A. Rodi , M. Vujovi , M. Jovanovi , I. Stevanovi INTRODUCTION A - - PowerPoint PPT Presentation

• A. Rodić

, M. Vujović , M. Jovanović , I. Stevanović

INTRODUCTION

A human-centric, social, care-robot for attendance of the elderly and people with reduced ability New design of personal robot assistants operating in the it area as part of a structured wireless robotic sensor networks in indoor environments Artificial intelligence algorithms further enhanced by emotional intelligence Robot working in the context of smart home environment

STATE OF THE ART

Care-O bot 4 (http://www.care-o-bot-4.de/)

Prototypes to provide automated assistance to the elderly at home, targeting a market that promises to grow as people live longer The examples which are in commercial use are rare because there are still significant technological constraints Caring and socially interacting robots has a more adaptable personality than any of its predecessors from this family of robots

STATE OF THE ART

Pepper (https://www.aldebaran.com/en/a-robots/who-is-pepper)

Cloud-based AI system so that units learn from one another Reportedly learns from human interactions, with each experience helping to teach a cloud-based ai shared by all units. It has fully articulated arms and hands but moves about on wheels hidden under a curved plastic skirt.

Paro (http://www.parorobots.com/)

Animal therapy to be administered to patients in environments such as hospitals and extended care facilities where live animals present treatment or logistical difficulties

STATE OF THE ART

Kompaï (http://www.robosoft.com/robotic-

solutions/healthcare/kompai/kompai-rd.html)

Family members would call the robot via Skype. The robot would then use ultrasonic sensors to detect the location of the person being called and navigate to that person, who answers the Skype videoconference call via Kompaï's multitouch tablet PC and Webcam. Interactive speech recognition would be available to help elderly or otherwise dependent people access the Internet using a simple graphic and tactile interface.

PR-2 (http://www.clearpathrobotics.com/pr2/)

PR2 is a robotics platform being developed at Stanford University. PR stands for "personal robot".

REQUIREMENTS

MECHANICAL DESIGN

Concept design

New mechanical structure of a robot that meets ergonomic standards adapted to the patient. Good ergonomic characteristics of robots allow better support for patients while walking and relatively easy to use services. Built-in security features such as emergency for medical services, emergency call to family members, etc Artificial intelligence algorithms further enhanced by emotional intelligence that enables better adaptability to different personality profiles of patients, the type of personality and temperament

MECHANICAL DESIGN

Basic parts

• 1. Robotic head that rotates 360 degrees
• 2. Touchscreen
• 3. Robot arm with 5 DOF
• 4. Handles for patient to lean on
• 5. Robotic hand –

gripper

• 6. Net for objects that robot brings to the patient
• 7. Circle element with cameras mounted on it
• 8. Wheels
• 9. Movable tray

MECHANICAL DESIGN

Basic parts

Top View Side View

MECHANICAL DESIGN The Robot Head

The robot head contains: (i) kinematic mechanism with 1 DOF, (ii) touch screen for command input and information, (iii) three wide-band professional-grade microphones with increased sensitivity, (iv) optional visual depth sensor placed on the crown of the head. The robot is equipped with the appropriate led illumination around touch screen insuring its functioning in the conditions of reduced ambient light

AMBIENT ASSISTED LIVING Smart Home

Support daily life activities of elderly people by creating a living environment supported by different technologies including different sensor modalities and service robots. Implementing the sensing and communication systems that can detect user activity Changes and actions in an environment that contribute to space becoming adaptable in accordance with its function that must be satisfied Adaptive systems, where the context is customizable, and adjustment is done by integrating circuitry in an intelligent system that is called informatically structured space Intelligent environment serves to enable easier and more fully performing specific functions for service robots when it comes to helping patients

AMBIENT ASSISTED LIVING Smart home

Example of ambient assisted living unit containing basic functional units of a simple household

EMBEDDED PERSONALITY IN ROBOTS Embedded personality

The objective of this research is to enable enhanced affective and social capabilities of service robot used for elderly care Cloud-robotics structure that connects robots to a cloud computing and allow robots to off-load more computationally intensive tasks and even originate more flexible and cooperative machine learning mechanism Robot can be accessed from anywhere and at any time through the web interfaces Building of affective and social capabilities with care-robots requires development of emotional intelligence controller (EI-controller). Robots achieve better social inclusion into the living environments and better adaptability to other persons.

EMBEDDED PERSONALITY IN ROBOTS Embedded personality

EMBEDDED PERSONALITY IN ROBOTS Embedded personality

Man's psychological (affective and social) behavior depends on several dominant factors which are acquired by birth or are formed in the course of life or are a result of the current internal state of the personality (physical and / or mental). The factors determining a man's behavior are: personality type, type of temperament, internal stimuli and social factors Robot uses sensors attached on its body, cameras and appropriate sensors placed in the working space and noninvasive sensors placed on the patient's body attached by adequate belts and connected wirelessly. Human-like affective or social reactions are based on three dominant excitation signals (information carriers): (i) “ trigger”

• f behavior (that arouses different psychological reactions),

(ii) “ profiler” (that shapes event-driven emotional state (es) to fit the personality profile of the individual), (iii) behavior “ booster”

• r behavior “

inhibitor” (that increases or decreases the expressiveness of the individual affective manifestations).

