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The cyber-physical architecture of the telerobotic system. The corresponding coordinate system of robot and operator is shown in the above, and the cyber model of the physical operator and robot is shown below.
Source publication
As a senile chronic, progressive and currently incurable disease, dementia has an enormous impact on society and life quality of the elderly. The development of teleoperation technology has changed the traditional way of care delivery and brought a variety of novel applications for dementia care. In this paper, a telerobotic system is presented whi...
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Recently, deep reinforcement learning (DRL) is commonly used to create controllers for physically simulated characters. Among DRL-based approaches, imitation learning for character control using motion capture clips as tracking references has shown successful results in controlling various motor skills with natural movement. However, the output mot...
Introduction:
Caregivers who live with a person with dementia who receives care, compared with those who live elsewhere, are often considered to experience greater levels of psychological and affective burden. The evidence for this is, however, only limited to studies employing small sample sizes and that failed to examine caregivers' psychologica...
Industrial robots have mainly been programmed by operators using teach pendants in a point-to-point scheme with limited sensing capabilities. New developments in robotics have attracted a lot of attention to robot motor skill learning via human interaction using Learning from Demonstration (LfD) techniques. Robot skill acquisition using LfD techniq...
Citations
... In some cases, however, limitations to mobility due to sustainability constraints [40], hazard conditions [41], etc., could prevent them from being co-located with the robot [42]. For instance, it is possible to mention limitations related to the current pandemic conditions [43], the impact of possible natural disasters [44], or the requirements of home assistance scenarios [45]. In these situations, a DT-and VR-based remotely actionable reconstruction of the robot and its environment could help. ...
In the context of Industry 4.0, a paradigm shift from traditional industrial manipulators to Collaborative Robots (CRs) is ongoing, with the latter serving ever more closely humans as auxiliary tools in many production processes. In this scenario, continuous technological advancements offer new opportunities for further innovating robotics and other areas of next-generation industry. For example, 6G could play a prominent role due to its human-centric view of the industrial domains. In particular, its expected dependability features will pave the way for new applications exploiting highly effective Digital Twin (DT)- and eXtended Reality (XR)-based telepresence. In this work, a novel application for the above technologies allowing two distant users to collaborate in the programming of a CR is proposed. The approach encompasses demanding data flows (e.g., point cloud-based streaming of collaborating users and robotic environment), with network latency and bandwidth constraints. Results obtained by analyzing this approach from the viewpoint of network requirements in a setup designed to emulate 6G connectivity indicate that the expected performance of forthcoming mobile networks will make it fully feasible in principle.
... The incorporation of robotics into healthcare has expanded avenues for enhanced patient care, especially in tasks that demand precision, reliability, and remote operation capabilities. A notable application emerges in elderly care [1], [2], where precise medicine dispensing is essential for the health and safety of individuals . With the development of sophisticated telecommunication infrastructures, such as the 5G tactile internet, the feasibility of executing robotic operations * Edwin Babaians and Praveen Gorla contributed equally to this work and are co-first authors. ...
p>Teleoperated robotic systems have become instrumental in advancing remote healthcare services, especially in tasks that require precision and expert oversight. The advent of cutting-edge telecommunication infrastructures, such as 5G, has amplified interest in these systems, although their full potential remains untapped. This study delves into the effectiveness of teleoperated robotic systems for medicine dispensing, comparing the performance of Wi-Fi and 5G networks in a transnational setup between two cities -- Prague and Munich. We focus on the robot's ability to accurately dispense a predefined volume of a syrup-like substance, simulating a delicate healthcare operation, under the guidance of a distant operator. Our research examines the system's holistic performance in real-world implementation across diverse scenarios, encompassing varying network states and feedback methods. Two primary feedback scenarios are considered: one incorporating real-time video streaming and another offering explicit quantitative data on the dispensed volume. Using a blend of quantitative and qualitative methods, we aim to determine the influence of network type and feedback on task efficacy and user satisfaction. This study provides insights into the potential and hurdles of deploying teleoperated robotic systems in crucial healthcare contexts, guiding future advancements in this domain, especially in scenarios, where precision and dependability are crucial.</p
... A growing number of researchers believe that AI can effectively address the unmet needs of older adults further by reallocating the distribution of nurses and other health care resources. Many researchers have conducted studies on the application of AI in geriatric care, such as the care for patients with Alzheimer disease, geriatric care, disease recognition, and medication reminders [10][11][12][13][14][15][16]. ...
