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i n v e s t i g a t o r s :
Keith Evan Green
Architecture, PI
I
an D. Walker
Robotics Engineering, Co-PI
Johnell Brooks
Human Factors Psychology, Co-PI

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f u n d i n g :

U.S. National Science Foundation # IIS-1116075

NSF logo

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c o r e   t e a m :
Stan Healy
Healthcare Administration,
GHS
Jessica Merino
M.S. Student, ECE

Tony Threatt
Ph.D. Student, Architecture/PDBE

a s s o c i a t e d  m e m b e r s :
William Logan Jr. MD
Gerentology, GHS
Joe Manganelli
Ph.D. Student, Architecture
/PDBE
Paul Yanik
Ph.D. Student, ECE

i n t e r n a t ' l   m e m b e r s :
Michael Eisenbarth
Experimental Software Engineering
Fraunhofer Institute, Germany
Holger Storf
Experimental Software Engineering
Fraunhofer Institute, Germany


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p a r t n e r :
Roger C. Peace Rahabilitation Hospital of the Greenville Hospital System University Medical Center
GHS logo


home+ lab
Our home+ lab at Roger C. Peace Rahabilitation Hospital

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a d v i s o r y
  b o a r d :
Prof. M. Elaine Cress, Ph.D.
Director, Aging Physical Perf. Lab
Department of Kinesiology
University of Georgia
Marjorie George
Program Director
Alzheimer's Association
SC Chapter
Doris J. Gleason
Director, Community Outreach
AARP-SC
Jane M. Rohde, AIA, FIIDA, ACHA, AAHID
Principal and Architect
JSR Associates, Inc.
Senior Living and Healthcare
Ellicott City, MD

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p r e s s
:

ART has received much press, including:
The NSF's blog for American Stroke Month, 2015.

 

 

 

ART prototype
The Assistive Robotic Table [ART]

30-second video of ART for CHI 2014's "Video Preview"

ART's robotic surface - video

In hospitals, technology has become pervasive and indispensable during medical crises. At home, technology proliferates as computerized health monitoring systems and, perhaps in the future, as assistive "humanoid" robots. Meanwhile, our everyday environments remain essentially conventional: low-tech and ill-adaptive to dramatic life changes. This social condition places strain on healthcare and family support systems, and represents a failure of scientists, engineers and architects to support independent living.

How can our everyday environments be outfitted with intelligent hardware promoting independent living? We focus on a discrete component of our envisioned suite of networked, robotic furniture integrated into existing living environments: an Assistive, Robotic Table [ART]. ART is the hybrid of a typical nightstand found
in homes, and the over-the-bed table found in hospital rooms; it features a plug-in "continuum robotic" surface that supports rehabilitation. We envision that ART and the other components of the home+ vision recognize, communicate with, and partly remember each other in interaction with human users.

The key deliverable of the SHB award is the full-scale, working ART prototype. Our trans-disciplinary team has developed this complex, physical-digital artifact by way of iterative design and evaluation activities that recognize engineering, architectural design and human-centered design as inseparable. Key outcomes of the research are the "continuum robotic" surface as well as an innovative approach to human mobility and its metrics for intelligent, physical artifacts. The key broader impact of the research is ART, empowering people to remain in their homes for as long as possible, even as their physical capabilities alter over time; and, in more grave circumstances, affording people some semblance of feeling "at home" as users and ART move to assisted care facilities.
 
ART with components
ART's key components.

ART with Jessica and Tony in hospitalLearning ART's behaviors from a clinician; ART at the hospital.

ART surface
The innards of our prototype ART surface for post-stroke patients.
[robotic surface video]
.

summative publication:
Threatt, A. L., Merino, J., Green, K. E. & Walker, I. D.  An Assistive Robotic Table for Older and Post-Stroke Adults: Results from Participatory Design and Evaluation Activities with Clinical Staff. In Proceedings of CHI 2014: the ACM Conference on Human Factors in Computing Systems, Toronto, Ontario, Canada, pp. 673–682.
The 30-second "Video Preview for this paper.

publications:
Yanik, P.M., Merino, J., Threatt, A.L., Manganelli, J., Brooks, J.O., Green, K.E. and Walker, I.D. A Gesture Learning Interface for Simulated Robot Path Shaping with a Human Teacher. IEEE Transactions on Human Machine Systems, 44(1): 41-54, 2014.

Merino, J., Threatt, A. L., Walker, I.D. and Green, K.E. Forward Kinematic Model for Continuum Robotic Surfaces. In Proceedings of IROS 2012: the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vilamoura, Algarve, Portugal, October 2012, pp. 3453–3460.

Yanik, P., Manganelli, J., Merino, Threatt, T., Brooks, J. O., Green, K. E. and Walker, I. D. A Gesture Learning Interface for Assistive Robotics Employing a Growing Neural Gas Approach. The IUI 2013 Workshop on Interactive Machine Learning of the ACM Conference on Intelligent User Interfaces, March 19-22, Santa Monica, California, pp. 283-290.

Manganelli, J., Threatt, A., Brooks, J. O., Smolentzov, L., Mossey, M., Healy, S., Kopera, K., Walker, I. and Green, K. Examination of Overbed Tables: Healthcare Provider and User Preferences. Health Environments Research & Design Journal [HERD], 2013 Spring; 6(3): 9-29.

