Dragomir N.; Nakano, Hajime; Hanada, Katsumi

doi:10.1109/robot.2008.4543660

Cited by 23 publications

(13 citation statements)

References 4 publications

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“…Many applications of robotic systems requires robots to physically contact humans, especially in healthcare where robots are being used for skin care [34], surgery [35], and patient care [36]. Employing robots for taking care of the elderly is one of the major goals in robotics [37].…”

Section: Robot-initiated Touch/contact In Robotics Fieldmentioning

confidence: 99%

A Preliminary Study of Interactive Navigation Framework with Situation-Adaptive Multimodal Inducement: Pass-By Scenario

Kamezaki

Kobayashi

Yokoyama

et al. 2019

Int J of Soc Robotics

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Human-aware navigation is an essential requirement for autonomous robots in human-coexisting environments. The goal of conventional navigation is to find a path for a robot to pass through safely and efficiently without colliding with human. Note that if such a path cannot be found, the robot stops until a path is clear. Thus, such collision-avoidance based passive navigation does not work in a congested or narrow space. To avoid this freezing problem, the robot should induce humans to make a space for passing by an adequate inducement method, such as body movement, speech, and touch, depending on the situation. A robot that deliberately clears a path with such actions may make humans uncomfortable, so the robot should also utilize inducements to avoid causing negative feelings. In this study, we propose a fundamental framework of interactive navigation with situation-adaptive multimodal inducement. For a preliminary study, we target a passing scenario in a narrow corridor where two humans are standing and adopt a model-based approach focusing on common parameters. The suitable inducement basically varies depending on the largest space through which a robot can pass, distance between the robot and a human, and human behavior such as conversing. We thus develop a situation-adaptive inducement selector on the basis of the relationship between human-robot proximity and allowable inducement strength, considering robot efficiency and human psychology. The proposed interactive navigation system was tested across some contextual scenarios and compared with a fundamental path planner. The experimental results indicated that the proposed system solved freezing problems, provided a safe and efficient trajectory, and improved humans' psychological reaction although the evidence was limited to robot planner and hardware design we used as well as certain scenes, contexts, and participants.

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Section: Robot-initiated Touch/contact In Robotics Fieldmentioning

confidence: 99%

A Preliminary Study of Interactive Navigation Framework with Situation-Adaptive Multimodal Inducement: Pass-By Scenario

Kamezaki

Kobayashi

Yokoyama

et al. 2019

Int J of Soc Robotics

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“…Within this paper we focus on robot-initiated touch. Various robotic systems for healthcare involve robotinitiated touch, including facial massage [20], skin care [41], patient transfer [30], surgery [18], and hygiene [19].…”

Section: Human-robot Touchmentioning

confidence: 99%

“…For comparison, Tsumaki et al reported that people experienced no pain when a skin care robot applied a downward force of 10 N [41]. Other researchers used a force magnitude threshold of 39.2 N with an oral rehabilitation robot [20].…”

Section: Safetymentioning

confidence: 99%

An Investigation of Responses to Robot-Initiated Touch in a Nursing Context

Chen

King

Thomaz

et al. 2013

Int J of Soc Robotics

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Physical human-robot interaction has the potential to be useful in a number of domains, but this will depend on how people respond to the robot's actions. For some domains, such as healthcare, a robot is likely to initiate physical contact with a person's body. In order to investigate how people respond to this type of interaction, we conducted an experiment with 56 people in which a robotic nurse autonomously touched and wiped each participant's forearm. On average, participants had a favorable response to the first time the robot touched them. However, we found that the perceived intent of the robot significantly influenced people's responses. If people believed that the robot intended to clean their arms, the participants tended to respond more favorably than if they believed the robot intended to comfort them, even though the robot's manipulation behavior was the same. Our results suggest that roboticists should consider this social factor in addition to the mechanics of physical interaction. Surprisingly, we found that participants in our study responded less favorably when given a verbal warning prior to the robot's actions. In addition to these main results, we present post-hoc analyses of participants' galvanic skin responses (GSR), open-ended responses, attitudes towards robots, and responses to a second trial.

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“…The robotics society is attempting to tackle this challenge of unattended nursing by developing flexible and modular assistive devices that aim to cover the needs for support of everyday tasks involved in the caring of frail people in both in-house [11] and clinical environments. Specifically, devices intended for this purpose involve either static physical interaction [12,13,14], or are mounted on mobile platforms [15,16]. The focus of these solutions lies on a specific body part (e.g., the head) and the support of disabled people on the performance of ADLs with rigid manipulators.…”

Section: Introductionmentioning

confidence: 99%

I-Support: A robotic platform of an assistive bathing robot for the elderly population

Zlatintsi

Dometios

Kardaris

et al. 2020

Robotics and Autonomous Systems

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In this paper we present a prototype integrated robotic system, the I-Support bathing robot, that aims at supporting new aspects of assisted daily-living activities on a real-life scenario. The paper focuses on describing and evaluating key novel technological features of the system, with the emphasis on cognitive human-robot interaction modules and their evaluation through a series of clinical validation studies. The I-Support project on its whole has envisioned the development of an innovative, modular, ICTsupported service robotic system that assists frail seniors to safely and independently complete an entire sequence of physically and cognitively demanding bathing tasks, such as properly washing their back and their lower limbs. A variety of innovative technologies have been researched and a set of advanced modules of sensing, cognition, actuation and control have been developed and seamlessly integrated to enable the system to adapt to the target population abilities. These technologies include: human activity monitoring and recognition, adaptation of a motorized chair for safe transfer of the elderly in and out the bathing cabin, a context awareness system that provides full environmental awareness, as well as a prototype soft robotic arm and a set of user-adaptive robot motion planning and control algorithms. This paper focuses in particular on the multimodal action recognition system, developed to monitor, analyze and predict user actions with a high level of accuracy and detail in real-time, which are then interpreted as robotic tasks. In the same framework, the analysis of human actions that have become available through the project's multimodal audio-gestural dataset, has led to the successful modelling of Human-Robot Communication, achieving an effective and natural interaction between users and the assistive robotic platform. In order to evaluate the I-Support system, two multinational validation studies were conducted under realistic operating conditions in two clinical pilot sites. Some of the findings of these studies are presented and analysed in the paper, showing good results in terms of: (i) high acceptability regarding the system usability by this particularly challenging target group, the elderly end-users, and (ii) overall task effectiveness of the system in different operating modes.

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Development of a skincare robot

Cited by 23 publications

References 4 publications

A Preliminary Study of Interactive Navigation Framework with Situation-Adaptive Multimodal Inducement: Pass-By Scenario

A Preliminary Study of Interactive Navigation Framework with Situation-Adaptive Multimodal Inducement: Pass-By Scenario

An Investigation of Responses to Robot-Initiated Touch in a Nursing Context

I-Support: A robotic platform of an assistive bathing robot for the elderly population

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