realization and evaluation of assistive human-mechatronic systems...

Abstract—Three types of assistive human-mechatronic systems are considered: (1) a smart house system for the elderly/the disabled, (2) a factory environment for the elderly/the disabled, and (3) a hospital surgery room for medical doctors. We report how each of these systems have been implemented with human-friendly robotic agents and what have been modified with feedback evaluation of the potential users during the course of our last 9 year projects at HWRS-ERC. Special attention will be given to the aspect of “human-friendly human-machine interaction” and to the task-oriented design (TOD) principle. With regard to more difficult problems to resolve than the solutions that we have achieved by far, we shall further discuss some of the important prospects and issues of future development, including safety and long-term learning, in the area of assistive service robotic system technology for people in need such as the elderly and the disabled for their independence and pride so as to enhance quality of life and possibly endow capability to do proper productive work.

I. INTRODUCTION NDEPENDENCE of the people in need in their activities becomes a matter of vital importance to any society in the

years to come. As an approach to achieve this goal, we address three types of assistive human-mechatronic systems: smart house, work assistive robot and surgery robot, supporting the notion of “aging, disability, independence and pride (ADIP).”

It is instructive to note that the world is acutely paying attention to the tendency of increasing percentage of the aged population and of non-decreasing statistics of people with disabilities, when projected into the years to come [1][2]. As a consequence, the shortage of care-givers is expected and this will be a serious social problem in the near future. To lead more convenient and safe lives, the elderly and people with disabilities may like to get the benefits and support of

Manuscript received February 4, 2007. This work was supported by the

Science Research Center/Engineering Research Center (SRC/ERC) program of the Ministry of Science and Technology/Korea Science and Engineering Foundation (MOST/KOSEF) under Grant #R11-1999-008.

Z. Z. Bien, K.-H. Park*, J.-H. Do and H.-E. Lee are with Department of Electrical Engineering and Computer Science, Korea Advanced Institute of Science and Technology, 373-1 Guseong-dong, Yuseong-gu, Daejeon, 305-701, Republic of Korea ([email protected]; *corresponding author: phone: +82-42-869-5419, fax: +82-42-869-8410, e-mail: [email protected]; [email protected]; [email protected]).

P.-H. Chang, Y.-S. Yoon, S. H. Park and S. Park are with Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, 373-1 Guseong-dong, Yuseong-gu, Daejeon, 305-701, Republic of Korea (e-mail: [email protected]; [email protected]; [email protected]; [email protected]).

ever-progressing scientific technology. To cope with such desire and demand, human-friendly man-machine interaction systems are desired as means of care-giving aids and to live well independently. In particular, the elderly and people with disabilities have serious limitations in doing a certain work with their own ability. In this regard, some assistive systems will be desired to assist such people or to do the work instead of human beings by endowing as much independence as possible.

It is well known that the technology related to industrial robots gets now quite matured whereas that of service robotic systems including assistive robots is in its infancy as long as its usage is concerned. To promote the research on assistive robotics, HWRS-ERC (Human-friendly Welfare Robot System Engineering Research Center) has been established with the goal of ‘realizing welfare service robots and systems’ that can collaborate with humans or can assist them in their daily living as well as in some working environment.

Of various areas of service robot systems, the following three research projects are selected as the key objects of our center activity: (1) Intelligent Sweet Home for the weak-elderly/handicapped, (2) Work Assistive Robot in a manufacturing environment, (3) Surgery Assistive Robot in a hospital.

In this paper, we present the important issues and discussions on human-friendly assistive robotic systems. Section II discusses how we have designed a smart house for the elderly and people with disabilities with attention to its functionality and usability. Section III considers the design and implementation issues on work assistive robots in a real factory, and, in Section IV, we investigate surgery assistive robots for medical doctors. Finally, Section V provides concluding remarks.

II. INTELLIGENT SWEET HOME The initial smart house design concept, primarily limited to

home automation, remote control, and simple tele-health monitoring, was recently expanded to include technical devices that provide assistance in mobility/manipulation and advanced equipments for human-machine communication, which allow the user to perform various complicated everyday tasks independently [3]. Various new research projects show that robotic systems may assist people with movement limitations in many ways [4-6].