Background:
Artificial intelligence (AI) can improve the health and well-being of older adults and has the potential to assist and improve nursing care. In recent years, research in this area has been increasing. Therefore, it is necessary to understand the status of development and main research hotspots and identify the main contributors and their relationships in the application of AI in geriatric care via bibliometric analysis.
Objective:
Using bibliometric analysis, this study aims to examine the current research hotspots and collaborative networks in the application of AI in geriatric care over the past 23 years.
Methods:
The Web of Science Core Collection database was used as a source. All publications from inception to August 2022 were downloaded. The external characteristics of the publications were summarized through HistCite and the Web of Science. Keywords and collaborative networks were analyzed using VOSviewers and Citespace.
Results:
We obtained a total of 230 publications. The works originated in 499 institutions in 39 countries, were published in 124 journals, and were written by 1216 authors. Publications increased sharply from 2014 to 2022, accounting for 90.87% (209/230) of all publications. The United States and the International Journal of Social Robotics had the highest number of publications on this topic. The 1216 authors were divided into 5 main clusters. Among the 230 publications, 4 clusters were modeled, including Alzheimer disease, aged care, acceptance, and the surveillance and treatment of diseases. Machine learning, deep learning, and rehabilitation had also become recent research hotspots.
Conclusions:
Research on the application of AI in geriatric care has developed rapidly. The development of research and cooperation among countries/regions and institutions are limited. In the future, strengthening the cooperation and communication between different countries/regions and institutions may further drive this field's development. This study provides researchers with the information necessary to understand the current state, collaborative networks, and main research hotspots of the field. In addition, our results suggest a series of recommendations for future research.
... The healthcare field requires technology for teleoperation of medical assistive robots with haptic and immersive video feedback. Although there have been studies on shared control methods and rehabilitation exercises [11,12], few have explored the synchronization of multiple haptic feedback while considering network delays. Our proposed system can address these gaps and has the potential to be applied in the healthcare field, for example, to perform rehabilitation exercises. ...
The emergence of 5th-generation networks and the introduction of the ultra-low latency Internet, namely, tactile internet, by the International Telecommunication Union (ITU), has opened up a wide range of applications. xr, holoportation, and remote control of machines are among the ones that would revolutionize the future of factories, smart cities, and digital healthcare. vr technology provides users with highly realistic visual and auditory experiences, enabling a high sense of immersion and embodiment in virtual environments. In the real world, however, we use more senses than only vision and hearing to perceive our surroundings. Particularly, tactile sensation is the only bidirectional modality that enables us to perceive and interact with the objects and surfaces around us. This paper introduces a real-life testbed uav-based system that leverages different technologies, including vr, 360∘ video streaming over 4G/5G, and edge computing to enable 6dof view with haptic feedback for a maximized immersion. The demonstration videos of the testbed are made publicly available on the following links: https://www.youtube.com/watch?v=WTUvWkDJFIQ and https://www.youtube.com/watch?v=Bmc9ddydjYY.
... They studied the interaction patterns of a human and the tele-operated robot, and compared them with a fully autonomous alternative. Lv et al. [25] used an IMUbased motion capture system to tele-operate a dual-arm collaborative robot for dementia care in home environments. Bandala et al. [26] developed a graphical user interface with two-dimensional vision data for tele-operating a dual-arm hydraulic robot. ...
This paper presents a remotely operated robotic system that includes two mobile manipulators to extend the functional capabilities of a human body. Compared with previous tele-operation or robotic body extension systems, using two mobile manipulators helps with enlarging the workspace and allowing manipulation of large or long objects. The system comprises a joystick for controlling the mobile base and robotic gripper, and a motion capture system for controlling the arm poses. They together enable tele-operated dual-arm and large-space manipulation. In the experiments, a human tele-operator controls the two mobile robots to perform tasks such as handover, long object manipulation, and cooperative manipulation. The results demonstrated the effectiveness of the proposed system, resulting in extending the human body to a large space while keeping the benefits of having two limbs.
... Currently there is no empirical evidence supporting telerobotic use for ADRD telecaregiving. Lv et al. (2020) described and demonstrated the lab-based performance (e.g., motion accuracy) of a dual-arm telerobotic system that would enable caregivers to remotely assist people living with ADRD in the performance of household tasks and enhance care recipient mobility. The robotic system used motion capture technology to have the robot mimic the movements of the operator. ...
