DOMEO Project AAL France deployment report. Document id: Document Information

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1 DOMEO Project AAL France deployment report Document id: Document Information Title France deployment report Workpackage/Deliverable D Responsible CHUT Due Date 30/04/2012 Actual Date 15/09/2012 Type Deliverable Status Version 1_0 Dissemination Level Restricted to the consortium Authors Pierre Rumeau, Blandine Boudet, Nadine Vigouroux Project URL Abstract: This document describes how Kompaï was deployed in a enduser s home as part of a service provision. Keyword List: Kompaï, service test, home operation, deployment. D : France deployment report Version: 1_0 Page: 1 of 41

2 Abstract One Kompaï was deployed in France as part of the field tests. The aim of the deployment was to answer the needs of two elderly people with motor and cognitive impairment and help their main caregiver in her task. The definition of the required service was refined with the main caregiver. Technical deployment was done: 1- according to ethical reflections, 2- as if it was deployed as part of an operational service. Deployment was considered finished when the minimal requirements to provide the service as defined with the users were fulfilled. D : France deployment report Version: 1_0 Page: 2 of 41

3 Table of Content ABSTRACT FOREWORD ETHICAL ISSUES USERS SELECTION POPULATION END-USER S SOCIAL NETWORK END-USER S LIFE ORGANIZATION DEFINITION OF THE REQUIRED SERVICE WITH THE MAIN CAREGIVER AND THE PATIENTS SERVICE DEPLOYMENT PROCEDURE NOTES ANNEX 1: «POSSIBILITY FOR PEOPLE WITHOUT MEDICAL OR HEALTHCARE TRAINING TO TAKE PART IN TECHNOLOGICAL RESEARCH WITH PATIENTS OR DISABLED VOLUNTEERS» AN ETHICAL COUNSEL, REPORT TRANSLATION ANNEX 2: FRENCH SPEAKING KOMPAÏ USE MANUAL FOR DEPLOYERS ANNEX 3: FRENCH SPEAKING REMINDER LEAFLETS FOR SERVICE STAFF. 35 ANNEX 4: FRENCH SPEAKING LOKARRIA USE REMINDER LEAFLET FOR MAIN CAREGIVER ANNEX 5: PHOTOGRAPHS OF INCIDENT LOGBOOK WITH INSTRUCTIONS ON HOW TO STOP THE ROBOT D : France deployment report Version: 1_0 Page: 3 of 41

4 HOME, PAPER, INCIDENT LOGBOOK, AS SHARED WITH THE USERS, INCLUDING HOW TO STOP THE ROBOT AND A SAMPLE OF EVENTS D : France deployment report Version: 1_0 Page: 4 of 41

5 1. Foreword The aim of the French deployment is to test the possibility of deployment of a Kompaï functionalities based home service for an elderly person with motor and cognitive impairment (International Classification of Functioning, WHO 2001, b114.1 to 2 orientation functions, b117.1 to 2 intellectual functions, b144.1 to 3 memory functions, b164.1 to 2 higher-level cognitive functions, b to 2 hearing and vestibular functions, b210.1 to 2 seeing functions). Therefore, we have deployed Kompaï according to a refined vision of the needs obtained from an interaction with the main caregivers and the end users themselves (description of the ecosystem and open interviews). Deployment was considered starting after the last version of software had been received from Robosoft end February and been set on the robot by the technical members of La Grave Gerontechnology Lab. It was considered ended early May when all the primary functions required by the service as agreed with the care givers had been deployed and it had been checked they worked1. The deployment itself was done by members of the research team who had the least possible knowledge of the particular technical issues to Kompaï, thence different from those involved in the lab testing and debugging of the previous stages. Considering that homecare ehealth support personnel have been trained locally at technicians level for the last three years at 2A2M course in IUT Blagnac (Université de Toulouse), considering that those people are trained, on purpose, for that kind of task; we chose to have the same type of mixed technical, social and medical skills in our deployers (including hosting a second year 2A2M student for her end of study report). Local service provider End-user's Ecosystem Home service staff Local service tech staff After-sales manufacturer Case management Intervention level of the different entities involved in service provision to the end-user s ecosystem When an intervention from our technical lab staff was needed; this was considered as equivalent to referring to the higher level technical staff of a service company. When an intervention from Robosoft was needed this was referring to the manufacturer as part of the after sales aspects. As the profession of case manager is still absent in France, this role was held by the physician in charge for the La Grave Gerontechnology Lab and included contacts with the family, personal general practitioner, nurses and auxiliary nurses. 1 This did not included in depth home testing as scheduled in the scenario based tests period. D : France deployment report Version: 1_0 Page: 5 of 41

