The MOBOT rollator human-robot interaction model and user evaluation process

Efthimiou, Eleni; Fotinea, Stavroula–Evita; Goulas, Theodore; Koutsombogera, Maria; Karioris, Panagiotis; Vacalopoulou, Anna; Rodomagoulakis, Isidoros; Maragos, Petros; Tzafestas, Costas S.; Pitsikalis, Vassilis; Koumpouros, Yiannis; Karavasili, Alexandra; Siavelis, Panagiotis; Koureta, Foteini; Alexopoulou, Despoina

doi:10.1109/ssci.2016.7850061

Cited by 17 publications

(8 citation statements)

References 26 publications

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“…Different approaches on active SWs have been developed in the past few years regarding HRI and REI interfaces [21,22,23,24,25,26,28,29,30,31,33]. These interfaces are also equipped with navigation and user interaction systems to provide shared control capabilities.…”

Section: Related Workmentioning

confidence: 99%

Human–Robot–Environment Interaction Interface for Smart Walker Assisted Gait: AGoRA Walker

Garzón

Múnera

et al. 2019

Sensors

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The constant growth of the population with mobility impairments has led to the development of several gait assistance devices. Among these, smart walkers have emerged to provide physical and cognitive interactions during rehabilitation and assistance therapies, by means of robotic and electronic technologies. In this sense, this paper presents the development and implementation of a human–robot–environment interface on a robotic platform that emulates a smart walker, the AGoRA Walker. The interface includes modules such as a navigation system, a human detection system, a safety rules system, a user interaction system, a social interaction system and a set of autonomous and shared control strategies. The interface was validated through several tests on healthy volunteers with no gait impairments. The platform performance and usability was assessed, finding natural and intuitive interaction over the implemented control strategies.

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Section: Related Workmentioning

confidence: 99%

Human–Robot–Environment Interaction Interface for Smart Walker Assisted Gait: AGoRA Walker

Garzón

Múnera

et al. 2019

Sensors

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“…The results on the subjective user satisfaction survey, initially reported in [34], are very positive and clearly suggest that exploitation of functionalities as those implemented at the MOBOT platform provide a clear benefit for users. Among the positive effects to be mentioned is the decrease of the feeling of insecurity that most users experience while walking, which has been recognized to have a positive effect on user quality of life.…”

Section: Points For Further Discussionmentioning

confidence: 84%

“…During the trials, most of the participants (95%) expressed their enjoyment regarding the exploited HRI communication modes, including the audio/gestural options that were offered to them to express commands and the respective device's reactions, as well as the navigation guidelines and localization information provided by the rollator. They mentioned that these features were assessed as extremely important for making them feel comfortable and allowing them to trust the device, especially in the case that they had to navigate unknown areas [34]. They also expressed noticeable satisfaction with respect to the oral and gestural commands leading the MOBOT device to rest positions, which they found to be a considerably helpful feature.…”

Section: Points For Further Discussionmentioning

confidence: 99%

User Evaluation of the MOBOT Rollator Type Robotic Mobility Assistive Device

Koumpouros

Karavasili²,

Efthimiou

et al. 2017

Technologies

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Abstract:In this paper, we report on the evaluation strategy and the results that were obtained from the final end-user evaluation process of an innovative robotic assistive device supporting mobility. More specifically, the paper deals with the evaluation of the MOBOT robotic rollator as regards to the system's overall performance and its individual assistive characteristics and functionalities, as implemented in respect to (i) the provided cognitive assistance, and (ii) the adopted audio-gestural human-robot communication model. User evaluation was designed on the basis of an extensive survey of scales and methodologies widely reported in the relevant literature. The actual evaluation phase exploited the QUEST 2.0, ATDPA-Device Form, and PYTHEIA scales to measure the subjective satisfaction of the users. The PYTHEIA scale, in particular, was structured in order to fill the gaps that were identified during the study of previously existing tools for measuring assistive device user satisfaction. The scale was applied for the first time during the reported evaluation process. An analysis of the results showed that MOBOT was ranked very high by end users in all of the aspects addressed by the three employed assessment scales, thus providing significant evidence for positive acceptance of any industrialized outcome of the current prototype in the assistive robots market.

