Coordinating Obstacle Avoidance of a Redundant Dual-Arm Nursing-Care Robot.

Collision safety is an essential issue for dual-arm nursing-care robots. However, for coordinating operations, there is no suitable method to synchronously avoid collisions between two arms (self-collision) and collisions between an arm and the environment (environment-collision). Therefore, based on the self-motion characteristics of the dual-arm robot's redundant arms, an improved motion controlling algorithm is proposed. This study introduces several key improvements to existing methods. Firstly, the volume of the robotic arms was modeled using a capsule-enveloping method to more accurately reflect their actual structure. Secondly, the gradient projection method was applied in the kinematic analysis to calculate the shortest distances between the left arm, right arm, and the environment, ensuring effective avoidance of the self-collision and environment-collision. Additionally, distance thresholds were introduced to evaluate collision risks, and a velocity weight was used to control the smooth coordinating arm motion. After that, experiments of coordinating obstacle avoidance showed that when the redundant dual-arm robot is holding an object, the coordinating operation was completed while avoiding self-collision and environment-collision. The collision-avoidance method could provide potential benefits for various scenarios, such as medical robots and rehabilitating robots.

Factors associated with intention to use care robots among people with physical disabilities.

BACKGROUND: As the disabled population ages and the demand for care increases, Socially, the need for care robots is emerging but, perceptions of care robots among care recipients is unknown. PURPOSE: To determine the level of intention to use care robots among care recipients and identify predictors of intention to use care robots. METHODS: A cross-sectional survey was conducted using a convenience sample of 163 persons with disabilities from January to March 2022 at the Veterans Health Service Medical Center. DISCUSSION: Overall, 64.42% of respondents intended to use care robots. Predictors included perceived behavioral control, participants' perceptions of the caregiver's burden, attitude toward robot use, subjective norms, and age. CONCLUSION: These findings suggest that individuals who are community-dwelling desire the use care robots to maintain their independence and may provide useful insignt for the introduction various care robots in acute care and long-term care settings.

Increasing efficiency and well-being? a systematic review of the empirical claims of the double-benefit argument in socially assistive devices.

BACKGROUND: Socially assistive devices (care robots, companions, smart screen assistants) have been advocated as a promising tool in elderly care in Western healthcare systems. Ethical debates indicate various challenges. One of the most prevalent arguments in the debate is the double-benefit argument claiming that socially assistive devices may not only provide benefits for autonomy and well-being of their users but might also be more efficient than other caring practices and might help to mitigate scarce resources in healthcare. Against this background, we used a subset of comparative empirical studies from a comprehensive systematic review on effects and perceptions of human-machine interaction with socially assistive devices to gather and appraise all available evidence supporting this argument from the empirical side. METHODS: Electronic databases and additional sources were queried using a comprehensive search strategy which generated 9851 records. Studies were screened independently by two authors. Methodological quality of studies was assessed. For 39 reports using a comparative study design, a narrative synthesis was performed. RESULTS: The data shows positive evidential support to claim that some socially assistive devices (Paro) might be able to contribute to the well-being and autonomy of their users. However, results also indicate that these positive findings may be heavily dependent on the context of use and the population. In addition, we found evidence that socially assistive devices can have negative effects on certain populations. Evidence regarding the claim of efficiency is scarce. Existing results indicate that socially assistive devices can be more effective than standard of care but are far less effective than plush toys or placebo devices. DISCUSSION: We suggest using the double-benefit argument with great caution as it is not supported by the currently available evidence. The occurrence of potentially negative effects of socially assistive devices requires more research and indicates a more complex ethical calculus than suggested by the double-benefit argument.

Research status of elderly-care robots and safe human-robot interaction methods.

Faced with the increasingly severe global aging population with fewer children, the research, development, and application of elderly-care robots are expected to provide some technical means to solve the problems of elderly care, disability and semi-disability nursing, and rehabilitation. Elderly-care robots involve biomechanics, computer science, automatic control, ethics, and other fields of knowledge, which is one of the most challenging and most concerned research fields of robotics. Unlike other robots, elderly-care robots work for the frail elderly. There is information exchange and energy exchange between people and robots, and the safe human-robot interaction methods are the research core and key technology. The states of the art of elderly-care robots and their various nursing modes and safe interaction methods are introduced and discussed in this paper. To conclude, considering the disparity between current elderly care robots and their anticipated objectives, we offer a comprehensive overview of the critical technologies and research trends that impact and enhance the feasibility and acceptance of elderly care robots. These areas encompass the collaborative assistance of diverse assistive robots, the establishment of a novel smart home care model for elderly individuals using sensor networks, the optimization of robot design for improved flexibility, and the enhancement of robot acceptability.

