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Needs and solutions - Home automation and service robots for the elderly and
disabled

Conference Paper · September 2005

DOI: 10.1109/IROS.2005.1545387 · Source: IEEE Xplore

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 Needs and Solutions - Home Automation and Service
Robots for the Elderly and Disabled
Panu Harmo, Tapio Taipalus, Jere Knuuttila, José Vallet and Aarne Halme
Automation Technology Laboratory
Helsinki University of Technology
P.O.Box 5500, FIN-02015 HUT, Finland
[email protected]

Abstract – Numerous studies in the field of service robotics be mobile, like in case of [1]. But then we can ask if it is a
for elderly and disabled have been done. However, the overall robot any more.
user needs are rarely deeply considered. This work surveys the Home automation is more than an automated air-
needs and challenges for assisted living at home for the elderly conditioning system. Home automation includes some form of
and disabled. Automation technology solutions for today and for
home network and intelligence or logic distributed around the
the future to help the people to live better, safer and longer are
researched. network or centralized on a specific control unit. Survey about
This work is part of Future Senior Living - Assistive home automation options can be found from [2].
Automation –project. This project is shortly described. Research This research is based on literature study, questionnaires,
consists of three phases. In questionnaire-study phase opinions demonstrations and interviews. Our research tries to find
and needs for home automation and home robotics are analyzed. technical solutions for assisting independent living at home.
Interview-study phase includes interviews with different We found that, naturally, it was important to find out the exact
specialists, the elderly and disabled themselves, and excursions to needs and problems on the field in order solve them.
care houses and other related institutions. Literature-study The research project is described chapter 2. The methods
reveals user needs as well, but it concentrates more on solutions
are explained and results are presented in chapters 3 and 4. In
than the other phases. Multiple needs and solutions were found.
They have been discussed and the results are presented in an chapter 5 results are analyzed and discussed.
organized table. II. ASSISTIVE AUTOMATION
Index Terms –home automation, elderly care, home care, A. Goals
service robots, assistive technology Assistive Automation (AA) project is a part of a larger
research project called “Future Senior Living” (FSL). This
I. INTRODUCTION larger project is trying to find solutions, not only technical
The structure of population in the industrial nations is ones, for elderly people to live better, safer and longer at their
changing. There will be less people to take care of increasing own homes. The solutions can be new services, architectural
number of elderly people. This problem is motivation to solutions or social innovations. The FSL research group
numerous studies also in robotics and automation. Instead of consists of engineers, architects, designers and heath care
moving to care institutions, it is more desirable and often professionals.
economically viable to live at home as long as possible. We
are developing technology for the elderly to help them to live B. AA project implementation
longer at their own homes. The AA project consists of technology reviews, user
Technology research and development is too often only interviews, designing and building of demonstration systems
targeted for young technically oriented people. Even in and demonstrations for the public. The technologies of interest
product testing and evaluation elderly people are rarely used. for the AA project are home automation networks, home
Much of the research is concentrated on some very narrow servers, home robots, wireless communications and RFID
fields without specific and analytic research about the user technology.
needs. This research tries to find and analyze the technology Home server or home service gateway is an intelligent
needs of elderly people and to give some prospects for the device that connects home and home devices to the outside
solutions. world, namely the Internet. Home server also acts as the
The technology here is concentrated on home robots and automation controller of the home systems. An example of a
home automation. The term “intelligent home” is often used use scenario is home activities monitoring. If there is an
for home automation. The home robots are mobile robots abrupt change in the level of activities as measured by various
operating in challenging home environment. If a robot is not sensors at home, a notice or a warning is sent to outside home
able to manipulate anything, it still can be useful for collecting helpers.
or providing information. Home robot does not even have to In order to collect information and to control the various
devices and activities at home, a home network, wired or
wireless, is necessary. The home automation activities include
security, entertainment, communications and environment furnished and equipped to give a realistic impression how the
control. Some of these activities require fast real-time various devices and systems work and look and feel in real
communications, some slow reliable wireless communications life. People can walk in and they are welcome to try out most
etc. It is the task of the home server to connect the various of the things themselves. The products are mostly
devices and networks together. commercially available. The companies, whose products are
A home robot is a mobile device for moving about, on display, pay a yearly fee for this.
performing tasks such as vacuuming, measuring,
communicating, fetching objects etc. A stationary robotic arm
could also be used for helping people get out of bed, to move
objects in the kitchen etc. Robotic development for home
assistance is still in its early stages. In Fig. 1 are presented
information home robots used in project.