To develop a strategy that offers a beneficial response to

Realization and Evaluation of Assistive Human-Mechatronic Systems with Human-friendly Robotic Agents at HWRS-ERC

Z. Zenn Bien, Fellow, IEEE, Pyung-Hun Chang, Member, IEEE, Yong-San Yoon, Kwang-Hyun Park, Member, IEEE, Sang Hyun Park, Sukhoon Park, Jun-Hyeong Do and Hyong-Euk Lee

I

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Proceedings of the 2007 IEEE 10th International Conference on Rehabilitation Robotics, June 12-15, Noordwijk, The Netherlands

some specific preferences and needs of the potential Korean users, the research team was greatly influenced by the results from a special questionnaire survey [7] that we conducted among patients of the National Rehabilitation Center, district hospitals, and nursing homes. We involved 70 people between the ages of 18 and 75 who have lower-limb dysfunctions or are elderly (who form the main portion of the Korean people with movement impairment). We sought to gather users’ opinions regarding a list of important tasks in everyday activities, the difficulties experienced by these users, and the activities for which they currently need assistance from an external helper. The survey results helped us to define the outlines and target tasks of our smart house design. It was found that people interviewed gave very high priority to activities such as independence in going outdoors, assistance in meal preparation, eating, drinking, control of home appliances from the bed or wheelchair, and bringing/removing objects while they are in the bed. The survey results revealed that most of the people interviewed consider it very important to feel themselves comfortable in the bed and wheelchair where they spend most of their time. The majority of those surveyed noted that they are in difficulties when they need to change their body posture or want to transfer between the bed and wheelchair.

As a large-scale care-robotic system, our smart house design includes several robotic modules such as an intelligent bed, intelligent wheelchair and robotic hoist to assist motion and mobility, devices for human-machine interaction, sensors, and health-monitoring building blocks. All home-installed components are integrated via a central control unit and connected via a home network that includes both wired and wireless communication modules. Referring to the sensory information and the user’s commands, the central unit generates a set of actions for each agent and the sequence in which these actions will be executed. Most of the assistive modules developed have been designed to perform their inherent functions as well as to cooperate in tasks with other related systems.

A. Assistive Robotic Systems The intelligent bed has been designed to provide maximum

posture comfort. The bed can change its configuration automatically or upon command, and also provides physical support for the user when changing posture via special force-sensitive bar mechanism. The robotic hoist is a special autonomous robot to transfer the user from the bed to the wheelchair and vice versa. The intelligent wheelchair provides easy user access to various places indoors and out. The sensor-based wheelchair facilitates user control by automatic obstacle avoidance maneuvers. An original ceiling-mounted navigation system, called Artificial Stars, has been developed to provide information about the positions and orientations of the installed mobile robotic systems. Originally, it was applied to the robotic hoist navigation. Later, the same navigation information will be used for planning the

path of the intelligent wheelchair and mobile robot for object delivery. Figure 1 shows the transferring task in our developed smart house.

B. Human-Machine Interfaces (HMI)

The acceptance of the new smart house design by the user depends critically on the human-machine interaction used in it. To provide a simple means of transferring information between the user and the devices installed in the home, we focused our efforts on designing a “human-friendly interface,” that is, an interface that allows human-machine interaction in a very natural way, similar to communication between humans. We have included processing algorithms that not only recognize the user’s instructions but also analyze the history of the communication episode to identify and judge the user’s intentions. In addition, our understanding of the “human-friendly interface” includes techniques that do not require any special sensors to be attached to the user. Following this idea, we have concentrated our research on “human-friendly HMI” on two main interfaces: interfaces based on voice commands and natural speech recognition, and interfaces based on gesture recognition.

Interfaces based on voice or gestures have been widely used. However, there are still no reliable methods for voice recognition in a noisy environment. Gesture recognition based on vision technologies also depends critically on the external illumination conditions. To alleviate these weaknesses, we adopted both methods to develop common multimodal interfaces. CCD cameras with pan/tilt modules are mounted on the ceiling so that the user can issue commands from anywhere in the room, such as on the bed, in the wheelchair, etc. As well as the intentional commands of the user, in the design of the smart house we also refer to body motions to control the intelligent bed robot system.

C. Steward Robot –Joy We developed a steward robot to help the inhabitants to

operate all the subsystems easily in the smart house environment. Literally, a steward means someone employed

Fig. 1. Overall view of Intelligent Sweet Home

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in a large household or estate to manage domestic concerns such as supervision of servants, collection of rents, and keeping of accounts [8]. We apply the same concept to a robotic agent in the smart house to perform a set of specific tasks for the inhabitant, i.e., the steward robot can be an intermediate agent between complex home environment and the end-user to enhance usability and convenience [9].

