Group members

Joris Dalderup 0942945
Frouke Hekker 0897373
Ellen Vugts 0892371
Bram Wieringa 0893231

Note that Mireille Moonen has dropped out of the group!

Preliminary planning

Planning

Week	Dates	What	Whom
1	24-30 April	Problem definition Context Planning Presentation Research about state of the art Computer Vision (CV) Appearance Behaviour Make appointment with secondary users Brainstorm: what to put in interview/questionnaire? 27/4 deadline planning 24/4 meeting 1 25/4 meeting 2	All All M & E J & F J & B M & F E & F E TBD M & E M & E M & E
2	1-7 May	First presentation (max. 10 min) Computer Vision (CV) Recognition of humans Recognition of faces Appearance Prepare interview/questionnaire with nurses in home care Behaviour Literature study on human robot interaction	J & F J & B E & F M
3	8-14 May	Computer Vision (CV) Recognise people in different positions Appearance Conduct interview with team of nurses Process results of interview Behaviour Come up with features based on interview and literature study	J & B E & F M
4	15-21 May	Implementation results interview: Decide upon features of robot	All
5	22-28 May	Bring all the components together Preliminary design Seek flaws	All
6	29 May to 4th of June	Decide upon final design, give descriptions and make diagrams	All
7	5-11 June	final design Discussion Conclusion Extra time if necessary	All
8	12th of June	Final presentation	All

Task, Who+deadline, Duration, Finished? Planning, ME 27/4, 1:00 Presentation, JF 30/4, 2:00 Research, decide which subject to discuss; All 1/5; 6:00

Week 1

Minutes 24/4

Discussed: Ellen and Mireille looking for what is needed in healthcare, asking nurses, looking in the feeld where the problems occur with caring for people and people caring for themselves. Everyone will look what is state of the art about lifting people autonomously, what can we improve about this technology and what will be the future challenges Next meeting: 25/4 12:30 Fixed meetings: every monday 9:00-12:30

Minutes 25/4

what subject do we want to choose concretely? The “robear” is very similar to what we had in vision, it can lift up people. This robear doesn’t have robot vision yet, so we can see if we can improve this aspect so that we can lift up a person in every position. Is this not a too small concept? what can our end goal be? making an autonomous robot which can lift people what do we need to accomplish? who are the users? first, secondary users knowing what is state of the art, what do people think of the current lift possibilities how does it need to look like design a concept knot cutting we take the robear as state of the art, we want to create a lifting robot that can operate autonomously without supervision, which has an appearance which people appreciate points to do: specify how the robear exactly operates what are the points to improve, what is missing doing field research with the secondary users (week 2) doing field research about our final concept designing the appearance simulating the navigation value sensitive design computer vision ...

with every point we: search the state of the art we identify what is missing or can be improved we design a better solution

combining every component to create our final robot on paper

Tasks: Joris and Frouke will make the presentation and will presentate on monday Ellen and Mireille will make the planning specific and in detail

Week 2

Minutes May 4th Present: Frouke, Ellen, Bram (first half), Mireille (second half), Joris (second half)

Topic: interview Discussed: what questions are relevant? Take out double questions, don’t spend too long on nurses’ complaints/physical injuries. What questions should be added? More questions about emotions of client and how to reassure them while moving. Questions about improvement of RoBear: user interface with touch screen/sound. What functions does the nurse think should be added? Discussing values. What values are important? How can we directly link norms, rules of conduct or the robot’s behaviour to these values?

Topic: user interface on robot Search for articles on communicating with client. How a robot should approach a person, give information, use sounds and commands. An extra which we will not use: robot that takes initiative in lifting person, e.g. wake up function

Topic: Computer vision: detect person and its body parts Programme can recognize a person’s face and its body in standing position To do: body in other positions (lie down, kneeling, …)

To put on the wiki: Preliminary interview, minutes, progress on computer vision (short description)

To do: Think of concrete questions to ask the supervisors. Discuss interview, are there any improvements? Short demo on c.v.