Fig. 2 Bedroom of another apartment in Toimiva koti

The personnel of TK take part in the AA project research

by assisting in specifying the user requirements for a home
automation demonstration system. The TK personnel also
assist in the user interviewing.
III. METHODS
Fig. 1 Information home robots used in Assistive Automation project. The There are two approaches in this research. First needs are
wheeled Rolloottori on the lef and the ball shaped Rollo on the right.
researched and then solutions for the needs are constructed.
For researching the needs questionnaires were used and
RFID tags, wireless sensors, multimodal user interfaces,
interviews done. Co-operation with the other groups from the
networked appliances, image analysis, wearable health
Future Senior Living project provided us with much
measuring and monitoring systems, video communications,
information and ideas. Solutions for the needs were studied
and virtual models are just some of the new technologies
from literature, invented by our team or they were provided to
whose applications to assistive home automation are
us during the interviews.
researched in this project. A more detailed description can be
found in [3].
A. Questionnaires
In conjunction with demonstrations of home automation
C. “Functional Home”
and home robotics at TK, answers to our questions were
AA project includes a group of partners that are financing
gathered. Visitors visited the showroom and saw the
the work and are interested in the results. These partners range
demonstrations. After the visit they were given questionnaires
from a communal social services department, associations for
that each person filled out individually. Many of the visits
the benefit of the elderly and disabled, to technology
were done in groups, but also individual visitors were
companies. Automation Technology Laboratory (AUT) of
requested to participate.
Helsinki University of Technology (TKK) cooperates closely
The visitors were asked how interested they were in
with Toimiva koti (TK) (Functional Home), a showroom and
various home automation and robotics features and
information center for accessible living. Visitors with different
technologies. The respondents’ views on home care services
backgrounds come to TK to find devices, services and
were also enquired.
solutions for accessible living for elderly and disabled people.
The first part of the questionnaire study was done during
Many people, who are planning to build or to buy a new
fall 2003 when 83 persons responded. The second part will be
home, where they want to live through out their retirement
done during spring 2005 when approximately additional 100
days are visiting TK. It is located in the City of Helsinki and it
persons will participate.
is funded by the City.
The questionnaire was divided into four sections: 1)
TK consists of two show apartments (Fig. 2), two
general interest in assistive solutions at home, 2) interest in
exhibition rooms and a lecture room. The apartments are
home services, 3) interest in home automation functions and equipped with a camera and speech recognition in order to act
4) interest in home robotics. The first two sections were more as a user interface for other home appliances. For that and for
general and mostly dealt with things on display at TK and contacting the robot from remote location, for surveillance
services that could be provided. The last two were effectively purposes, the robot has wireless communication link.
about functionality that could be provided in the near future. Homma et al. [9] present a four degree of freedom leg
The questions were formulated as “What interests you?” rehabilitation system. For rehabilitation after operations etc.
and the respondents were asked to circle their answer on a some joints or limbs need to be exercised while the patients
scale from 1 (not interested) to 5 (very interested). In the are not yet able to do it by themselves. This requires
home automation and home robotics sections they were also monotonic and hard manual work, but with robot like this,
asked to estimate a rough price they might be willing to pay manual work could be reduced and the amount of treatment
for one feature of a system. There was also space for increased.
comments or new suggestions for services. T. Maeda et al. [10] present pet-type robot for elderly.
The questionnaire was anonymous, but some background The robot acts as a companion for lonely elderly when it is
information was requested. Majority of the participants were treated as a pet. It also has some information functionalities
health or social care professionals. Only about half of them like telephone and CCD camera whose pictures can be sent
provided their age, but of those who did, were between 18 and via internet.
69 years, average being 45 years. A clear majority were Gimenez et al. [11] present a manipulator service robot
