Teleoperation of Collaborative Robot for Remote Dementia Care in Home Environments

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...

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Autores principales:	Honghao Lv, Geng Yang, Huiying Zhou, Xiaoyan Huang, Huayong Yang, Zhibo Pang
Formato:	article
Lenguaje:	EN
Publicado:	IEEE 2020
Materias:	Assistive robot motion capture remote dementia care teleoperation telerobotic system Computer applications to medicine. Medical informatics R858-859.7 Medical technology R855-855.5
Acceso en línea:	https://doaj.org/article/783fc7f22f5240cb9d6b8403c2daeb1b
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id	oai:doaj.org-article:783fc7f22f5240cb9d6b8403c2daeb1b
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spelling	oai:doaj.org-article:783fc7f22f5240cb9d6b8403c2daeb1b2021-11-19T00:00:23ZTeleoperation of Collaborative Robot for Remote Dementia Care in Home Environments2168-237210.1109/JTEHM.2020.3002384https://doaj.org/article/783fc7f22f5240cb9d6b8403c2daeb1b2020-01-01T00:00:00Zhttps://ieeexplore.ieee.org/document/9116811/https://doaj.org/toc/2168-2372As 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 which gives the caregivers the capability of assisting dementia elderly remotely. The proposed system is composed of a dual-arm collaborative robot (YuMi) and a wearable motion capture device. The communication architecture is achieved by the robot operation system (ROS). The position-orientation data of the operator’s hand are obtained and used to control the YuMi robot. Besides, a path-constrained mapping method is designed for motion trajectory tracking between the robot and the operator in the progress of teleoperation. Meanwhile, corresponding experiments are conducted to verify the performance of the trajectory tracking using the path-constrained mapping method. Results show that the position tracking deviation between the trajectory of the operator and the robot measured by dynamic time warping distance is 1.05 mm at the sampling frequency of 7.5 Hz. Moreover, the practicability of the proposed system was verified by teleoperating the YuMi robot to pick up a medicine bottle and further demonstrated by assisting an elderly woman in picking up a cup remotely. The proposed telerobotic system has potential utility for improving the life quality of dementia elderly and the care effect of their caregivers.Honghao LvGeng YangHuiying ZhouXiaoyan HuangHuayong YangZhibo PangIEEEarticleAssistive robotmotion captureremote dementia careteleoperationtelerobotic systemComputer applications to medicine. Medical informaticsR858-859.7Medical technologyR855-855.5ENIEEE Journal of Translational Engineering in Health and Medicine, Vol 8, Pp 1-10 (2020)
institution	DOAJ
collection	DOAJ
language	EN
topic	Assistive robot motion capture remote dementia care teleoperation telerobotic system Computer applications to medicine. Medical informatics R858-859.7 Medical technology R855-855.5
spellingShingle	Assistive robot motion capture remote dementia care teleoperation telerobotic system Computer applications to medicine. Medical informatics R858-859.7 Medical technology R855-855.5 Honghao Lv Geng Yang Huiying Zhou Xiaoyan Huang Huayong Yang Zhibo Pang Teleoperation of Collaborative Robot for Remote Dementia Care in Home Environments
description	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 which gives the caregivers the capability of assisting dementia elderly remotely. The proposed system is composed of a dual-arm collaborative robot (YuMi) and a wearable motion capture device. The communication architecture is achieved by the robot operation system (ROS). The position-orientation data of the operator’s hand are obtained and used to control the YuMi robot. Besides, a path-constrained mapping method is designed for motion trajectory tracking between the robot and the operator in the progress of teleoperation. Meanwhile, corresponding experiments are conducted to verify the performance of the trajectory tracking using the path-constrained mapping method. Results show that the position tracking deviation between the trajectory of the operator and the robot measured by dynamic time warping distance is 1.05 mm at the sampling frequency of 7.5 Hz. Moreover, the practicability of the proposed system was verified by teleoperating the YuMi robot to pick up a medicine bottle and further demonstrated by assisting an elderly woman in picking up a cup remotely. The proposed telerobotic system has potential utility for improving the life quality of dementia elderly and the care effect of their caregivers.
format	article
author	Honghao Lv Geng Yang Huiying Zhou Xiaoyan Huang Huayong Yang Zhibo Pang
author_facet	Honghao Lv Geng Yang Huiying Zhou Xiaoyan Huang Huayong Yang Zhibo Pang
author_sort	Honghao Lv
title	Teleoperation of Collaborative Robot for Remote Dementia Care in Home Environments
title_short	Teleoperation of Collaborative Robot for Remote Dementia Care in Home Environments
title_full	Teleoperation of Collaborative Robot for Remote Dementia Care in Home Environments
title_fullStr	Teleoperation of Collaborative Robot for Remote Dementia Care in Home Environments
title_full_unstemmed	Teleoperation of Collaborative Robot for Remote Dementia Care in Home Environments
title_sort	teleoperation of collaborative robot for remote dementia care in home environments
publisher	IEEE
publishDate	2020
url	https://doaj.org/article/783fc7f22f5240cb9d6b8403c2daeb1b
work_keys_str_mv	AT honghaolv teleoperationofcollaborativerobotforremotedementiacareinhomeenvironments AT gengyang teleoperationofcollaborativerobotforremotedementiacareinhomeenvironments AT huiyingzhou teleoperationofcollaborativerobotforremotedementiacareinhomeenvironments AT xiaoyanhuang teleoperationofcollaborativerobotforremotedementiacareinhomeenvironments AT huayongyang teleoperationofcollaborativerobotforremotedementiacareinhomeenvironments AT zhibopang teleoperationofcollaborativerobotforremotedementiacareinhomeenvironments
_version_	1718420675413147648

Teleoperation of Collaborative Robot for Remote Dementia Care in Home Environments

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