1. Me, myself and iRobot Pooja Viswanathan

2. Outline My research : The Intelligent Wheelchair Other robots Discussion

3. Learning Goals explain how technology can be used at home and in healthcare (give examples of some robots discussed in class) distinguish between autonomous and semi- autonomous systems, along with strengths of weaknesses of each. discuss the challenges in the field of assistive technology discuss Asimov's laws

4. The Aging Population Proportion of older adults in the population continues to grow Of the 1.5 million people residing in nursing homes, 60- 80% have been diagnosed with dementia, primarily Alzheimer’s disease (Payne et al., 2002) Older adults with cognitive impairments not allowed to operate powered wheelchairs Prohibition of powered wheelchair use and the lack of strength required to use manual wheelchairs effectively reduce mobility -> social isolation, depression and increased dependence on caregivers

5. Assistive Technology Several technologies exclude people with disabilities Wikipedia: “Assistive Technology (AT) is a generic term that includes assistive, adaptive, and rehabilitative devices and the process used in selecting, locating, and using them. AT promotes greater independence for people with disabilities by enabling them to perform tasks that they were formerly unable to accomplish, or had great difficulty accomplishing, by providing enhancements to or changed methods of interacting with the technology needed to accomplish such tasks.”

6. My project Ensures safety Provides assistance in navigation Intelligent powered wheelchair for older adults with cognitive impairment that:

7. Safety 73-80% of older adults fall or trip after being hit by wheelchair (Corfman, 2001) Even minor collision could startle elderly residents and lead to fall 5-10% of falls could result in fracture (Nevitt, 1989) 40% of older adults who sustain a hip fracture die within 6 months due to complications (Jaglal et al., 1996) Need non-contact anti-collision system!!

8. System overview

9. System Overview

10. Control Strategy Semi- Autonomous Manual Autonomous Strength: No need for user input Weakness: User might want some control Strength: User has full control Weakness: Tedious, user might not have ability Combines strengths of other 2 systems How do we determine who has control and when?

11. Collision Avoidance Find the distance to objects – stored in depth maps Use this to create a map of all obstacles in front of the wheelchair – occupancy map

12. Depth Stereopsis Left Image Right Image Depth Map Point Grey’s Bumblebee Camera

13. Occupancy Grid Depth Map 2D Projection - Occupancy Map

14. Example OGs

21. Collision Avoidance If object detected within a specified distance threshold, wheelchair is stopped Compute direction around obstacle with greatest amount of free space

22. Collision Avoidance Prompt: “Try turning left” Most free space is to the left of the object

23. Demo!!!

24. Pilot Study Experiments conducted to test efficacy of anti-collision and prompting system Conducted within controlled environment

25. Pilot Study Trials tested: –Detection of objects commonly found in LTC facility –Collision avoidance –Correct prompt issued

26. Object Detection Anti-collision system was tested with the following commonly-found objects: –A painted white wall with a flat finish –A light green aluminum 4-wheeled walker –A silver aluminum walking cane –A person who was standing still –A person who was moving

27. Results Misses occurred during wall and cane conditions System performs better on larger and more textured objects Overall Anti-collision Results

28. Results Distance between wheelchair and object when stopped

29. Results Overall Prompting Results

30. Now what??? Example Scenario: I’m hungry… It’s 11:50 a.m. Mary eats lunch at 12:00

31. Now what??? Example Scenario: I’m hungry… It’s lunch time! Let’s go to the dining hall!

32. Navigation Assistance To assist in navigation, wheelchair must know three things: –Where the user wants to go (destination) –Where the chair is located –Where the destination is located User destination - learned from past behaviours and/or user schedules Locations – need maps!!

33. Automated Map Building Wheelchair automatically builds map of environment using visual landmarks Wheelchair can then find its current location by matching landmarks in the incoming images with those in the map Label popular destinations (e.g. kitchen, lounge, etc.) on map

34. Planning and Prompting Remind the user of where he/she needs to be Plan the shortest (?) path to the destination Prompt the user as necessary (audio, visual, haptic) Avoid obstacles on the way

35. The Big Picture

36. Future Work Wheelchair prompts “Go to dining hall” when user really wants to go somewhere else – query the user? Level of prompting – adjusted for each user based on errors made, severity of impairment, past responsiveness to prompts, etc.

37. Other ATs COACH

38. Issues Ethics Liability Privacy ??

39. Robots Examples??

40. Robots Roomba WiiBot Kismet

41. Discussion Should robots look/act human? –Japanese HumanoidJapanese Humanoid –Canadian FembotCanadian Fembot

42. Discussion Should robots look/act human? What about army robots? –Shooting robotShooting robot

43. Discussion Should robots look/act human? What about army robots? When/how should we use robots?

44. Asimov’s Laws: Three Laws of Robotics A robot may not harm or injure a human being. A robot must obey the orders that a human being gives to it, unless it would result in injury. A robot must protect its own existence as long as it does not interfere with laws number one or two.