Analysis of Comfort during Transfer by a Dual-Arm Care Robot Based on Human Body Pressure and Surface Electromyographic Signals.

In-home elderly care faces a crucial challenge regarding mobility among essential assistive devices, for which dual-arm care robots present a viable solution. However, ensuring human comfort in human-robot interactions necessitate quantifiable standards. Currently, the field lacks accurate biomechanical model solutions and objective comfort evaluation. In response to this need, this study proposes a method for solving human-robot statics models based on real-time pressure and position information. Employing the Optitrack motion capture system and Tekscan pressure sensors, we collect real-time positional and pressure data. This information is then incorporated into our human-robot statics model, facilitating the instantaneous calculation of forces and moments within the human body's sagittal plane. Building on this, comprehensive research literature review and meticulous questionnaire surveys are conducted to establish a comprehensive comfort evaluation function. To validate this function, experiments are performed to enable real-time assessment of comfort levels experienced during the process of transferring the human body. Additionally, the Noraxon surface electromyography (sEMG) sensors are utilized to capture real-time sEMG signals from the erector spinae, adductor muscles and quadratus lumborum, thereby providing objective validation for the comfort evaluation function. The experimental findings demonstrate that the proposed methodology for evaluating comfort achieves an accuracy rate of 85.1%.

The Care-Dependent are Less Averse to Care Robots: An Empirical Comparison of Attitudes.

A growing gap is emerging between the supply of and demand for professional caregivers, not least because of the ever-increasing average age of the world's population. One strategy to address this growing gap in many regions is the use of care robots. Although there have been numerous ethical debates about the use of robots in nursing and elderly care, an important question remains unexamined: how do the potential recipients of such care perceive situations with care robots compared to situations with human caregivers? Using a large-scale experimental vignette study, we investigated people's affective attitudes toward care robots. Specifically, we studied the influence of the caregiver's nature on participants' perceived comfort levels when confronted with different care scenarios in nursing homes. Our results show that the care-robot-related views of actual care recipients (i.e., people who are already affected by care dependency) differ substantially from the views of people who are not affected by care dependency. Those who do not (yet) rely on care placed care robots' value far below that of human caregivers, especially in a service-oriented care scenario. This devaluation was not found among care recipients, whose perceived level of comfort was not influenced by the caregiver's nature. These findings also proved robust when controlled for people's gender, age, and general attitudes toward robots. Supplementary Information: The online version contains supplementary material available at 10.1007/s12369-023-01003-2.

Care robot research and development plan for disability and aged care in Korea: A mixed-methods user participation study.

The population of Korea is aging rapidly, and this has led to a care burden for caregivers. Without adequate caregivers to address the increased burden, people with significant disabilities and older adults with disabilities who have greatly reduced mobility are at risk. The aim of this study was to determine suitable types of care robots for care applications in Korea and formulate a strategy for a future care robot R&D plan through a user participation study. We categorized nine types of care robots that are suitable for the care needs in Korea. By adopting a mixed research methodology involving user participation, we conducted discussions with caregivers, care receivers, and other stakeholders under a public-private-people partnership model. We also identified five primary strategies for care robot R&D: (1) intensive investment to match the needs of people with very severe disabilities to care robot technologies, particularly for transfer, repositioning, toileting, and feeding; (2) translational research and technology development; (3) realization of smart-care through fourth industrial revolution (i.e., digital) technologies; (4) user-centered research with stakeholders; and (5) building of a care robot ecosystem. The formulated plan would be shared with other developers and clinical experts to drive development of suitable care robots.

Robot Technology for the Elderly and the Value of Veracity: Disruptive Technology or Reinvigorating Entrenched Principles?

