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1. Development and Deployment of a Mobile Manipulator for Assisting and Entertaining Elders Living in Supportive Apartment Living facilities

   https://doi.org/10.1109/ROMAN.2018.8525826  

   Mucchiani, Caio; Torres, Wilson O.; Edgar, Daniel; Johnson, Michelle J.; Cacchione, Pamela Z.; Yim, Mark (August 2018, RO-MAN 2018 - IEEE International Conference on Robot and Human Interactive Communication)

   In this paper a novel telescopic manipulator was adapted to a mobile robotic base to perform manipulation tasks in an elder care facility. As indicated by our previous work, leisure activities and engagement in socialization were desirable among elders, and a physical game assisted by the robot was chosen to investigate both its acceptance and interaction with the older adults. The robot was deployed at an assisted living center and performed multiple interactions. The manipulator was able to successfully retrieve items from different heights as part of the game and results from post-interaction surveys with elders indicated high perceived usefulness and comfort in having the robot as an assistant in the game. 

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2. Case-based Robotic Architecture with Multiple Underlying Ethical Frameworks for Human-Robot Interaction

   Chen, S.; Arkin, R.; Borenstein, J.; Wagner, A. (July 2022, 7th International Conference on Robot Ethics and Standards)

   As robots are becoming more intelligent and more commonly used, it is critical for robots to behave ethically in human-robot interactions. However, there is a lack of agreement on a correct moral theory to guide human behavior, let alone robots. This paper introduces a robotic architecture that leverages cases drawn from different ethical frameworks to guide the ethical decision-making process and select the appropriate robotic action based on the specific situation. We also present an architecture implementation design used on a pill sorting task for older adults, where the robot needs to decide if it is appropriate to provide false encouragement so that the adults continue to be engaged in the training task. 

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3. Toward Integrating Care Robots into Senior Living Facilities

   Stegner, Laura Margaret (May 2025, ProQuest)

   Nations around the world are struggling with challenges related to an increasingly aging population coupled with a growing shortage of caregivers. Intelligent, interactive systems such as robots show great promise in helping to address this care crisis. While a wealth of research exists targeting various healthcare needs, the majority of this work focuses on short-term interactions between the care recipient and the technology and do not fully consider how care robots fit into the broader scope of day-to-day life in the facility. For the long-term, sustained use of technology to support care, we need to consider how the technology fits into the broader ecosystem, considering questions such as: who is managing it? how does it alter existing workflows and routines? what extra resources (especially time) are required? Broadening technology design to encompass these ecological aspects is necessary, but it presents a rich set of challenges for robots and other intelligent systems, such as many stakeholders with different priorities and needs, safety constraints, and highly dynamic environments. Especially considering the critical role of human relationships in care, it is imperative to develop effective ways for intelligent systems to support healthcare practices rather than replace invaluable human contact. The goal of this dissertation is to help integrate robots into senior living facilities by considering how stakeholders such as caregivers and older adults can make use of autonomous robot capabilities to support their needs. To achieve this end, I present a design journey toward understanding how end-user development can support the care ecosystem and facilitate care robot integration. In this dissertation, I first present two design studies to build a case for end-user development and identify key design requirements. Building on this design work, I then present the design and evaluation of the CareAssist system an an exemplar end-user development tool that shows promise in helping to facilitate care robot integration. Overall, I do not suggest that end-user development is the only solution, and instead show that it is a critical component of the broader vision of safe, effective care robots. 

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4. Clinical Screening Interview Using a Social Robot for Geriatric Care

   https://doi.org/10.1109/TASE.2020.2999203  

   Do, Ha Manh; Sheng, Weihua; Harrington, Erin E.; Bishop, Alex J. (June 2020, IEEE Transactions on Automation Science and Engineering)

   Social robots are coming to our homes and have already been used to help humans in a number of ways in geriatric care. This article aims to develop a framework that enables social robots to conduct regular clinical screening interviews in geriatric care, such as cognitive evaluation, falls' risk evaluation, and pain rating. We develop a social robot with essential features to enable clinical screening interviews, including a conversational interface, face tracking, an interaction handler, attention management, robot skills, and cloud service management. Besides, a general clinical screening interview management (GCSIM) model is proposed and implemented. The GCSIM enables social robots to handle various types of clinical questions and answers, evaluate and score responses, engage interviewees during conversations, and generate reports on their well-being. These reports can be used to evaluate the progression of cognitive impairment, risk of falls, pain level, and so on by caregivers or physicians. Such a clinical screening capability allows for early detection and treatment planning in geriatric care. The framework was developed and implemented on our 3-D-printed social robot. It was tested on 30 older adults with different ages, achieved satisfying results, and received their high confidence and trust in the use of this robot for human well-being assessment. 

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5. Detecting Anomalous Behavior of Socially Assistive Robots in Geriatric Care Facilities

   Coffee-Johnson, Lindsey; Perouli, Debbie (April 2019, ACM/IEEE International Conference on Human-Robot Interaction)

   With the need for geriatric care workers growing faster than can be met, the possibility of socially assistive robots filling this need has garnered increasing attention. This heightened interest in robots as social care workers, however, leads to concerns in detecting possible robot misbehavior. We propose a short questionnaire, based on current elder abuse screening tools, as a method to detect intrusion or misconfiguration in caregiver robots. We focus on misbehavior that can cause psychological or financial harm to the caregiver recipient. We discuss requirements, limitations, and future enhancements. 

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