Week 3

Minutes May 15th

joris and mirielle were absent. the teachers expressed their concerns about never having seen mirielle.

Because the wiki wasn’t updated the meeting started of with explaining what we had done this week. The biggest problem right now is that our problem statement is still too broad.

a few options were suggested but we are encouraged to think of our own:

changing the sheats
getting in to a wheel chair
fluffing pillows

We have to chose how healthy the person is and why we want to lift him (where does the person need to go, it is difficult to put someone in a chair). We have to make a scenario explain why we have chosen that.

It would also be fine if our end result is a prototype that lifts a potato sack, if we can explain why it is relevant.

the deadline for a more confined goal on the wiki page is 16-5-2017

---------------------------------------------------------------------------------------------------------------------------

after the meeting meeting

wat we hebben:

computer vision
sociaal

veilig
comfortable

redenen voor optillen

bed verschonen
kussen op kloppen
van liggend naar staand (bestaat dit al?)

conclusie:

Senario

liggend naar staand
gezond maar zwak persoon

inleveren

serie van handelingen om iemand op te tillen
algemeen design (vorm van de armen, aantal armen)
script
resultaten met uitleg

==Preparations for interview, identifying values==
Interview
Identify the context, user and tasks of the robot
What are important values for the care givers?
What are important values for the care receivers?
Can there be linked concrete norms to these values?

Work done beforehand:

Care robot:
Care for persons
“Designed for use in home, hospital, or other settings to assist in, support, or provide care for the sick, disabled, young, elderly or otherwise vulnerable persons” (Vallor 2011)
Tasks
Assisting in caregiving tasks
Monitoring a patient’s health status
Providing social care or companionships
Some level of autonomy
Require minimal human input, but are still human-operated
“interpretive flexibility”: a robot is defined by its context, users and task for use
Three dimensions to ethics of robots:
Ethical systems built in robots
Ethical systems of people who design robots
Ethics of how people treat robots
Care (4 stages, Tronto)
Caring about (recognizing one is in need and what those needs are)
Care taking (taking responsibility for the meeting of said needs)
Care giving (fulfilling an action to meet the needs of an individual)
Care receiving (recognition of a change in function of the individual in need)
Moral elements (corresponding)
attentiveness
responsibility
competence
responsiveness
Needs of care receiver ← → Needs of care giver

Context
Nursing home (e.g. critical care ward for people with dementia)
Values
Safety (of the care receiver and care giver)
care receiver: prevent injury from falling, being squished, choking, being trapped, …
care giver: prevent injury from being run over, being trapped, catching care receiver, …
Trust
Touch
Hands-on care, warm and seemingly “safe” hands/arms
Linked values:
Respect
Intimacy
Human dignity
Patient satisfaction
Nurse satisfaction
Physical wellbeing patient
Psychological wellbeing patient
Compassion
Empathy
Patient-nurse relationship
Competence

Interview

Identify the context, user and tasks of the robot

What are important values for the care givers?

What are important values for the care receivers?

Can there be linked concrete norms to these values?

Context: verzorgingsinstelling waar ouderen zelfstandig wonen in een appartement met eigen keukentje en badkamer, ingericht door de zorginstelling. (aanleunwoningen)

What to check with the nurses:

Functie:

Wat is uw functie? (Verzorgende in thuiszorg, verzorgende in de instelling)

Op welke afdeling werkt u?

Wat is uw leeftijd?

Tilmethoden

In welke situaties moet een cliënt worden verplaatst door middel van optillen? Van welke naar welke houding

Scenario: Wanneer een cliënt moet worden verplaatst van een liggende naar staande positie, welke methode gebruikt u het meest? Beschrijf de methode stap voor stap. (Serie van handelingen)

Zijn er ook andere veel gebruikte methoden?

Hoe bepaalt u welke methode het beste kan worden gebruikt?

Als een cliënt (het aangeeft dat hij) zich niet op zijn gemak voelt bij het optillen, hoe stelt u deze dan gerust?

Ervaart u regelmatig klachten die veroorzaakt worden door het optillen van een persoon? Welke?