women. With this sample size, it is not possible to make a for disabled and elderly. The robot itself is an arm that has
distinction between different types of respondents, so the control electronics built in. The arm is a separate unit that can
responses were treated as one group. be connected to sockets in different locations (wheel chair,
kitchen wall or bedroom ceiling) for operation. The robot gets
B. Interview its power trough the socket.
Assistive Automation project had meetings and discussion
IV. RESULTS
sessions with a multi profession audience. There were people
present from care giving organizations, care giver educational A. Questionnaire: General assistive solutions (±0.26/99%)*
institutes, help instrument manufacturers and researchers. In this section, the respondents were most interested in
Some interviews and discussions were also done as accessible living in general. When asked about particular
personal meetings and personal mail exchange. No specified features, aids for mobility (avg. 4.4 on a scale from 1 to 5) and
questions set was used because the interviewed people were lifting (4.3) were the most important. They were followed (in
specialists in their field, and the questions concerned this field order) by aids and features in washroom/toilet,
of specialty. Examples of these people are: communication, kitchen, security, health care, furnishing,
z Development Manager, care service provider for physical exercise, vision and hearing (3.8). Environment
elderly (Finland) controls (3.6) were the least interesting in this category. The
z General Manager, Help instrument manufacturer environment controls that are installed in TK include opening
(Finland) and closing doors, windows and blinds and turning lights on
z General Director, Deaconess Institute (Germany) and off. These are the closest features to home automation.
z Physiotherapist, TK (Finland) The result might suggest that these features are not needed,
z Senior caretaker, Home care association of elderly but it also might mean that the currently available systems are
(Finland) not yet useful or sophisticated enough.
Excursions were done to care institutions like:
z Havukoti, care home for mentally disoriented elderly B. Questionnaire: Home services (±0.29/99%)
(Vantaa, Finland) The services mentioned were slightly less interesting than
z Kampin palvelutalo, care and service house for the devices and solutions in the first section. The most
elderly (Helsinki, Finland) interesting, personal hygiene (4.2) and security service (e.g. a
z Altair Aoba, care house for elderly (Sendai, Japan) wristband with an alarm button that calls a security service)
Knowledge has been gathered during three year period (4.1) were slightly above the rest: food service, electrical
and mainly by three researchers. communication system, use and maintenance of home
appliances, outdoor exercise help, transporting people and
C. Literature Study goods and helping with shopping, banking etc. (3.7). Home
Wide variety of literature was used to do the literature maintenance (3.4), manicure, pedicure etc. (3.2) and pet
study. Naturally journals [4], conference publications and walking and care (2.7) were clearly less interesting.
health care and technical thesis works [5]. Also publications
[6] from health care institutions and books like [7]
Here some examples of researches around the topic are
described. Yoshimi et al. [8] proposes robotic information
*
home appliance. This wheel based information robot is Values in this section are averages on a scale from 1 to 5 with maximum
±0.26 confidence interval of 99%.
C. Questionnaire: Home automation (±0.36/99%) target group. Surprisingly though half of the people estimated
In this section people were asked about their interest in the price they were willing to pay and the average settled to
features that were or could fairly easily be available using 790€.
current technology and home automation.
The most interesting feature to the visitors was a stove E. Interviews
alarm system. It monitors the use of the stove and any Different kind of people gave different kind of view
movement in the kitchen. If the stove has been on unattended points to the problems. Care workers indicated that the biggest
for a certain period of time, a reminding message is shown to problems or the hardest tasks were lifting, dressing and
the user by the robot. If he still does not check the situation, undressing the patients. On the other hand it was pointed out
the stove will be turned off automatically. This system got an many times that a correct technique for lifting could reduce
average of 4.7. The next system was meant for reminding of the tress significantly. The task that takes most of the manual
and possibly also dispensing it and got an average of 4.1. labor and is experienced troublesome in the elderly care house
Further features in order of decreasing interest were is feeding of the elderly. Hygiene of the elderly was also seen