... May be limited only to early stages of dementia as care recipients need to remember to wear/charge the device and press the button when needed (Milligan et al., 2011) Telerobotics Robotic systems that allow for caregivers to remotely assist their care recipients (e.g., robotic arms) (Lv et al., 2020) One paper found presenting the technology, but no empirical studies assessing outcomes A c c e p t e d M a n u s c r i p t The hiring/use of professional caregivers (e.g., home aids, care homes, home nurses) to provide care to the care recipient (Koerin & Harrigan, 2003;Lewis, 2008;Zagaria, 2012) Valuable resource for many caregivers of people living with dementia Organized long-distance caregiver programs Los Angeles Alzheimer's Association long-distance caregiver program for caregivers outside the county caring for someone living within the county. Consisted of: 1) consult with professional family consultant, 2) printed or web-based resource guides, 3) access to informational website, 4) telephone legal consult, 5) financial and care planning services, 6) program to help find and return lost or wandering care recipients (Bledsoe et al., 2010;Watari et al., 2006) Fall prevention checklists List addressing changes that can be made in each room of a home to minimize the risk of falls (Zagaria, 2012) Downloaded from https://academic.oup.com/gerontologist/advance-article/doi/10.1093/geront/gnad026/7078056 by guest on 15 April 2023 A c c e p t e d M a n u s c r i p t ...
Background and objectives:
Informal (or family) caregivers to older adults with Alzheimer's disease or other related dementias (ADRD) could greatly benefit from innovative telecaregiving systems that support caregiving from a distance. The objective of this review is to better understand: 1) who is involved in telecaregiving and their experiences; 2) the interventions currently available to support ADRD telecaregiving; and 3) the outcomes measured to assess the effects of ADRD telecaregiving interventions.
Research design and methods:
A mapping review was conducted by systematically searching MEDLINE, CINAHL, Embase, and PsycINFO for all works published in English from 2002-2022. References of included publications were searched to identify additional empirical publications for inclusion.
Results:
61 publications (describing 48 studies and five non-study sources) were included in the review. Currently available information on the demographics, experiences, challenges, and benefits of ADRD telecaregivers is summarized. We found that interventions to support telecaregiving could be classified into seven categories of technological interventions and three categories of non-technological interventions. Empirical studies on ADRD telecaregiving interventions investigated a variety of outcomes, the most prevalent being user experience.
Discussion and implications:
We conclude that: 1) The paucity of literature on telecaregiving does not allow for a comprehensive understanding of the needs and day-to-day activities of ADRD telecaregivers; 2) interventions developed to support ADRD telecaregiving may not fully meet the needs of caregivers or care recipients; and 3) there is insufficient rigorous research establishing the effects of telecaregiving interventions on key ADRD-related outcomes.
... Geometric methods, D-H methods, or the screw theory is typically used to solve closed solutions for joint rotation angles and simulate human arm motions in real-time. For example, Robot [9], VIEBOT [24], YuMi [25], Darwin-OP [26], HUBO2+ [27], and HRP-2 [28]. However, a selfdesigned dual-arm robot has an offset distance a at the elbow joint and an angle φ at the shoulder joint. ...
The closed-form solution of each rotation joint angle is the most direct and convenient method for humanoid robot arms to imitate the real-time motion of the human arm. Occasionally, the human structure differs from that of a robot, and sensor information is inadequate. Therefore, it is difficult to obtain a closed-form solution for the inverse kinematics (IK) of a robot when using the Denavit–Hartenberg (D–H) method or screw theory alone. This study proposes combining the screw theory and the D–H method to solve the closed-form solution of the IK of a robotic arm with two unique structures: the elbow joint offset and the non-vertical state at the shoulder joint of the robotic arm. The proposed combination method first solves the elbow joint angle using screw theory. Then, the other rotation joint angles are solved using the D–H method. With the proposed method, human arm motion is successfully mapped to the corresponding joint of the robotic arm, and the closed-form solution allows the robotic arm to imitate human arm motion in real–time. Simulation results show that IK can be used to obtain high–precision angles and positions. Experiments show that the robotic arm has an accurate imitation performance, the accuracy of the
z
-axis of the manipulator is significantly improved by 73.6%, and that of the
x
-axis and
y
-axis is also improved by 37.36% and 21.89%, respectively.
... It provides the ability to execute delicate operations with extreme precision, as in the case of medical surgery applications [2], as well as to avoid human presence in dangerous or inaccessible environments that characterize disaster response [3], underwater [4] and space [5] exploration. In the near future, we will likely see a more pervasive use of telemanipulation also in common sectors, as industry [6] and elderly care [7]. ...
