Service Robot for Care

Gesubsidieerd door het Ministerie van Economische Zaken en de Provincie Noord-Brabant

Kees van Hee

2Teleoperated Service robots

• Two components: master = cockpit and slave = service robot • Goal: service robot can perform all human manual actions, at least at any

place a human can do it• The (human) operator may overrule the control completely

Manipulationdevices

Feedbackdevices

processor

master

internet

3Tele-operations• Ultimate form of remote control• Manual actions over a great distance• Extending human manual reach at world scale• Uncouple the place of action from the place where the action is devised

Compare it with electricity: the place where it is produced is uncoupled

from the place where it is consumed

Therefore: Teleoperations is a new Industrial Revolution!

4

Examples of teleoperations

5What service robots can do more…• Service robots can do more than a human:

– Moving with more power– Moving with different speed– Moving over greater distance– Moving with more precision– They can multiply actions– They can work at place a human does not want to be

• We can program them for special tasks (more autonomy)• They can learn from example actions (learning by doing)

Service vs industrial robots

Service

• Arbitrary tasks • Non routine tasks• Relatively slowly• Moderate accuracy• Visual servoing, haptic feedback• Navigation• Acting safely in a human

environment

Industrial

• Programmed tasks• Only routine tasks• High speed • High precision • Controlled by position• Static or moving over fixed rail• Industrial environment (safety

cage)

6

Application domains

7

Sector Kans Eenvoud Werk Benefit Consortiumlogistics bagagehandling 16 23 18 14 10 81 1

domotica thuiszorg 16 21 17 10 10 74 2

medisch straling 15 25 13 9 10 72 3

manufacturing bouw 13 19 15 17 7 71 3

aerospace robotarm 9 16 16 18 10 69

manufacturing off shore 12 14 19 19 5 69

manufacturing oliewinning 9 14 19 17 6 65

defensie mijnenvegen 15 15 17 12 6 65

zorg patient tillen 9 22 16 12 6 65

automotive driver assistance 14 17 14 13 5 63

agrarisch tuinbouw 13 23 9 7 10 62

medisch chirurgisch 10 7 19 19 6 61

nucleair handling 10 13 15 15 8 61

beveiliging bewaking 12 18 14 13 4 61

cleanroom handling 12 21 12 11 4 60

service office 6 17 16 9 6 54

service off shore 12 9 10 15 5 51

domotica entertainment 8 14 13 6 5 46

Overall

Why Service Robots in Home-care?

• Cost of care is increasing dramatically• In a few years there will be more new jobs needed in

(home) care than new employees entering the labour market

• Care clients want to live at home longer• Care clients want to keep there independence and

privacy

Care from a distance (current situation)

• Video communication to support people at home

• Fall detection• Alarming, signaling

Only information exchange;

No physical intervention at

the client site

Mextal, Marcel Gielen 9

TSR Project

• Goal: to build a demonstrator tele-operated robot for home care en perform experiments in a home environment

• Budget: 2.7 milion Euro• Duration: October 2009 until Juni 2012• Subsidienten: Dutch Ministry of Economic Affairs &

Province Noord-Brabant• 11 partners: 7 MSE, 3 research, 1 care organization

Setup

11

12

Daily Life Activities

Use Cases

13

Turning on the light Opening Doors

Pouring Drinks

Heating aPre-cooked MealBringing Breakfast

Items

Personal Alarm

Iterations

14

Phase 0 Phase 1 Phase 2

Rose 0: March 2010

• Goal: Proof of concept• First control experiences:

• To grab something manually is difficult

• Perceiving Depth is difficult• A wheel chair is too big and heavy

for autonomous navigation in home

Rose 1: March 2011• Goal: The first workable demonstrator• First experiments with home-care

employees and control from a distance• Enthousiastic Operators• First automated Tasks: Grab - Place• Task space needs to be increased• Two wheel drive is not manouvrable

enough• Development in home environment is

an enormous boost

Rose 2 (Rose): March 2012• Goal: A new robot based on

previous experiences• Experiments in home, with

home-care employees and clients• Enthousiastic clients• More autonomy, towards useful

applications• Concept fully operational

18

User perspective

• Human-Machine Interaction• Social behavior• Safety and reliability• Cost-effectiveness

Technology perspective

• Navigation while carying objects• Visual servoing• Object recognition (from database)

19

Challenges (1/2)

Challenges (2/2)

20

• Self-learning system: programming-by-exampled

• Haptic feedback• Software architecture:

plug and play

New use cases (1/2)

21

Contact with Care Centerand relatives

Memory support

Emergeny support Serarch, get and bring

New use cases (2/2)

22

Shaving support Preparing a simple meal

Dish wasser loading Table cleaning

TSR as household assistant

• Many applications: e.g.– Feeding the cat when you are at work– Watering the plants in your holiday home

• Same technology!• ´A robot in every household´ (Bill Gates)

23

Market for care robots

• 2.2 M people over 65 in Netherlands• 10% is a potential TSR user: 220.000• 5% will really use it: 11.000• Lifecycle: 5 year • Yearly replacement: 2.200 stuks• Price per robot: 20.000€• Market: 44 M€ per year

only the Netherlands!

24

Business Case (1/2)Three alternatives:

1. Rose 24.7 + professional care 2 hr p. day

2. Permanent care+ professional care 1hr p. day

3. In elderly home

Yearly cost:

4. 58K

5. 270K

6. 70K

25

Business Case (2/2)

• Rose with continuous operator assistance: € 29K (€ 6K robot, €23K shared operator(1/15))

• Professional care 1hr p. day: € 14,6K (€ 40 p. hr)• Break even:

3 hr p. day prof. help = continuous robot assistance

alternative 1: 6K+23K+29K= 58K

26

Economical impact

• Roll out in other countries• Expanding to other application domains• Creation of a new industry, using existing suppliers• New services: consultancy and taylor-made software• Challenges for existing industries: teleoperations

27

Other Domains

• Care institutions• Holiday homes• Office Environment• Maintenance Complex installations• Clean-rooms• Security

THANK YOUGesubsidieerd door het Ministerie van Economische Zaken en de Provincie Noord-Brabant

Rose 1 Autonomous in Waalre

30

Rose 1 from the Care Center

31

In Veldhoven, at 15km distance

Rose 1: Handover and Opening a Bottle

32