• Delivering messages and controlling equipment with as a problem. Often the elderly participate in the food
mobile phone (4.1) preparation, as a meaningful activity, but it is difficult to
• Universal remote controller for TV, radio and assume their hand hygiene. Personal hygiene, washing or
environmental controls (3.9) bathe assistance, is also difficult and time consuming task.
• Key reminder, which reminds the user to store the keys in Management of the care workers or nurses saw different
a certain place and take them when going out (3.8) problems. Time management was seen as a problem,
• Activity monitoring, alerts care personnel if there are especially in home care where distances are long (in Finland).
changes to normal activity levels (3.7) Because of the long distances, home care workers seem to be
• Environmental controls by voice (3.6) more car drivers than care workers. Also the so called false
alarms were seen as a problem. The care worker has to drive
• Notification of mail in mailbox (3.1)
to the location to see what was the reason for pressing the
A very basic home automation system was already built
emergency button. The reason could be that the patient had
by ATL to demonstrate the mentioned capabilities. About
itchy back or needed somebody to talk to.
70% of respondents estimated the price they were willing to
Elderly themselves were concerned about their safety.
pay for one single feature. The average was at 560€. This
They had many reasonable and some not so reasonable
suggests that there is significant interest for this kind of
threats. They were afraid of falling down on the floor and not
systems.
being able to get up. They were also afraid of being robbed, or
even getting toxic gases from ventilation or spacemen
D. Questionnaire: Home robotics (±0.34/99%)
shooting rays at them. One major concern was loneliness. The
The demonstration system also included a small, wheeled
elderly wished to have more contacts with other people.
home robot that has a screen for displaying messages, a
Naturally, contacts with friends and relatives was preferred,
camera for transmitting the image and several other devices.
but almost any company to break loneliness would be
This robot was however not always present. This might have
appreciated. One remarkable thing was the fear of technology.
affected the results, since for many people, a “robot” often
New house appliances that they were not used to use were
implies a humanoid robot. On the other hand, a commercial
suspicious. They were afraid that the device would harm them
vacuuming robot was on display, which in part explains
or they would break the expensive device. Also different kind
people’s interest in it.
of safety wristlets and other sensors and equipment
The features in decreasing order of interest
continuously worn were not very popular. They felt them as
• Robot warning about dangers: break-in, fire, carbon itchy, heavy and ugly or some other way irritating.
monoxide, water damage (3.8)
• Vacuuming robot (3.8) F. Solutions
• Robotic manipulator, reaches for objects on the floor and Table I is gathered from these raised problems. It shows
in the upper cupboards (3.6) the problem field in somehow organized way. There is no
• Robot reminding about medicine, mail etc. (3.3) weighting in importance of the problem indicated but only the
• Robot as a mobile communicator, video phone (3.0) problems seen as key factors hindering elderly people live at
• Robot as a moving surveillance platform (2.8) home are selected.
• Robot as an entertainer (2.5) The Table I has been divided to four columns and the first
The interest towards home robotics was significantly column describes the problem from the patient’s point of
lower compared to other categories. Especially interesting is view. The second column presents the way how the needs are
that robot as an entertainer was not considered interesting. traditionally fulfilled. This is studied at the same time with the
Entertainment is one of the few uses that robots (such as needs and problems. Mainly the information is from visits to
Aibo) have been sold to private homes. One explanation might the care institutions and interviews with the care workers, but
be that the respondents were from a completely different also the questionnaires are used. Next column presents the
robotic technologies used in real applications or available visits to care institutions and by interviewing. Some solutions
today. A criterion here is that the product or technology has to are found from literature like [6]. The last column, the robotic
be commercial. They are found from manufacturers like the technology under research, is studied by reading relevant
Aibo entertainment robot from Sony. They are also studied by journals and conference publications.
TABLE I
AUTOMATION FOR CARE WORK OF ELDERLY AND DISABLED

