Abstract: Eating a meal is among the Activities of Daily Living,
but it takes a lot of time and effort for people with physical
or functional limitations. Dedicated technologies are cumbersome
and not portable, while general-purpose assistive robots such as
wheelchair-based manipulators are too hard to control for elaborate
continuous motion like eating. Eating with such devices has not
previously been automated, since there existed no description of
a feeding motion for uncontrolled environments. In this paper, we
introduce a feeding mode for assistive manipulators, including a
mathematical description of trajectories for motions that are difficult
to perform manually such as gathering and scooping food at a
defined/desired pace. We implement these trajectories in a sequence
of movements for a semi-automated feeding mode which can be
controlled with a very simple 3-button interface, allowing the user
to have control over the feeding pace. Finally, we demonstrate the
feeding mode with a JACO robotic arm and compare the eating
speed, measured in bites per minute of three eating methods: a
healthy person eating unaided, a person with upper limb limitations
or disability using JACO with manual control, and a person with
limitations using JACO with the feeding mode. We found that the
feeding mode allows eating about 5 bites per minute, which should
be sufficient to eat a meal under 30min.
Abstract: The objective of the present study was to develop a scale called PYTHEIA. The PYTHEIA is a self-reported measure for the assessment of rehabilitation and assistive robotics and other assistive technology devices. The development of PYTHEIA faced the absence of a valid instrument that can be used to evaluate the assistive robotic devices both as a whole, as well as any of their individual components or functionalities implemented. According to the results presented, PYTHEIA is a valid and reliable scale able to be applied to different target groups for the subjective evaluation of various assistive technology devices.
Abstract: It is likely that robots will cross the boundaries of
industry into households over the next decades. With demographic
challenges worldwide, the future ageing populations will require the
introduction of assistive technologies capable of providing, care,
human dignity and quality of life through the aging process. Robotics
technology has a high potential for being used in the areas of social
and healthcare by promoting a wide range of activities such as
entertainment, companionship, supervision or cognitive and physical
assistance. However such close Human Robotics Interaction (HRI)
encompass a rich set of ethical scenarios that need to be addressed
before Socially Assistive Robots (SARs) reach the global markets.
Such interactions with robots may seem a worthy goal for many
technical/financial reasons but inevitably require close attention to
the ethical dimensions of such interactions. This article investigates
the current HRI benchmark of social success. It revises it according
to the ethical principles of beneficence, non-maleficence and justice
aligned with social care ethos. An extension of such benchmark is
proposed based on an empirical study of HRIs conducted with elderly
groups.