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“…No entanto, além de não ser destinada ao problema do HRI, a sua aquisição foi realizada utilizando o sensor Microsoft Kinect 360. Assim, os dados de natureza multimodal (cor, profundidade, esqueleto,áudio e máscara de usuário) fazem com que os principais trabalhos, como (Li et al, 2017), (Joshi et al, 2017), (Efthimiou et al, 2016), (Neverova et al, 2016), concentrem-se no uso da multimodalidade dos dados, quase que descartando a possibilidade do uso apenas de informação de cor. Isso, como discutido antes, pode condicionar seu uso apenas em ambientes possuidores de tais sensores, o que não acorre na maioria dos ambientes, onde as câmeras RGB são facilmente encontradas.…”

Section: Trabalhos Relacionadosunclassified

Reconhecimento De Gestos Dinâmico Para a Interação Humano-Robô

Canuto

Samatelo

Vassallo

2019

Anais Do 14º Simpósio Brasileiro De Automação Inteligente

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With the advance of technologies, machines are closer to people. Thus, it is necessary to develop interfaces, like gestures, capable of providing an intuitive way of interaction. Therefore, this work proposes a modification of the Star RGB technique, which condenses the temporal information of a video in just one RGB image. The proposal, called Star RGB+, applies the Star RGB technique over the channels of a video. So, rather than only one RGB image, this proposes yields three images as a condensed representation of a gesture in an RGB video clip. As complement, still is proposed an ensemble-like architecture using 3 VGG16, as feature extractor, one for each image, and a fully connected architecture as classifier that recieves the fused information came out from the extractors. The main experiments were carried out on GRIT (Gesture Commands for Robot inTeracton) dataset, used for human-robot interaction, and achieve more than 97% of accuracy, precision, recall and f1-score, outperforming the author's original results in more than 5% for every metric. In order to compare results with the original propose of Star RGB, a secondary experiment was carried out on Montalbano dataset, achieving 92.34% of accuracy, outperforming the autor's results in more than 9%. This shows the contribution of this work for dynamic gesture recognition field, mainly for those ones used for human-robot interaction. Resumo: Com o avanço das tecnologias, as máquinas estão cada vez mais próximas das pessoas. Assim,é necessário desenvolver interfaces, como gestos, que forneçam uma maneira intuitiva de interação entre humano e robôs. Neste sentido, este trabalho visa propor uma modificação na técnica Star RGB, que condensa a informação temporal de um vídeo em apenas uma imagem RGB. A proposta aqui apresentada, chamada Star RGB+, aplica a técnica Star RGB nos canais de cor de um vídeo. Sendo assim, ao invés de apenas uma imagem RGB, esta proposta produz três imagens como representação condensada de um gesto presente em um vídeo colorido. Como complemento,é proposta também uma arquitetura do tipo ensemble utilizando para isso três redes VGG16 pretreinadas, uma para cada imagem, como extrator de características e uma arquitetura totalmente conectada como classificador que recebe a combinação das características extraídas por cada VGG16. Os principais experimentos foram realizados na base de dados GRIT (Gesture Commands for Robot inTeracton), usada para interação homem-robô, e atingiram mais de 97% em todas as métricas, acurácia, precisão, recall e F1-score, superando os resultados originais dos autores em mais de 5% em todas elas. A fim de comparar a melhora da proposta em relaçãoà original, um experimento secundário foi realizado na base de dados Montalbano, alcançando 92, 4% de taxa de reconhecimento, superando os resultados dos autores em mais de 9%. Isso mostra a contribuição deste trabalho para o reconhecimento de gestos dinâmicos, principalmente para aqueles destinadosà interação humano-robô.

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The MOBOT rollator human-robot interaction model and user evaluation process

Cited by 17 publications

References 26 publications

Human–Robot–Environment Interaction Interface for Smart Walker Assisted Gait: AGoRA Walker

Human–Robot–Environment Interaction Interface for Smart Walker Assisted Gait: AGoRA Walker

User Evaluation of the MOBOT Rollator Type Robotic Mobility Assistive Device

Reconhecimento De Gestos Dinâmico Para a Interação Humano-Robô

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