Threatt, A. L., Merino, J., Green, K.E., Walker, I.D., Brooks, J. O. et. al. A Vision of the
Patient Room as an Architectural Robotic Ecosystem
. Video (IEEE archival) in Threatt,Proceedings of IROS 2012: the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vilamoura, Algarve, Portugal, October 2012, pp. 3322–3323.

Yanik, P., Manganelli, J., Merino, Threatt, T., Brooks, J. O., Green, K. E. and Walker, I. D. Use of Kinect Depth Data and Growing Neural Gas for Gesture Based Robot Control. Proceedings of PervaSense2012, the 4th International Workshop for Situation Recognition and Medical Data Analysis in Pervasive Health Environments. San Diego, California, May 21, 2012. pp. 283-290.

Green, K.E., Walker, I.D., Brook, J. O. and Logan, W.C. Jr. comforTABLE: A Robotic Environment for Aging in Place, late-breaking paper, HRI’09, March 11–13, 2009, La Jolla, California, USA., pp. 223-224.

Yanik, P.M., Threatt, A.L., Merino, J., Manganelli, J., Brooks, J.O., Green, K.E. and Walker, I.D. A Method for Lifelong Gesture Learning Based on Growing Neural Gas. Proceedings of HCI International 2014 (Crete, Greece, July 212-27, 2014). In M. Kurosu, Ed., Human-Computer Interaction, Part II, HCII 2014, LNCS 8511, Springer International Publishing Switzerland 2014, pp. 191–202.

Threatt, A. L., Green, K. E., Brooks, J. O., Merino, J. and Walker, I. D. Design and Evaluation of a Nonverbal Communication Platform for Human-Robot Interaction. Proceedings of HCI International 2013 (Las Vegas, July 21-26, 2013). In N. Streitz and C. Stephanidis, Ed.s, Springer Lecture Notes in Computer Science (LNCS) 8082 (25), Springer, Heidelberg, 2013, 505-513.

Brooks, J., Walker, I.D., Green, K.E., Manganelli, J., Merino, J., Smolentzov, L.., Threatt, T., Yanik, P.M., Ficht, S., Kriener, R., Mossey, M., Mutlu, A., Salvi, D., Schafer, G., Srikanth, P., and Xu, P. (2012). “Robotic Alternatives for Bedside Environments in Healthcare”, International Journal of Systems Engineering, Applications, and 
Development, 4 (6), 308-316.

Brooks, J.O., Smolentzov, L., Mossey, M., Carroll, C., Kendrick, K., Sprogis, K., Manganelli, J., Healy, S.L., Walker, I., & Green, K. (2012). Group differences in preferences for a novel nightstand. Health Environments Research & Design. 5(4), 88-97.

Brooks, J., Walker, I.D., Green, K.E., Manganelli, J., Merino, J., Smolentzov, L.., Threatt, T., Yanik, P.M. “Robot Bedside Environments for Healthcare”, Proc. 11th WSEAS International Conference on Signal Processing, Robotics, and Automation, Cambridge, UK, February 2012, pp. 32-37.

Green, K.E., Walker, I.D., Brooks, J.O., Threatt, T. and Merino, J. An Assistive Robotic Table (ART) Promoting Independent Living. Workshop on New and Emerging Technologies in Assistive Robotics, IEEE/RSJ International Conference on Intelligent Robots and Systems, San Francisco, CA, September 2011.

I.D. Walker, J.O. Brooks, K.E. Green, J. Manganelli, L. Smolentzov, T. Threatt, P.M. Yanik, and J. Merino, Interactive Robot Environments in Healthcare. Workshop on Interactive Systems in Healthcare (WISH 2011), Washington, D.C., October 2011.

Buckley, M.V., Ellison, M.E., Threatt, T., Merino, J., Green, K.E. and Walker, I.D. The Challenges of Material Selection for Compliant Robotic Surfaces. Proc. Fiber Society Fall Conference, Charleston, SC, October 2011.

A.L. Threatt, J. Manganelli, K.E. Green, J. Merino, and I.D. Walker, “An Adaptive, Social Robotic Environment for Healthcare”, CHI 2012, Austin, TX, May 2012.

Threatt, A.L., Merino, J.N., Brooks, J.O., Healy, S., Manganelli, J., Walker, I.D., Green, K.E. “The design, prototyping, and formative evaluation of an Assistive Robotic Table (ART) for stroke patients.” Health Environments Research & Design Journal, (In Press).

Manganelli, J., Threatt, A., Brooks, J. O., Healy, S., Merino, J., Yanik, P., Walker, I. and Green, K. (Winter 2014).“Examination of How and Why Over-the-Bed Tables Are Used: Use Cases and Needs from Healthcare Providers.” Health Environments Research & Design Journal, 7(2), 104-126.

Manganelli, J., Threatt, A., Brooks, J. O., Smolentzov, L., Mossey, M., Healy, S., Merino, J., Yanik, P., Walker, I. and Green, K. (Fall 2014). “Confirming, Classifying, and Prioritizing Needed Over-the-Bed Table Improvements via Methodological Triangulation.” Health Environments Research & Design Journal [HERD], 8 (1): 94-114.  

Yanik, P., Manganelli, J., Merino, Threatt, T., Brooks, J. O., Green, K. E. and Walker, I. D. A Gesture Learning Interface for Assistive Robotics Employing a Growing Neural Gas Approach. The IUI 2013 Workshop on Interactive Machine Learning of the ACM Conference on Intelligent User Interfaces, March 19-22, Santa Monica, California, pp. 283-290.