The implementation of care robotics in care settings is identified by some authors as a disruptive innovation, in the sense that it will upend the praxis of care. It is an open ethical question whether this alleged disruption will also have a transformative impact on established ethical concepts and principles. One prevalent worry is that the implementation of care robots will turn deception into a routine component of elderly care, at least to the extent that these robots will function as simulacra for something that they are not (i.e. human caregivers). At face value, this may indeed seem to indicate a concern for how this technology may upend existing practices and relationships within a care setting. Yet, on closer inspection, this reaction may rather point to a rediscovery and a revaluation of a particularly well-entrenched value or virtue, i.e. veracity. The virtue of veracity is one of the values that is mobilized to argue against a substitution of human caregivers (while a combination of care robots and human caregivers is much more accepted). The subject of this paper is to explore how the moral panic surrounding care robots should not so much be interpreted as an anticipated and probable disruptor in a care setting, but rather as a sensitizing - in a way conservationist - argument that identifies veracity as an established value that is supposed to be protected and advanced in present day and future care settings.

Social Values of Care Robots.

Care robots have the potential to address the challenge of aging societies, such as labor shortages or the aging workforce. While previous studies have focused mainly on the productivity or workability of care robots, there has been an increasing need to understand the social value of care robots. This study attempted to identify the social values of care robots by conducting focus group interviews (FGIs) with twenty-four care recipients and caregivers and by using analytic hierarchy processes (AHPs) with thirteen individuals with expertise in the care service and care robot industries. Our results show that the labor- and health-related benefits, the technology innovation, and the provision of essential care work have the highest importance among the criteria of care robots' social values. The criteria that receive lowest priority are cost, the autonomy and needs of the care recipients, and the organizational innovation. Our study suggests that along with the private benefits and costs of care robots, their social values also need to be considered to improve the quality of care and to unlock the potential of the care robot industries.

Gender and Age Stereotypes in Robotics for Eldercare: Ethical Implications of Stakeholder Perspectives from Technology Development, Industry, and Nursing.

Social categorizations regarding gender or age have proven to be relevant in human-robot interaction. Their stereotypical application in the development and implementation of robotics in eldercare is even discussed as a strategy to enhance the acceptance, well-being, and quality of life of older people. This raises serious ethical concerns, e.g., regarding autonomy of and discrimination against users. In this paper, we examine how relevant professional stakeholders perceive and evaluate the use of social categorizations and stereotypes regarding gender and age in robotics for eldercare. Based on 16 semi-structured interviews with representatives from technology development, industry, and nursing science as well as practice, we explore the subjects' awareness, evaluations, and lines of argument regarding the corresponding moral challenges. Six different approaches of dealing with categorizations and stereotypes regarding gender and age in care robotics for older people are identified: negation, functionalistic relativization, explanation, neutralization, stereotyping, and queering. We discuss the ethical implications of these approaches with regard to professional responsibility and draw conclusions for responsible age tech in pluralistic societies.

No thank you to humanized robots: attitudes to care robots in elder care services.

The growing older population will increase the demands on the health and welfare systems, including elder care services. One way of meeting these growing service needs is to shift from traditional care services to technologically oriented services. Robotic innovations are gradually being introduced to elder care services. The aim was to explore attitudes toward the use of care robots in elder care services - specifically focusing on situations and interaction, influence, and emotions in interaction with care robots. Data were obtained from visitors at a welfare technology fair (n = 124). The results show that the most negative attitudes concerned if the care robots were humanized and had emotions. The attitudes toward interacting with care robots in general were predominately positive. In conclusion, concrete usage scenarios in elder care services need to be detected, based both on users' needs, digital literacy and on the maturity of the technology itself.

The entwinement of policy, design and care scripts: Providing alternative choice-dependency situations with care robots.

The use of robots to assist feeding has become important for people with an impaired arm function. Yet, despite large-scale dissemination strategies, it has proven difficult to sustain the use of this technology. This ethnographic study draws on the script approach to discuss the use of robots to assist feeding. The empirical work was done at locations in Denmark and Sweden. Drawing on document studies, interviews, observation of meals and video footage, we discuss (1) policy strategies promoting ideas such as self-reliance; (2) design visions promoting ideas such as empowerment; (3) and three scripts of care: (a) the script of choice, (b) the script of eating alone and (c) the script of eating together. We argue that scripts entwine and give rise to and prevent the use of robots. The study contributes to the script literature and the care robot literature by substantiating that care robots may generate choice-dependency situations for users. Rather than the somewhat overflowing 'self-reliance' and 'empowerment', alternative configurations of choice and dependency emerge, in which some situations fit users better than others. We conclude that although sustaining the use of feeding robots is difficult, in some cases, useful choices arise for both end-users and care providers.