Need, problem Examples of known Automation Automation Need, problem Examples of known Automation Automation
or difficulty solutions technology or technology or difficulty solutions technology or technology
support or support support or support
available under available under
today research today research

Loneliness Home nursing, day Entertainment Emotion Walking Walking sticks, Electric Robotic
centers, TV, robot robot[1], (physical wheelchairs, walkers wheelchairs, walkers[17],
enhanced information support) and rehabilitation power assisted exo- skeleton
communication: home robot[3, training bikes robots,
Internet, email, 8], intelligent automated
mobile phone home[2] electric wheel
chairs
Preparing food Food delivery, home Robotic Intelligent
nursing, ready made manipulator home [2] Reduced Rehabilitation Power beds, Manipulation
food, food automat [12] muscle power training, home body lifters robots [16,
nursing 18]
Eating Home nursing, easy Feeding robots -
to eat foods, special [13] Memory losses, Reminder devices, Electrical Information
design for fork, dementia notice boards, diaries home robot
spoon, knife or chop relatives and nurses, [8], intelligent
sticks diaries home [2]

Medicine Home nursing, Intelligent Intelligent Reduced fine Home nursing, easy Robotic Automated
dispensing refilled medicine medicine home [2, 3] motoric skills, to use objects: mugs, manipulators robotic
control containers dispensers [14] shaking hands taps, door with special UI manipulator
handles … [16, 18]
Cleaning Cleaner, home Floor cleaning, -
nursing, vacuum window Reduced vision Eye glasses, voice Text to speech Information
cleaner, motorized cleaning robot indicators in programs, home robot[3,
window cleaner [15] devices, indication speech- 8] , guidance
with texture or recognition robots[18]
Shopping Home nursing, Internet shops Intelligent position (Braille programs
delivery services, with delivery home aware writing, grooves,
catalog shopping of lack of switches …)
products [2]
Motion of the Rehabilitation One DOF Multiple DOF
Personal More easily Bathing robot - completely or nursing, self rehabilitation rehabilitation
hygiene accessible toilets, partly paralytic powered exercising devices devices or
functional toilet limbs machines robots[8]
seats, home nursing,
toiletry devices for Reduced Hearing devises Speech- Information
bed, moveable toilet hearing (sound amplifiers), recognition home robot
seat paper and pen, programs [7]
written information
Passivity Day centers, Entertainment Home robot
therapy, club robot [8], Emotion Heart attack, Emergency buttons, Teleoperated Intelligent
activities robot [10] epileptic fit, home nursing cameras home [2],
etc. home robot
Communication Easy to use phones, - Information
, mobile phone, simpler email home Clothing and Home nursing, help - -
email programs robot[8], undressing instruments
intelligent
home [2]

Walking Servants, furniture - Manipulation

(reducing need) arrangements robots [16]
 V. DISCUSSION [7] T. L. Harrington and M. K. Harrington, “Gerontechnology Why and
How”, Herman Bouma Foundation for Gerontechnology, 2000, ISBN 90-
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Hirokawa and H. Ogawa, “Development of Concept Model of a Robotic
their homes. However, very few systems are available on the Information Home Appliance, ApriAlpha” Proceedings of IEEE/RSJ
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addition to the price of the devices, installation costs for (e.g. Sendai, Japan, 2004, pp. 205-211.
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