A software-type robot is represented by a virtual 3D avatar and can be accessed everywhere using personal computing devices such as a PDA and a cellular phone when a wired/wireless communication network is available. A hardware-type robot, as shown in Fig. 2, has been developed to provide active services such as delivering a meal, bringing an object, etc. with physical interaction by using two robotic arms and a mobile platform. Localization of the mobile platform is achieved using selected three beacons among all beacons attached on the ceiling of the smart house for a global path generation. Ultrasonic sensors, attached on the body of the robot, are also used for online obstacle detection. Both types of robots have an intelligent processing module with learning and emotional interaction capability. Learning capability enables the robot to provide customized and proactive services depending on the preference and living behavior patterns of the user. The learning system collects environmental sensory information and the command history of the user to the target subsystems. Then, it reveals the empirical patterns from an incrementally drawn set of behaviors and appropriately controls the target devices based on the obtained knowledge [9]. In addition, if the user assigns a task name for a complicated sequence of commands or behaviors, the steward robot can be commanded later by the given name of a task such as “going-out.” For more human-friendly interaction, the robots generate and express their own emotional state to the user according to the service of the robot and the context of interaction.

D. User Trials with Robotic Hoist: User Transfer between Bed and Wheelchair

This task involves synchronous actions of the intelligent bed, intelligent wheelchair, and robotic hoist. It is assumed that the user has lower limb paralysis, yet still retains sufficient motion range and muscle strength in the upper limbs. The transfer task can be performed easily and involves following execution steps.

Step 1: The user initiates the transfer task using a voice

and/or a hand gesture. The command is interpreted by the management system that generates the action strategy and distributes the subtasks to the intelligent bed, intelligent wheelchair, and robotic hoist.

Step 2: The pressure sensor system outputs information of the user’s position and posture. The horizontal bar of the intelligent bed moves close to the user and assists the user in changing body posture on the bed.

Step 3: The position and posture information of the user is analyzed by the management system. The robotic hoist moves to the intelligent bed and lifts the user.

Step 4: The intelligent wheelchair moves to the bed and docks with the robotic hoist.

Step 5: The robotic hoist lowers the user onto the intelligent wheelchair when the wheelchair sends a signal that docking has been completed.

Step 6: The intelligent wheelchair autonomously navigates to the destination.

Step 7: The robotic hoist returns to the recharge station. In step 4, the laser range finder (LRF) is used for

autonomous navigation of the wheelchair to dock with the robotic hoist based on a priori shape information of the robotic hoist. The wheelchair detects two long bars in the lower part of the robotic hoist from the LRF scan data, as it approaches the robotic hoist. In our experiments, we have achieved ±100mm of position accuracy for the center position and ±40 degrees of angular accuracy for the orientation with the processing time of 0.46 ms.

III. WORK ASSISTIVE ROBOTS IN A MANUFACTURING ENVIRONMENT

We developed a robot system assisting the people with disabilities (PWD) at working place. According to target-oriented design (TOD) procedure (Fig. 3) [10], a robot system has been systematically designed and prototyped. The developed system was tested and evaluated at ‘Mugunghwa Electronics,’ a company where many PWD are at work.

It is well known that most of rehabilitation robotic systems

have been intended to help cure and assist PWD for daily life [11-15]. While these efforts are still very important, it is valuable to pose the following question: Supposed these robots worked perfectly, would PWD feel happy? The answer – they may still think themselves as burden to the society

Fig. 2. Hardware-type steward robot – Joy

Fig. 3. Target oriented design methodology

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unless they can do something useful and productive – leads to the rationale and necessity of the type of robots dealt in this section. In fact, we have observed that PWD able to do productive works are very happy with their ability to contribute to the society.

There are several research activities on robot systems assisting PWD to do work [16-18]. These systems mainly assist PWD working in offices or laboratories, somewhat clean and structured environments. In countries where such environments are not afforded for handicapped people, PWD need to work in rather harsh environments.

A. Target Definition As the first step of design, we define the target in terms of a

mission statement. Essentially, a target consists of three elements: tasks, types of PWD, and environments. The target definition is equal to find unknowns, X, Y, Z and W as described in the upper part of Fig. 4. It becomes possible to solve for them by incorporating three strategies (or constraints) shown in the lower part of Fig. 4.

The answers obtained through the research above may be

summarized in three facts: Physically handicapped people and people with encephalopathy account for 65 percent of all PWD in Korea; many of the tasks most employers and managers in Korea want PWD to do are simple and repetitive tasks involving physical strength, such as assembling, packaging, sorting and simple inspection; people with disabilities are rarely employed because they can hardly perform the tasks in B. Therefore, they want assistive robots helping them move materials and do fine motion to be employed.