An Embedded Framework for Fully Autonomous Object Manipulation in Robotic-Empowered Assisted Living.

Most of the humanoid social robots currently diffused are designed only for verbal and animated interactions with users, and despite being equipped with two upper arms for interactive animation, they lack object manipulation capabilities. In this paper, we propose the MONOCULAR (eMbeddable autONomous ObjeCt manipULAtion Routines) framework, which implements a set of routines to add manipulation functionalities to social robots by exploiting the functional data fusion of two RGB cameras and a 3D depth sensor placed in the head frame. The framework is designed to: (i) localize specific objects to be manipulated via RGB cameras; (ii) define the characteristics of the shelf on which they are placed; and (iii) autonomously adapt approach and manipulation routines to avoid collisions and maximize grabbing accuracy. To localize the item on the shelf, MONOCULAR exploits an embeddable version of the You Only Look Once (YOLO) object detector. The RGB camera outcomes are also used to estimate the height of the shelf using an edge-detecting algorithm. Based on the item's position and the estimated shelf height, MONOCULAR is designed to select between two possible routines that dynamically optimize the approach and object manipulation parameters according to the real-time analysis of RGB and 3D sensor frames. These two routines are optimized for a central or lateral approach to objects on a shelf. The MONOCULAR procedures are designed to be fully automatic, intrinsically protecting sensitive users' data and stored home or hospital maps. MONOCULAR was optimized for Pepper by SoftBank Robotics. To characterize the proposed system, a case study in which Pepper is used as a drug delivery operator is proposed. The case study is divided into: (i) pharmaceutical package search; (ii) object approach and manipulation; and (iii) delivery operations. Experimental data showed that object manipulation routines for laterally placed objects achieves a best grabbing success rate of 96%, while the routine for centrally placed objects can reach 97% for a wide range of different shelf heights. Finally, a proof of concept is proposed here to demonstrate the applicability of the MONOCULAR framework in a real-life scenario.

Positive Turn in Elder-Care Workers' Views Toward Telecare Robots.

Robots have been slowly but steadily introduced to welfare sectors. Our previous observations based on a large-scale survey study on Finnish elder-care workers in 2016 showed that while robots were perceived to be useful in certain telecare tasks, using robots may also prove to be incompatible with the care workers' personal values. The current study presents the second wave of the survey data from 2020, with the same respondents (N = 190), and shows how these views have changed for the positive, including higher expectations of telecare robotization and decreased concerns over care robots' compatibility with personal values. In a longitudinal analysis (Phase 1), the positive change in views toward telecare robots was found to be influenced by the care robots' higher value compatibility. In an additional cross-sectional analysis (Phase 2), focusing on the factors underlying personal values, care robots' value compatibility was associated with social norms toward care robots, the threat of technological unemployment, and COVID-19 stress. The significance of social norms in robot acceptance came down to more universal ethical standards of care work rather than shared norms in the workplace. COVID-19 stress did not explain the temporal changes in views about robot use in care but had a role in assessments of the compatibility between personal values and care robot use. In conclusion, for care workers to see potential in care robots, the new technology must support ethical standards of care work, such as respectfulness, compassion, and trustworthiness of the nurse-patient interaction. In robotizing care work, personal values are significant predictors of the task values.

Robots and the Possibility of Humanistic Care.

Care robots are likely to perform increasingly sophisticated caring activities that some will consider comforting and valuable. They will get increasingly humanlike and lifelike. This paper addresses the conceptual question: Even if robots can assist and ease people's suffering, can such machines provide humanistic care? Arguably, humanistic care is the most humanly distinctive and deepest form of care there is. As such, it may be thought to show most starkly the gulf between human and robot caregiving. The paper argues that humanistic caregiving is indeed a distinctive form of 'affective' care dependent on certain uniquely human characteristics or aspects of our humanity which can provide a profound kind of comfort to suffering people. It then argues that there is an important conceptual sense in which robots cannot provide humanistic care. Nonetheless, the paper subsequently suggests that we may recognize a useful sense in which robots, of a suitably anthropomorphic type, can provide humanistic care. Robots might 'express' to people with physical, social, or emotional needs the kind of humanistic care that only human beings can provide but that sufferers can nonetheless receive comfort from precisely because of what is expressed to them. Although this sense of humanistic robot care is derivative from uniquely human care, and although it is wide open to social and ethical criticism, it is nonetheless an idea worth clarifying for anyone interested in the possibilities and limits of robot care.

