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- Kobayashi, Naoki, et al.
(author)
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Device Improvement by Video Analysis of User Tests: Case Study of a Robotic Assistive Device for the Frail : Case Study of a Robotic Assistive Device for the Frail
- 2019
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In: IET Conference Publications, Volume 2019, Issue CP755. - : Institution of Engineering and Technology. - 9781839530883
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Conference paper (other academic/artistic)abstract
- There is a growing need in recent years for products with high usability. Conventionally, researchers have only focused on the interactions between user and device in carrying out user tests. We have premised our research, however, on the assumption that there exist two users in the use of robotic assistive devices: a frail person, such as an elderly person who needs care, and the caregiver who provides support. As an approach to making a video analysis of a user test, we propose a methodology that focuses on the perspectives of these two users. We used behaviour analysis to compare two videos: one showing a frail elderly person being fed by a caregiver and the other showing the same person eating food on their own with the help of a robotic assistive device. Our finding based on these videos was that the robotic assistive device reduces the burden of caregivers and increases the quality of life (QOL) of the elderly. Also, we discovered that this methodology using video analysis is useful in pinpointing improvements that can be made in the device.
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| 3. |
- Lindborg, Ann-Louise, 1979-, et al.
(author)
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Design approach of a robotic assistive eating device with a multi-grip and camera for frail elderly’s independent life
- 2017
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In: ICRA 2017 Workshop on Advances and challenges on the development, testing and assessment of assistive and rehabilitation robots: Experiences from engineering and human science research.
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Conference paper (peer-reviewed)abstract
- This project aims at making a mock-up of a multigrip tool for a robotic assistive device and a camera systemwhich enable frail elderly to live more independently and tokeep track of their food intake. The robot will be developedthrough user centred design with analyses of real use cases inJapan and Sweden. Thanks to the collaborating researcherswith a strong applied research approach as well as thecompanies with a strong experience in engineering solutionsin both the Japanese and Swedish teams, the functionalities ofBestic, an assistive eating device, could be enhanced forcommercial use, and distributed to municipalities and to thegeneral public
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- Lindborg, Ann-Louise, 1979-, et al.
(author)
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Development of an eating aid - From the user needs to a product
- 2015
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In: Studies in Health Technology and Informatics, vol. 211. - 9781614995159 ; , s. 191-198
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Conference paper (peer-reviewed)abstract
- In this paper, the development process of an eating aid is described. The assistive devices must be worth using. To achieve this, the starting point has been the users need. The development started from the needs of an individual person, the inventor of the aid. The development has been about increasing the positive experience of the aid and decrease negative experience through an iterative development process. The development includes several evaluations, described in the paper, and as a conclusion, it is important to include the users throughout the development process.
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| 5. |
- Lindborg, Ann-Louise, 1979-
(author)
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Usability Requirements for User-Controlled Robotic Eating Aids
- 2021
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Licentiate thesis (other academic/artistic)abstract
- The meal is fundamental in terms of nutrition but also from a social perspective. To be able to eat independently is described as important for the meal experience. The development of a robotic eating aid called Bestic and the evolvement of a list of usability criteria for such an aid are described in this thesis. The work has been ongoing for 16 years. Bestic has been developed through user centred design, an iterative process with reoccurring evaluations and development. The design principle “it is not supposed just to work, but to be worth using” has guided the work. The feedback provided by the users throughout this process has had a great impact on the strategic choices of which features to prioritize during further development and what to keep as it is and has contributed to the list of usability requirements for robotic eating aids. The context in which the robotic eating aid is used is of importance for the usability requirements. To further understand the environment that the robotic eating aid is used in, studies about the meal situation for older people in both Scandinavian/Swedish and Japanese contexts were conducted. The secondary users (care professionals or next of kin) were also taken into consideration when deriving the usability requirements and while performing the evaluations of the robotic eating aid.The most important research outcome from this work is a list of usability requirements for robotic eating aids. The requirements are divided into functional requirements and social requirements. The functional requirements for robotic eating aids include:· how well they work to eat with· how they are controlled· safety aspects· portability· possibility to adapt to different users. The social requirements for robotic eating aids include:· how to fit into the meal situation· not to disturb the conversation· the needs from secondary users.
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| 6. |
- Nyberg, Maria, et al.