6 From a practical point of view, the deployment staff has received a first French version of use manual of Kompaï as developed from the English version of Robosoft s technical leaflets by the technical staff of La grave Gerontechnology Lab. This was written after they were involved in the lab testing taking and took into account: the practical tips they had observed and the required service (according to what had been agreed with the end-users and their main caregiver; according to their refined needs). According to the deployment experience, the staff involved has fed back information to improve the use manual. This included the design of quick action leaflets, accessible to end-users caregivers to help them with using the robot and solving minor problems. Those leaflets will be tested and enriched (in terms of topics and target users) as necessary as part of an iterative approach during the whole remaining duration of the project. 2. Ethical issues From an ethical point of view; we could see that the present test version of Lokarria is using a secure link between the server and the Kompaï, but not between the intermediate user and the server. There is as a consequence a risk of intrusion, also reduced thanks to a required login and password. For that reason, as a risk management procedure to protect the private life of the volunteers, we made sure that any recorded material could not help in recognising the location of the enduser s premises. As an added security we will ask that this report remains confidential and access restricted to the personnel in charge of the evaluation of the project. At an early stage of the project we could see that there were some difficulties for some personnel with medical or nursing background to accept that researchers without such a care background could be involved in research with patients. This could have a negative impact on our study or could fully stop it. We contacted the French society of technologies for autonomy and for gerontechnology (SFTAG) and it appeared that this issue had a wider impact than the sole DOMEO project. It was then decided that DOMEO project contribute to a wider process run by the SFTAG on the question of «Possibility for people without medical or healthcare training to take part in technological research with patients or disabled volunteers». An ethical counsel held under APPROCHE, ASSISTH and SFTAG, organised by the Ethical Committee of SFTAG, was held Wednesday, January 19th 2011 during ASSISTH 2011 congress. A translated version of the final report is available as an annex to this report. It confirmed the possibility for researchers without medical or paramedical background to take part in that kind of research and proposed ways to help with collaboration between different research branches. Those results were implemented during our deployment. The responsible of the project for CHU Toulouse, who knew the family, was responsible of the information. He gave U1, U1, U2 all the information required for informed consent vocally, individually, honestly and approximating according to the level of knowledge and cognitive functioning of each one. U2 as the personne de confiance 2 of U1 and U1 is throughout informed on the project, including the 2 The personne de confiance is according the the French law, a person, as designed formaly by the considered person, to help her and represent her for medical decisions in case it would be needed. The personne de confiance may share in the secrecy regarding personal medical issues. D : France deployment report Version: 1_0 Page: 6 of 41

