Experiments with Vizzy as a Coach for Elderly Exercise Martina Č ai ć , Dominik Mahr, Gaby João Avelino, Hugo Simão, Ricardo Ribeiro, Plinio Moreno, Rui Figueiredo, Nuno Duarte, Ricardo Odekerken-Schröder Nunes, Alexandre Bernardino Institute for Systems and Robotics, Marketing & Supply Chain Management Instituto Superior Técnico, University of Lisbon Maastricht University Lisbon, Portugal Maastricht, The Netherlands
Outline • Motivation • Related Work • Approach • End-user trials • Conclusions and future work 2
Motivation • Sedentarism increases health risks • It affects elderly populations • Elderly population growing at a fast pace 3
Related Work • A robot instructor that performs gestures for the user to imitate or vice-versa [1] • NAO with Kinect to promote imitation games [2] • The robot that demonstrates fitness exercises [3] • A robot that exercises along with the young users [4] [1] Juan Fasola and Maja J Matarić. 2013. A Socially Assistive Robot Exercise Coach for the Elderly. J. Hum.-Robot Interact. 2, 2 (June 2013), 3–32. https://doi.org/10.5898/JHRI.2.2.Fasola [2] Werner, F., Krainer, D., Oberzaucher, J., & Werner, K. (2013). Evaluation of the acceptance of a social assistive robot for physical training support together with older users and domain experts. Assistive Technology: From Research to Practice: AAATE 2013, 33, 137. [3] Görer, B., Salah, A. A., & Akın, H. L. (2017). An autonomous robotic exercise tutor for elderly people. Autonomous Robots, 41(3), 657-678. [4] Schneider, S., & Kümmert, F. (2016, November). Exercising with a humanoid companion is more effective than exercising alone. In Humanoid Robots (Humanoids), 2016 IEEE-RAS 16th International Conference on (pp. 495-501). IEEE. 4
Approach • Users play exergames [2] on the PEPE platform [1] • A robot (Vizzy) [3] acts as a coach for the elderly [ 1] Hugo Simão and Alexandre Bernardino. 2017. User Centered Design of an Augmented Reality Gaming Platform for Active Aging in Elderly Institutions. In Proceedings of the 5th International Congress on Sport Sciences Research and Technology Support (icSPORTS 2017). [2] Afonso Gonçalves, J. Muñoz, E. Gouveia, M. S. Cameir‹o, and S. Bermudez i Badia.2017. Portuguese Tradition Inspired Exergames for Older People - Strategic Tools to Promote Functional Fitness. In Proceedings of the 5th International Congress on Sport Sciences Research and Technology Support (icSPORTS 2017). [3] R. Nunes, R. Beira, P. Moreno, L. Vargas, J. Santos-Victor, A. Bernardino, M. Aragão, D. Aragão, and R. Figueiredo. 2015. Vizzy: A humanoid on wheels for assistive robotics. In Proceedings of the Second Iberian Robotics Conference (ROBOT 2015). 5
PEPE – Portable Exergame Platform for the Elderly 6
Vizzy: the exercise coach 30 degrees of Cameras freedom RGBD camera Laser scanner https://www.facebook.com/vizzyvisla b 7
Dialogue control GUI 8
Motor control interface 9
End user trials: Experimental protocol Inviting user Guiding user to game area Coaching and motivating Selfie time 10
End user trials (2) • Participants and test conditions • 36 elderly participants: 65 to 94 years old ( μ = 80.83, σ = 5.84) • Can play the game sitting or walking • 3 Institutions: • LATI – Liga dos Amigos da Terceira Idade • Centro Social Comunitário da Nossa Sra. Dos Milagres • Residência Sénior de Belverde 11
Questionnaire • Items adapted from the following scales: • Godspeed Questionnaire • ALMERE model • Adapted from Jiun-Yin Jian et al for Trust [5] • Dimensions: • Perceived Competence • Perceived Enjoyment • Perceived Trust • Aesthetics [5] Jian, J. Y., Bisantz, A. M., & Drury, C. G. (2000). Foundations for an empirically determined scale of trust in automated systems. International Journal of Cognitive Ergonomics , 4 (1), 53-71. 12
Questionnaire Results 13
Observation results • Novelty effect: some people felt anxious at first, but then interacted without problems • Gaze direction is important: • If accurate people will immediately understand that the robot is talking to them • Head control seemed to effect persuasion 14
Observation results (2) • Group effects: • Persuasion • Support • More spontaneous interaction • Voice commands: • Need to be assertive • Have a good repertoire of utterances 15
Observation results (3) • Humor: • People enjoy when the robot displays humor • People feel challenged by the robot • Users that were not interacting started to interact “What? I exercise a lot. “I bet you haven’t exercised Every day I go this much since you were 20 up and down years old.” my stairs!” Robot Human 16
Conclusions and future work • Good robot acceptance • Future developments: • More diverse, emotional and quicker utterances • Add arm gestures for instructions and feedback 17
End – Thank You
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