(author)
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The meal as a performance : Food and meal practices beyond health and nutrition
- 2018
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In: Ageing & Society. - : Cambridge University Press. - 0144-686X .- 1469-1779. ; 38:1, s. 83-107
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Journal article (peer-reviewed)abstract
- The proportion of elderly people in the population is increasing, presenting a number of new challenges in society. The purpose of this qualitative study was to investigate how elderly persons with motoric eating difficulties perceive and perform their food and meal practices in everyday life. By using Goffman's concept of performance as a theoretical framework together with Bourdieu's thinking on habitus, a deeper understanding of food and meal practices is obtained. Semi-structured interviews were conducted with 14 elderly people (aged between 67 and 87 years) and meal observations were carried out with 11 of these people. Participants were found to manage food and meal practices by continuously adjusting and adapting to the new conditions arising as a result of eating difficulties. This was displayed by conscious planning of what to eat and when, avoiding certain foods and beverages, using simple eating aids, but also withdrawing socially during the meals. All these adjustments were important in order to be able to demonstrate proper food and meal behaviour, to maintain the facąde and to act according to the perceived norms. As well as being a pleasurable event, food and meals were also perceived in terms of being important for maintaining health and as 'fuel' where the main purpose is to sustain life. This was strongly connected to the social context and the ability to enjoy food and meals with family members and friends, which appeared to be particularly crucial due to the impending risk of failing the meal performance.
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| 7. |
- Oka, T., et al.
(author)
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Kineto-elasto-static design of underactuated chopstick-type gripper mechanism for meal-assistance robot
- 2020
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In: Robotics. - : MDPI AG. - 2218-6581. ; 9:3
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Journal article (peer-reviewed)abstract
- Our research aims at developing a meal-assistance robot with vision system and multi-gripper that enables frail elderly to live more independently. This paper presents a development of a chopstick-type gripper for a meal-assistance robot, which is capable of adapting its shape and contact force with the target food according to the size and the stiffness. By solely using position control of the driving motor, the above feature is enabled without relying on force sensors. The gripper was designed based on the concept of planar 2-DOF under-actuated mechanism composed of a pair of four-bar chains having a torsion spring at one of the passive joints. To clarify the gripping motion and relationship among the contact force, food's size and stiffness, and gripping position, kineto-elasto-static analysis of the mechanism was carried out. It was found from the result of the analysis that the mechanism was able to change its gripping force according to the contact position with the target object, and this mechanical characteristic was utilized in its grasp planning in which the position for the gripping the object was determined to realize a simple control system, and sensitivity of the contact force due to the error of the stiffness value was revealed. Using a three-dimensional (3D) printed prototype, an experiment to measure the gripping force by changing the contact position was conducted to validate the mechanism feature that can change its gripping force according to the size and the stiffness and the contact force from the analysis results. Finally, the gripper prototype was implemented to a 6-DOF robotic arm and an experiment to grasp real food was carried out to demonstrate the feasibility of the proposed grasp planning.
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| 8. |
- Oka, Tomohiro, et al.
(author)
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Kineto-elasto-static Design of UnderactuatedChopstick-type Gripper Mechanism forMeal-Assistance Robot
- 2020
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In: Robotics. - : MDPI. - 2218-6581. ; 9(3):50
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Journal article (peer-reviewed)abstract
- Our research aims at developing a meal-assistance robot with vision system and multi-gripper that enables frail elderly to live more independently. This paper presents a development of a chopstick-type gripper for a meal-assistance robot, which is capable of adapting its shape and contact force with the target food according to the size and the stiffness. By solely using position control of the driving motor, the above feature is enabled without relying on force sensors. The gripper was designed based on the concept of planar 2-DOF under-actuated mechanism composed of a pair of four-bar chains having a torsion spring at one of the passive joints. To clarify the gripping motion and relationship among the contact force, food’s size and stiffness, and gripping position, kineto-elasto-static analysis of the mechanism was carried out. It was found from the result of the analysis that the mechanism was able to change its gripping force according to the contact position with the target object, and this mechanical characteristic was utilized in its grasp planning in which the position for the gripping the object was determined to realize a simple control system, and sensitivity of the contact force due to the error of the stiffness value was revealed. Using a three-dimensional (3D) printed prototype, an experiment to measure the gripping force by changing the contact position was conducted to validate the mechanism feature that can change its gripping force according to the size and the stiffness and the contact force from the analysis results. Finally, the gripper prototype was implemented to a 6-DOF robotic arm and an experiment to grasp real food was carried out to demonstrate the feasibility of the proposed grasp planning.
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