7 ongoing developments. Persons identified in the social network were informed that the robot had a remote monitoring function and a video and audio communication function. They were informed that they could ask, whenever they wanted and without any reason or consequence to stop the robot partially or totally, temporarily or not, or to have it fully withdrawn. Permission to record interactions and scenario based tests was asked prior to the deployment, then whenever recording is necessary; the users are informed and their permission orally renewed. Material that could be used for dissemination will not be used without previous written agreement or else will be made anonymous. All research material is saved at the La Grave Gerontechnology Laboratory on a hard disk kept in a secure room with key-code access (known only to the accredited personnel of the lab and the security personnel of CHU Toulouse). For ethical and responsibility reasons, a member of the family of the end-users was present whenever some work was done at the end-users, a least to welcome the research team members. Persons likely to have to use an access to Lokarria received a personal login and password and were informed to keep it for themselves. Research staff members have a common password and are cooping with secrecy requirement. To avoid undue intrusion, the number of staff present at each stage was reduced to the necessary minimum. All staff had to be polite and respectful. They were allowed to eat with the users, if asked only or else have their meal in a different place. We chose to apply those ethical procedures due to the recent, various, variations of French regulation regarding non-medical experiments involving human beings. According to Jardé Law on «Research involving the human being» (loi du 5 mars 2012 sur «Recherches impliquant la personne humaine») our research could be part of the second type of research as interventional non drugs research with minimal risk and constraints but the relevant decrees stating the type of research that may be concerned as well as those for implementing the law itself are still expected when we are writing this report. We had expected to propose the project to the ethical comity of the French society of technologies for autonomy and for gerontechnology (SFTAG), but this required a full description of the deployed service which is not available at the stage of deployment due to the approach we chose. It is not sure weather the comity will still propose that kind of advice after the implementation of Jardé Law and we might found ourselves in a regulatory no man s land that could not stop us from applying best ethical practices to our project. 3. Users selection The users could not be randomly selected but had to obey some characteristic derived from the case study methodology, practical issues and the technical issues. Case study methodology (i.e.: conditions that allow generalisation at some level from a single case, conditions that allow quality of observation): Elderly person with motor and cognitive impairment (International Classification of Functioning, WHO 2001, b114.1 to 2 orientation functions, b117.1 to 2 intellectual functions, b144.1 to 3 memory functions, b164.1 to 2 higher-level cognitive functions, b to 2 hearing and vestibular functions, b210.1 to 2 seeing functions), D : France deployment report Version: 1_0 Page: 7 of 41

8 With some medical condition requiring a follow up of physiological parameters, Home living with home support, Having a main caregiver, Having sufficient remaining cognitive capabilities to able to consent to the study and give comments, Having a long enough home life expectancy to allow for long term evaluation of the service. Practical issues: End-users had to be previous acquaintances of the main investigator, Both end-users and main caregiver had to live close to our laboratory, Contact had to be easy both with end-users and caregivers, They had to be native French speakers, They had to own their place of life, They had to be entitled to Social Security. Technical issues: The place of life had to be on one only level, with doors wide enough for the robot, The place of life had to be in a location allowing for easily and cheaply deployed broadband connectivity. 4. Population Two elderly endusers, owners of their place of life, were included in the deployment; U1 (main enduser): Woman, 94 at the time of taking part, Graduated from secondary school in «elementary mathematics» subject, She worked as a school teacher during world-war II then helped her husband to run his practice as a family doctor in the countryside, Medical conditions: she sustained a temporal ischemic stroke due to hypertension, her four meters walking speed, start on command, is at 0,38 m/s (normal 1 m/s or over), MMSE = 25/30 (normal over 27), Instrumental activities of daily living (Lawton) = 4/15 (normal 15), Functional independence measurement = 94. U1 (associate end-user): Man, 97 at the time of taking part, Has a MD, He worked as a family doctor in the countryside including obstetric practice and workplace medicine, His four meters walking speed, start on command, is at 0,58 m/s (normal 1 m/s or over), MMSE = 19(normal over 27), D : France deployment report Version: 1_0 Page: 8 of 41