EMBEDDED PERSONALITY IN ROBOTS Embedded personality

EMBEDDED PERSONALITY IN ROBOTS Embedded personality

EMBEDDED PERSONALITY IN ROBOTS Factors that influence human behavior

The Myers-Briggs type indicator sorts some of psychological differences into four opposite pairs, called dichotomies and accordingly there are: Extraverted (E) or Introverted (I), Sensing (S) or iNtuitive (N), Thinking (T) or Feeling (F) and Judging (J) or Perceiving (P) types of personality traits. By their combination it is possible to recognized 16 different psychological types characterized by different personality types such as INTJ, ESFP, ESTJ, etc.

4 Types of Temperament: Sanguine, Choleric, Melancholic, Phlegmatic

EMBEDDED PERSONALITY IN ROBOTS Personality traits - features

Extraversion (E)

• vs. Introversion (I)
• Talkative and sociable
• Expressive
• Would rather speak than listen
• Comfortable around people
• Dislike being alone
• Get energized by communicating

with other people

• Think while speaking
• Private
• Reserved
• Would rather listen than speak
• Tire quickly in social settings
• Comfortable being alone
• Get energized by being alone
• Think before speaking

EMBEDDED PERSONALITY IN ROBOTS Personality traits - features

Sensing vs. iNtuitive

• Spend most of the time focusing
• n what can be touched, seen or

experienced

• More interested in practical

matters than ideas

• Down-to-earth
• More observant than imaginative
• Focus on the past or the present
• Notice the details, but might miss

the bigger picture

• Trust experience
• Spend most of the time focusing
• n what can be imagined
• More interested in ideas than

practical matters

• Head in the clouds
• More imaginative than observant
• Focus on the future
• See the bigger picture, but might

miss details

• Trust instinct

EMBEDDED PERSONALITY IN ROBOTS Personality traits - features

Feeling vs. Thinking

• Listen to the heart
• Kind
• Closer to “

bleeding heart” than “ ice in the veins”

• Sensitive to criticism
• Emotional reaction to conflicts
• Want to be seen as warm,

sensitive and sincere

• Compassion above truth
• Listen to the head
• Tough
• Closer to “

ice in the veins” than “ bleeding heart”

• Insensitive to criticism
• Rational reaction to conflicts
• Want to be seen as rational, calm

and just

• Truth above compassion

EMBEDDED PERSONALITY IN ROBOTS Personality traits - features

Perceiving (P) vs. Judging (J)

• Focus on options
• Do not mind unpredictability
• Playful about work
• Dislike long-term plans
• Not that worried about order
• Indecisive
• Dislike rules
• Focus on schedules
• Cannot stand unpredictability
• Very serious about work
• Make long-term plans
• Orderly
• Inflexible
• Like rules

EMBEDDED PERSONALITY IN ROBOTS Types of temperament - features

Sanguine

• Fast and short emotional reactions
• Variable mood
• Cheerful and optimistic person

Choleric

• Powerful emotions
• Impulsive and irascible person
• Affective

Phlegmatic

• Weal emotions and rare reactions
• Quite and poised
• Without abrupt change in emotional

experience and reactions Melancholic

• Rare but intensive and long-lasting reactions
• Long lasting mood under the influence of

emotions

• Pron to the negative emotions, sadness and

worry

Choleric, Melancholic, Sanguine and Phlegmatic

EMBEDDED PERSONALITY IN ROBOTS Semantic diagram – trigger event>mood>reaction

Example of functional interconnections between the trigger events, produced emotions and corresponding affective reactions.

EMBEDDED PERSONALITY IN ROBOTS Embedded personality

Structure of the three-stage EDB-model with fuzzy blocks: emotionally state generator, emotionally state modulator and behavior interpreter. (Emotion Driven Behavior)

EMBEDDED PERSONALITY IN ROBOTS – EXAMPLE

TRIGGER EVENT: Person tried to take cup of water from the table but did it

• awkwardly. The cup was broken and

the water was spilled ...

Trigger event Sanguine Choleric Melancholic Phlegmatic Affective reaction Broken cup + ++ +

• Surprised

+ +

• Afraid

+ ++

• Frustrated

Fuzzy rules:

• 1. If <cup broken> .AND. <PP is Phlegmatic> THAN <AR is LOW frustrated>
• 2. If <cup broken> .AND. <PP is Choleric> THAN <AR is VERY frustrated>
• 3. Etc ...

Low – Moderate – Very expressed

EMBEDDED PERSONALITY IN ROBOTS Example of emotions on robotic head

Example of feeling charts used in the graphical interface. Mood rating scale with respect to the sadness and happiness.

EMBEDDED PERSONALITY IN ROBOTS Example of emotions on robotic head

Robot head should be able to simulate the basic emotional states (happiness, sadness, fear, surprise…)

EMBEDDED PERSONALITY IN ROBOTS

6 5 4 1 2 3 7

8

1. Robotic head face 2. Upper part of the head with ears 3. Lower movable yaw

• 4. Eye mechanism
• 5. Eyelids mechanism
• 6. Eyebrows mechanism
• 7. Lips mechanism
• 8. Lower yaw mechanism

EMBEDDED PERSONALITY IN ROBOTS

Goal is to develop emotionally intelligent, social, service robot for care of the elderly. The main contributions that represent innovation in this paper are: i) the original solution of the mechanical design

• f a robot that allows better mobility of

patients and meets ergonomic design standards, ii) application-oriented cloud robotic system architecture, iii) the development of EI-controller of a robot that gives it personality traits and a better understanding of emotional and social behavior of the patient. In that way robot gains comparative advantages for better understanding, patient adaptability and better social acceptability of new technologies.

EMBEDDED PERSONALITY IN ROBOTS THANK YOU