Taking all these facts into account, we have finally determined X, Y, Z and W as the followings. X and Y are physically handicapped people who cannot move one arm, or one or two legs owing to amputation, joint disease, deformation, or peripheral nervous disability. In addition, X and Y include people with encephalopathy unable to move one side of the limbs owing to cerebral paralysis, or spastic paralysis whereas they can move freely the other arm and hand. As for Z, a robot system will assist the PWD to do circuit test

of PCB, soldering inspection and repairing of PCB, and to move heavy materials. As for W, we set a working place with a conveyor line in Mugunghwa Electronics, where these tasks are carried out. Incidentally, the company employs about one hundred and twenty (about 75% of all the employees) handicapped employees.

B. Prototyping and field evaluation We developed and prototyped a robot arm for circuit test of

PCB, soldering inspection and repairing of PCB tasks, and mobile robot & lift integrated system for the moving heavy materials to achieve target as shown in Fig. 5.

At Mugunghwa Electronics, we tested the system with 2 PWDs: one has physical handicap and the other has encephalopathy. They carried out each task with the assistance of a robot system as shown in Fig. 6. Afterwards, we made interviews with them and their supervisor about its strengths and shortcomings. Throughout the tests, the robot assisted the PWD to carry often the tasks quite well, making us convinced that it could be applied before long to actual working places. The response of the supervisor was also positive and encouraging.

Fig. 6. Field test: (a) test work on the circuit of PCB, (b) soldering inspection and repairing work on PCB, (c) moving a heavy box, (d) exchange a heavy box

Fig. 5. Developed robot arm, mobile robot and lift

Three Strategies :

A. Assist as many PWD as possible. What kind of PWD takes majority?

B. Take present situation for granted What do employers want them to do for now?

C. Make robots assist what PWD need What do PWD want robots to assist?

Mission Statement :

Develop a Robot Arm that can help PWD of X Type, with Y degree of severity to do Z tasks in W environment

Fig. 4. Mission statement and strategies for target definition

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IV. SURGICAL ROBOTIC SYSTEMS Surgical robotic systems help surgeon to do operation more

safe and accurate than manual surgery. By using a robot in surgery, very fine motion is possible and tremor of hands can be eliminated. Developed systems are applicable to various operations, for example, orthopedics, cardiac, neurosurgery, and abdominal surgery. These robots have been researched at many universities and research centers. Some systems were commercialized and used at many hospitals. In this section we will introduce the various noble surgical robotic systems we have developed.

A. Surgical Robots for Total Hip Arthroplasty The first system is a robot that shapes the femoral cavity for

an artificial implant, called ARTHROBOT, as shown in Fig. 7 (a) [19]. It is femur-mountable and capable of 4-DOF motion. It uses a new gauge-based registration method that utilizes the geometric information of the original femoral cavity to indicate the optimal position of the artificial implant. By adopting gauge-based and bone-mounting registration method, the system eliminates the need for obtaining CT scan data. It is designed to replace only the broaching procedure, which is known to be the most error-prone procedure in the manual surgery. The developed system consists of a surgical robot, a femoral frame, a reamer-shaped block gauge, and a distance-measuring device.

However, the ARTHROBOT system requires a little larger

incision to mount it on the femur. To reduce incision for robot, MIS robot with 3-DOF for THA (Fig. 7 (b)) was developed in our research group [20]. To fix robot on femur, a cylindrical mechanism is inserted into the femoral cavity and the robot is attached on that instrument. The MIS robot for THA was tested with several plastic bones and bovine bones.

We also developed a navigation system for alignment of acetabular cup at pelvis. Though conventional navigation systems help to insert cup exactly, they have shortcomings such as bulky size, high cost, and additional surgical procedure. Our navigation system is compact, light and bone mountable. It is composed of 3-DOF electro-mechanical linkages, and shows the inserted cup angle on monitor in real time.

