i n v e s t i g a t o r s :
Keith Evan Green (PI)
Design & Mech. E., Cornell
an D. Walker
ECE, Clemson
Johnell Brooks
Hum. Factors Psy./AutoE
, Clemson

s t u d e n t   t e a m :
Zach Hawks

M,. ECE., Clemson

Christian Ray
M.Eng, Mech E., Cornell

Boya Zhang
BS, Mech E., Cornell

Robert Shield
BS, Mech E., Cornell

Mengni Zhang
PhD Design, Cornell

Yanchen Zhan
BS, CS., Cornell

f u n d i n g :

U.S. National Science Foundation # IIS-1703267: "SCH: EXP: Home+, An Intelligent and Interoperable Suite of Robotic Furnishings, Learning and Evolving with Their Users"

NSF logo

t e a m :
William Logan Jr. MD
Gerentology, GHS

Stephanie Tanner
Gerentology, GHS

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
Principal and Architect
JSR Associates, Inc.
Senior Living and Healthcare
Ellicott City, MD

o u r   h o m e   l a b:
home lab View of our home lab that we designed and fabricated. Located within the Roger C. Peace Rehabilitation Hospital of the Greenville Hospital System University Medical Center, the home lab has all the features of a typical studio apartment, including kitchen and dining areas, laundry room, and closet space.

e a r l y   v i d e o         e a r l y   p r o j e c t    h i s t o r y

o v e r v i e w :
As healthcare becomes more digital, technological, home-based, and costly, home environments have yet to become embedded with digital technologies to support the most productive (physical) interactions across people and their physical surrounding. This shortcoming motivated us to envision “home+” – networked, distributed, robotic furnishings integrated into existing domestic environments (for aging in place) and healthcare facilities (for clinical care).

We initially developed a working prototype of the Assistive Robotic Table (ART) with support from NSF's Smart Health & Wellbeing Program (now SCH). During the ART cycle, the team continued developing the larger home+ concept, recognizing ART as integral to an assistive, enabling, cyber-physical ecosystem. In the current award cycle, the Cornell-Clemson-GHS (Greenville Hospital System) team is realizing the larger ambition of home+; together, we: (1) have established needs and wants, identifying those aspects of home+ that best promise to support independent living; (2) are iteratively co-designing and testing several robotic furnishings that, together, recognize, communicate with, and partly remember each other in interactions with human users; (3) will define the pattern language of interactions for this cyber-human system; and (4) will evaluate the efficacy of home+ by comparing CS-PFP10 scores (measuring performance on 10 Activities of Daily Living that define a capacity for independence) for individuals from our target group, with and without home+.

The figures above introduce our current home+ concept.

Our paper for (ACM) Pervasive Health 2018 on prototype design and early evaluations and experiments:
Verma, S. Gonthina, P., Hawks, Z., Nahar, D. Brooks, J. O., J., Walker, I.D., Wang, Y,. de Aguiar, A., and Green, K. E. 2018. Design and Evaluation of Two Robotic Furnishings Partnering with Each Other and Their Users to Enable Independent Living. In Proceedings of Pervasive Health 2018, New York, NY., May 21-24, 2018.

Our paper for (ACM) DIS 2018 on our aspiration for "conviviality" for home+:
Choueiri, M., Schuyler, D., Guria, S., McCarthy, C., Moure, P., Todalbagi, A., Wang, Y., Araujo de Aguiar, C., and Green, K. E. Can Interactive Systems Be Designed for Conviviality? A Case Study. In Proceedings of the 2018 ACM Conference Companion Publication on Designing Interactive Systems (DIS '18 Companion). ACM, New York, NY, USA, pp. 207-212. https://doi.org/10.1145/3197391.3205437

Our early paper for IEEE CASE on an earlier approach to home+:
De Aguiar, C., Fateminasab, R., Frazelle, C., Scott, R., Wang, Y., Wooten, M., Green, K. E., and Walker, I. D. The Networked, Robotic home+ Furniture Suite: a Distributed, Assistive Technology Facilitating Aging in Place. 2016. Proceedings of CASE 2016: the 12th Conference on Automation Science and Engineering, August 21-24, Fort Worth, Texas, USA, pp. 1067-1072.

Our early paper for HRI introducing this first home+ concept:
K.E.Green, I.D. Walker, J. O Brooks and W.C. Logan, Jr. comforTABLE: A Robotic Environment for Aging in Place, late-breaking paper, HRI’09, the IEEE/ACM International Conference of Human-Robot Interaction, March 11–13, 2009, La Jolla, California, USA.

Our unpublished paper on the perceptual processes of our home+ concept:
V.N. Murali, A L. Threatt,... J O. Brooks, I.D. Walker, and K E. Green.(Ocotober 2013). A Mobile Robotic Personal Nightstand with Integrated Perceptual Processes.

Our paper for IROS presenting home+ 2011, with video 1 and 2:
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.