Ervaart de cliënt geregeld angst door getild te worden?

Ervaart de cliënt geregeld irritatie door getild te worden?

Ervaart de cliënt geregeld ongemak door getild te worden?

Hoe gaat u met deze emoties om?

Tillift

Hoe verandert de reactie van cliënten op getild worden als er een tillift wordt gebruikt? Denk aan angst, zich veilig voelen, ongemakken, irritaties.

Hoe gaat u hiermee om?

Reageert u hier zelf ook anders op en zo ja hoe dan?

Relatie verzorgende-cliënt

In hoeverre is vertrouwen een belangrijk onderdeel in het verplaatsen van een cliënt?

Hoe is uw relatie/band met de gemiddelde cliënt?

Draagt deze relatie bij in het vertrouwen in het til-proces?

Zijn er nog vragen die ik niet heb gesteld die volgens u nog van belang zijn?

Sources:

https://www.ncbi.nlm.nih.gov/pmc/articles/PMC3662860/ http://dmeforpeace.org/sites/default/files/Boyce_In%20Depth%20Interviews.pdf

Problem definition and setting

Introduction:

All around the world, robots are being introduced in daily life. In healthcare, the prospective is that robots will facilitate elderly or disabled persons to be more mobile and enable them to move around freely. Take for example the scenario where a person has to get up from his or her bed to get up and start the day. Where in earlier days the manual lifting of a person by two nurses was required, the goal is that with present day technology a robot could be used to lift a person for laying down to standing up in a safe and comfortable manner. For this we will improve designs like the RoBear.

The RoBear is a robot that can lift people out of bed. It moves around on wheels and has to big arms that are covered in cushions. its head looks like a bear's head in a cartoonish way hence the name.

However this robot is not yet perfect. A nurse has to help every step of the way and it cannot help to stand if the patient is lying down.

Information gathering

To see how in what degree lifting a person is a problem in healthcare and how it is coped with right now an interview will be held. A few nurses of the RSZK, which stands short for Regionale Stichting Zorgcentra de Kempen will be interviewed as they have more expertise on this subject. This institute facilitates home care and help at home, but also consists of several nursing homes. In the latter, the distinguishment is made between two types of nursing homes the first, where people live that cannot live independently due to old age, illness or a handicap, and the second, where intensive care is given to people that require heavy medical treatments because of severe physical or psychological handicaps, for example after cerebral hemorrhage or dementia.

For this project, we will consider the RoBear as a robot that could be integrated in the nursing homes of the first type. These home centres consist of several care apartments, that are mostly inhabited by elderly people.

Setting: movie from RSZK Mariahof te Reusel. <a href="https://www.youtube.com/watch?time_continue=43&v=f_vElmn44Ms"> https://www.youtube.com/watch?time_continue=43&v=f_vElmn44Ms </a>

This nursing home is inhabited by people that live semi-independently, but receive care they require with some daily tasks, such as help with showering, help with going to bed, medical stockings et cetera. The general lay out of the rooms is similar, all include a bed/living-room with bathroom and an own kitchenette. The room itself is not furnished, so each client is free to place furniture at his or her own liking. However, the arrangement of the furniture must be conform rules that are introduced so that nurses are not impeded in their movement while caring for their client.

Why introduce a lifting robot?

One of the tasks of the nurses is to help the clients out of bed in the morning. The lifting which is involved in this can cause physical injury for the nurses. Such as back-, hip- and knee wear.

Another problem is that there are not enough nurses and the clients cannot get up at the time they want. This lifting robot should give them more autonomy.

Goal

In particular, we aim for improvement of the care practice of lifting a patient in a safe and comfortable way with a certain degree of autonomy. The robot must be able to lift a client in a safe way, which entails that the client can under no condition fall off of the Robear when only one nurse is present to guide the client in the arms of the RoBear. In a later stadium, the RoBear should be able to lift a client safely without any supervision. However, this might be a bridge too far. In particular, we would like to examine and improve the way of lifting.

PRE2016 4 Groep2

Contents