Significant challenges when introducing care robots in Swedish elder care.

INTRODUCTION: Care robots are machines, operating partly or completely autonomously, that are intended to assist older people and their caregivers. Care robots are seen as one part of the solution to the aging population, allowing fewer professional caregivers to provide the necessary assistance and care. Despite the potential benefits, the dissemination of care robots, and welfare technology in general, is limited in Swedish elder care. PURPOSE: To explore the challenges of introducing welfare technology, particularly care robots, in elder care. MATERIALS AND METHODS: Twenty-one individual interviews with key actors at the societal level, analysed by thematic analysis. RESULTS: The challenges, from the societal actors' perspectives, were related to; the beliefs in technology, attitudes, ethics, collaboration, and the need for knowledge and skills regarding care robots (individual and group challenges). Challenges of a national character were: national governance, infrastructure, laws and regulations, economics, and procurement (systemic and societal challenges). In addition, the necessary preconditions for successful introduction were revealed as: the utility of the technology, implementation, evaluation and safety, security, and integrity (preconditional challenges). CONCLUSIONS: The introduction of care robots in elder care services seems to be more challenging than that of welfare technology in general, given the context and prevailing attitudes and preconceptions about robotics. Significant challenges need to be managed, at all levels of the society, before care robots can become an integral part of daily care and assist older people and their caregivers in activities and rehabilitation.IMPLICATION FOR REHABILITATIONThe challenges described by the societal actors', are partly similar to those of the end users', in terms of attitudes, ethics, knowledge and skills, and collaboration. This consensus should provide a solid foundation for the conceptualization and introduction of care robots in elderly care.The challenges follow the pattern of an ecosystem involving all sections of society, which are intertwined and require consideration before the expected benefits can be realised.A user-centred approach is necessary to support the design, implementation, and usefulness of care robots and their suitability for meeting the real needs of older persons and professional caregivers.

Implementing Ethics in Healthcare AI-Based Applications: A Scoping Review.

A number of Artificial Intelligence (AI) ethics frameworks have been published in the last 6 years in response to the growing concerns posed by the adoption of AI in different sectors, including healthcare. While there is a strong culture of medical ethics in healthcare applications, AI-based Healthcare Applications (AIHA) are challenging the existing ethics and regulatory frameworks. This scoping review explores how ethics frameworks have been implemented in AIHA, how these implementations have been evaluated and whether they have been successful. AI specific ethics frameworks in healthcare appear to have a limited adoption and they are mostly used in conjunction with other ethics frameworks. The operationalisation of ethics frameworks is a complex endeavour with challenges at different levels: ethics principles, design, technology, organisational, and regulatory. Strategies identified in this review are proactive, contextual, technological, checklist, organisational and/or evidence-based approaches. While interdisciplinary approaches show promises, how an ethics framework is implemented in an AI-based Healthcare Application is not widely reported, and there is a need for transparency for trustworthy AI.

Robot Care Ethics Between Autonomy and Vulnerability: Coupling Principles and Practices in Autonomous Systems for Care.

Technological developments involving robotics and artificial intelligence devices are being employed evermore in elderly care and the healthcare sector more generally, raising ethical issues and practical questions warranting closer considerations of what we mean by "care" and, subsequently, how to design such software coherently with the chosen definition. This paper starts by critically examining the existing approaches to the ethical design of care robots provided by Aimee van Wynsberghe, who relies on the work on the ethics of care by Joan Tronto. In doing so, it suggests an alternative to their non-principled approach, an alternative suited to tackling some of the issues raised by Tronto and van Wynsberghe, while allowing for the inclusion of two orientative principles. Our proposal centres on the principles of autonomy and vulnerability, whose joint adoption we deem able to constitute an original revision of a bottom-up approach in care ethics. Conclusively, the ethical framework introduced here integrates more traditional approaches in care ethics in view of enhancing the debate regarding the ethical design of care robots under a new lens.