B. Surgical Robots for Minimally Invasive Surgery (Surgical Robots for Laparoscopic Surgery) The surgical robot system for MIS consists of three parts, a

compact camera hold robot, dexterous slave manipulator, and a master controller. The compact laparoscopic assistant robot,

called KaLAR (KAIST Laparoscopic Assistant Robot), was developed to replace the assistant surgeon as shown in Fig. 8 [21]. It was designed to increase convenience and reduce possible interference with surgical staff. Unlike the conventional huge laparoscopic assistant robots, the KaLAR system was miniaturized as much as possible by confining the majority of motions inside the abdomen. For this purpose, a bending mechanism composed of several hollow cylindrical short links was adopted to produce motions inside the abdomen. The robot can generate 3-DOF motion, including 2-DOF internal bending motion and 1-DOF external linear motion. Since the robot itself functions as a laparoscope, a small CCD camera module and a bundle of optical fibers were integrated as part of the system. In order to control the robot effectively, a voice interface and a visual-servoing method were implemented and integrated.

A dexterous slave manipulator as shown in Fig. 9, that can

mimic the human whole-arm 7-DOF movement, has been developed to offer intuitive use and to maximize the number of degrees of freedom inside abdominal wall. The developed system has three rotational joint at shoulder, two rotational joint at elbow, two rotational joint at wrist. For set-up process, there is one translational joint. The slave manipulator is driven by wires. The maximum diameter is 15mm.

Master manipulator to control slave manipulator similar to

human arm is shown at Fig. 10. Master system is composed of 6-DOF linkage and 3-DOF linkage. A surgeon can manipulate the dexterous slave robot arm using handle that is attached at the end of 6-DOF mechanism. To define redundant joint position at slave manipulator, the surgeon’s elbow height is measured with 3-DOF linkage. The developed master system is balanced with weight.

Our final goal is development of laparoscopic surgical robot system that consists of KaLAR, dexeterous slave

Fig. 9. Dexterous slave manipulator

Passive Holder

Bendable Mechanism

Optical Fibers

Actuators for Bending

Linear ActuatorAttaching Mechanism

Fig. 8. The compact laparoscopic assistant robot, KaLAR

Fig. 7. (a) ARTHROBOT, (b) MIS robot for THA

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manipulator, and a master manipulator

C. User Trials In order to assess the performance of ARTHROBOT, a

series of experiments using the artificial sawbones, the pig femurs, and the human cadavers were performed. The experiments with six human cadavers reveals that anteversion angle, varus/valgus angle, flexion/extension angle, change in leg length, and the surface conformity are 0.02±2.73°, 0.98±0.39° and 0.51±0.87°, -0.88±1.26mm, and about 95%, respectively. These experimental results mean that the performance of ARTHROBOT is comparable to other surgical robots that use preoperative planning with CT scan data.

The navigation system was verified with modeled plastic pelvis(#1301, Large Male Pelvis, SAWBONES®, USA). The orientation of acetabular cup is defined with two angles, abduction and anteversion. Accuracy rating of 1.4° and 2.1° were found for the abduction and anteversion of the acetabulum component. The angle error is expected that is applicable in total hip arthroplasty.

In addition to model bone test, the navigation system was tested at operation room by experienced surgeon. In pre-planning step, surgeon decided desired angle of cup using patient’s radiographic image. In surgical room, our navigation system was used to measure the inserted cup angle. After surgery, the result was estimated by radiographic image. In clinical test, the surgeons evaluated that our system had feasibility for application in operation room. It was verified that our system was able to attach on patient’s pelvis.

The performance of the KaLAR system was verified through three in vivo porcine cholecystectomies by surgeon. The experiments showed that the KaLAR system has comparable functions to the previously developed system and solo-surgery with KaLAR can be performed in real operation.

V. CONCLUDING REMARKS Experience gained from the development of the assistive

systems has indicated to us the following directions for future improvements:

1) The development process should involve the users not

only in defining tasks but also in each step of the design process: survey, questionnaires, and statistical analysis; needs analysis, task analysis, and function analysis; design; implementation; evaluation; analysis; redesign (revision), etc. The feedback must include technical aspects as well as the

user’s acceptance and the aesthetic design. 2) Intention analysis and prediction should be used more

widely to achieve greater human-friendly interaction and human-centered technology.

3) The technology will be further oriented toward custom-tailored design where the modular-type components of the system will meet the individual needs and characteristics in a cost-effective manner. Such technology will be applied not only to the hardware systems but also to the assistive service itself, called “personalized service,” in accordance with the user’s preferences.

4) To understand the intention and the preference of the user more effectively, it is necessary to model and handle human factors, which are usually obscure, time-varying, and inconsistent. To deal with this difficulty, a learning capability for the system is essential and plays a key role in effective human-machine interaction.

ACKNOWLEDGMENT All authors would like to acknowledge various forms of

help in developing assistive systems from professors and their student staff in the human-friendly welfare robot system engineering research center (HWRS-ERC).

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