Teleoperation offers the possibility to combine human intelligence with robot power and endurance, making it a perfect solution for hostile-for-human environments. Nonetheless, when it concerns prolonged and repetitive operations, classical teleoperation interfaces that replicate one-to-one human commands can be quite demanding in terms of physical and mental efforts. Shared-autonomy approaches, which foresee the combination of direct teleoperation with autonomous control, can help the operator in overcoming such issues without sacrificing the task execution efficiency. Following this philosophy, in this letter we propose a novel technique to assist the operators in reaching and manipulation of objects with one or two arms, combining local visual perception and operator’s action monitoring. In more details, the reaching intention of an operator towards a target object is detected, which is used to adapt robot trajectories autonomously towards a successful grasping pose. In addition, based on the detected size of a target object, single- or dual-arm coordinated movements are autonomously generated without the need for additional human interventions. The experimental results on thirteen participants confirm the potential of the proposed framework in terms of success rate and operator effort.
... The data set Fer2013, which consists of 35,887 grayscale images of faces with emotion, was used for training the model, as shown in Figure 5. A detailed description of the model architecture was provided previously [38]. The first 32,299 images in Fer2013 were used as the training sets and the remaining 3587 images were selected as the verification sets. ...
... Health care workers, as the humans in this system, wear a motion capture device suit. The MAR, as the physical entity in this system, can be remotely controlled by health care workers [38]. The cyber can be the information transferred from the human side to the robot side, where physical interventions on the patient can be implied. ...
Background
The COVID-19 pandemic is affecting the mental and emotional well-being of patients, family members, and health care workers. Patients in the isolation ward may have psychological problems due to long-term hospitalization, the development of the epidemic, and the inability to see their families. A medical assistive robot (MAR), acting as an intermediary of communication, can be deployed to address these mental pressures.
Objective
CareDo, a MAR with telepresence and teleoperation functions, was developed in this work for remote health care. The aim of this study was to investigate its practical performance in the isolation ward during the pandemic.
Methods
Two systems were integrated into the CareDo robot. For the telepresence system, a web real-time communications solution is used for the multiuser chat system and a convolutional neural network is used for expression recognition. For the teleoperation system, an incremental motion mapping method is used for operating the robot remotely. A clinical trial of this system was conducted at First Affiliated Hospital, Zhejiang University.
Results
During the clinical trials, tasks such as video chatting, emotion detection, and medical supplies delivery were performed via the CareDo robot. Seven voice commands were set for performing system wakeup, video chatting, and system exiting. Durations from 1 to 3 seconds of common commands were set to improve voice command detection. The facial expression was recorded 152 times for a patient in 1 day for the psychological intervention. The recognition accuracy reached 95% and 92.8% for happy and neutral expressions, respectively.
Conclusions
Patients and health care workers can use this MAR in the isolation ward for telehealth care during the COVID-19 pandemic. This can be a useful approach to break the chains of virus transmission and can also be an effective way to conduct remote psychological intervention.
... Likewise, wearable IMU-based motion capture systems are also possible to reliably control 7DoF robotic arms [12]. Wearable IMUbased motion capture devices have also been demonstrated to be accurate and robust in domestic scenarios, e.g., for a dementia-care robot [13]. In [14], the TALOS bipedal robot's whole-body is controlled as a fixed-base system (i.e., without locomotion), using an Xsens 3D motion tracking suit. ...
Human life is invaluable. When dangerous or life-threatening tasks need to be completed, robotic platforms could be ideal in replacing human operators. Such a task that we focus on in this work is the Explosive Ordnance Disposal. Robot telepresence has the potential to provide safety solutions, given that mobile robots have shown robust capabilities when operating in several environments. However, autonomy may be challenging and risky at this stage, compared to human operation. Teleoperation could be a compromise between full robot autonomy and human presence. In this paper, we present a relatively cheap solution for telepresence and robot teleoperation, to assist with Explosive Ordnance Disposal, using a legged manipulator (i.e., a legged quadruped robot, embedded with a manipulator and RGB-D sensing). We propose a novel system integration for the non-trivial problem of quadruped manipulator whole-body control. Our system is based on a wearable IMU-based motion capture system that is used for teleoperation and a VR headset for visual telepresence. We experimentally validate our method in real-world, for loco-manipulation tasks that require whole-body robot control and visual telepresence.
