IEEE Robotics & Automation Magazine - March 2023 - 12

Unlike a single robot platform, our
proposed system is easier to implement,
and task distribution and allotment among
the robots can be efficiently handled
without hindering the overall task execution.
First, we integrate multiple robots
with the IoT system and provide support
not just in indoor but outdoor environments,
as well. Our framework includes
service robots, autonomous walkers, and
wheelchairs. For specific tasks, the most
appropriate robot is selected by the global
intelligence AI. Second, our system considers
shared autonomy when the user is
physically interacting with a robot system
(e.g., a bed or walker). Analyzing human input through wearable
and external sensor data makes the response smoother
for the user when engaging with the robots. Third, our system
considers safety a feature during the entire assistance phase.
The safety of human motion is quantified in real time, which
provides information together with incoming obstacles in the
environment for creating a shared autonomy policy for the
robot and human interaction.
THE CONCEPT OF AI ROBOT ENABLERS
Care facilities are critical institutions that get tremendous
attention in automation and robot integration. Additionally,
caregivers need to support patients from many different
aspects. The goal of the research and development of adaptable
AI robots is not to provide excessive support and services
to users but to realize human-centered care that encourages
users' independent movement, tasks, and other activities. The
interaction between an adaptable AI robot and a user is accumulated
as experience. The user's success (and failure) experiences
are shared between the user and the AI robot to improve
the sense of self-efficacy; i.e., the user can actively participate
(physically) and perform the desired action or task with support
from the AI robot.
CARE is a flexible and supportive assistance technology
that helps users to accomplish tasks by combining AI robots,
assistive devices, sensors, and user interfaces. In this concept,
each user will be assisted based on his or her disability and
required support level. Also, the SARs will work in harmony
with heterogeneous order to achieve different tasks assigned
by the users. This happens under a global intelligence that
monitors the environment and uses other sensory systems to
keep the users' satisfaction and health at the uttermost level
under self-efficacy boundaries.
ASSISTANCE AND AUTOMATION
LEVELS IN CAREGIVING
Caregiving happens in different aspects. Based on the Expanded
Disability Status Scale (EDSS) [20], a disability can be
quantified in different levels, where zero indicates that a person
has normal neurological and physical functions and is able perform
different tasks easily. However, a person needs assistance
12 IEEE ROBOTICS & AUTOMATION MAGAZINE MARCH 2023
"
ANALYZING HUMAN INPUT
THROUGH WEARABLE AND
EXTERNAL SENSOR DATA
MAKES THE RESPONSE
SMOOTHER FOR THE USER
WHEN ENGAGING WITH
THE ROBOTS.
„
for anything over a value of three, either
physically or mentally, to continue
required activities. In our current research
plan, we are considering the EDSS
EDSS [. ,. ]20 60
!
range. It is important
to note that the ultimate goal of the project
of adaptable AI enablers is to achieve
level 8, which will be possible with
improvement in mechanism and sensory
designs as the project progresses. Also,
EDSS level 7 is not a consideration for the
current work since the restricted immobility
of a person might require heavy carriage
support that is not practically
feasible with currently available robots.
The automation level is dependent on a person's disability
and requested tasks. As shown in Figure 1, if a person
with severe disability requests assistance, a wheelchair-type
assisting robot will go for the support. However, if the EDSS
is around five, and considering user requests/preferences, a
walker-type assisting robot will approach the user. Additionally,
our service robots work under safety protocols (obstacle
avoidance with other moving robots) to bring required items.
We think this framework for automation using IoT systems
and other robots can be a stepping stone for efficient care.
Also, the IoT system plays an important role in connecting
different sensors and robots using the Internet communication
framework. The communication can transmit and share
information among different processes, e.g., robots' positions,
requested tasks, and individual data, between global and local
intelligence within the multirobot ecosystem. In the future, by
mechanism design and control improvements, new robots with
different abilities can be integrated into this ecosystem.
THE LIVING LAB
As part of the Japan Ministry of Health, Labor, and Welfare's
" Project for Establishment of a Platform for Development,
Demonstration and Dissemination of Nursing Care Robots "
(https://www.kaigo-pf.com/livinglab/), the Living Lab aims
to accelerate the flow of the development, demonstration, and
dissemination of nursing care robots as an evaluation and
effectiveness verification organization for such robots. The
Living Lab is a group of facilities that promote the development
of nursing care robots based on the needs of nursing
care settings by reproducing actual living spaces and developing
new technologies and services with user participation.
It supports organizations and institutions that wish to evaluate
their nursing care robots in development and verify
whether they can be used in actual nursing care settings.
Based on evaluation and expertise in the field of nursing care,
the Japan ministry selected eight Living Labs to participate
in this project nationwide. These Living Labs also aim to
build a network through this project and support developers
by leveraging their respective strengths. The Aobayama Living
Lab, at Tohoku University (https://srd.mech.tohoku.ac.jp/
living-lab/), was selected as one of the eight Living Labs for
https://www.kaigo-pf.com/livinglab/ https://srd.mech.tohoku.ac.jp/living-lab/ https://srd.mech.tohoku.ac.jp/living-lab/
IEEE Robotics & Automation Magazine - March 2023

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