9 Medical conditions: he is treated for heart failure (NYHA I), is deaf without hearing aid, Instrumental activities of daily living (Lawton) = 3/15(normal 15), Functional independence measurement = 103. Analysis of WHOQoL-26 (French version), for both U1 and U1 : they do feel safe, they like their place of life, they are satisfied with their level of access to medical care, they are considering their quality of life as excellent for U1 and good for U1. Their answers are differing regarding their evaluation of their means; when U1 is anxious about having enough money, U1 is happy with their income. Main caregiver (U2): she is the elder daughter of both endusers, she is married living with her husband, she is a mother, with her husband, of two and a grand mother of three teenagers. She has a MD and worked as a dermatologist, she s been retired for five years. She is living in a house 1.6 km away from her parents. She is in good health. She had her first contact with computing during her last few years of practice. She is using a computer and Internet mostly to collect information, she is scarcely using the . Second level caregivers: Main caregiver s husband (U2 1 ): he has a MD and worked as head of a geriatric department, he s been retired for nine years. He as a moderate health with various medical conditions treated for. He had his first contact with computers more than 25 years ago and promoted their use in his department, yet he didn t use a computer himself till he was retired. He is quite in difficulty to use the Internet and is mostly using the to exchange with friends and family (mostly receiving), he needs help for actions such as emptying the bin. Main caregiver s younger brother(u2 2 ): he is married; his wife is still working part time. He has two children, one already working and the other still studying in the university. He has a MD and work as an orthopaedic surgeon till he retired last January. He his living in a house 0.3 km away from his parents. He is in good health. He s been using a computer over 15 years, initially mostly for information access, recently, more actively, the electronic mail. D : France deployment report Version: 1_0 Page: 9 of 41

10 5. End-user s social network The social network has a major importance in the service provision scheme; it is also linked to different levels of information and training on the use of the service. The main end-user (U1) and the secondary end-user (U1 ) are functionally linked and share most of their activities, their take their decisions in common and tend to mitigate the expression of their opinions. The social network of the end-users sees a prevalence of their main care-giver (U2, elder daughter), she is the first in charge of their daily care either through personal action or through the organisation of the other aids. U2 is functionally linked with her husband U2 1 (common completion or sharing of daily tasks related to U1 and U1 ). U2 2 will replace U2 on the occasions when she is not available and take part in decision making if required, he is also helping U1 and U1 to go to bed every night and opening the house every morning before breakfast. The registered nurses (RN), members of a group-practice, are prescribed by the family physician of the end-users (GP) who is intervening as required by U2 or if necessary. The auxiliary nurse is acting on the request of U2 and taking over some of the tasks U2 and U2 1 are normally carrying (helping with meals and checking that the prepared medication is actually taken). 2 neighbours (N) are coming on a daily basis: one to meet U1 for a chat and swap newspapers, one to check everything is ok, help with the mail and the dust bins. A lady does the cleaning once a week (CL) and her husband does the gardening (G) with a varying rhythm. D : France deployment report Version: 1_0 Page: 10 of 41

11 Regarding the use of the Kompaï associated service; apart from end-users (U1) and identified intermediate-users (U2), other members of end-user s ecosystem will require different levels of information and formation according to their tasks: GP, RN, AN will require information on the functionalities of the robot and have to be able to use the medical logbook when in operation, RN will receive the information on the procedure for switching it off in an emergency, CL and G will require information on the functionalities of the robot and have to be informed on how not to interfere with it s functioning as well as receive the information on the procedure for switching it off in an emergency, N and family members will require information on the functionalities of the robot. This information was given orally and procedures for switching off the robot were both demonstrated and written down on a common paper logbook readily available at user s premises for everyone (including research staff, to write down any mishap, trouble or positive comment they would like to give). 6. End-user s life organization It was important to describe on a timely basis the social interactions of the end-users as this would have an impact both on the service provision and the experimentation. Due care was taken to make sure that experiments would interfere as little as possible with the daily life of the end-users, and that when their intervention/attention were required they would be in the best possible state of mind (minimizing the nocebo effect impact on evaluation). Typical daily timetable U1 is waking up by 6:00 and waiting in her bed. U1 is waking up by 6:45/7:00. U1 goes to the toilets close to the rooms by 7:20. U2 2 comes at 8:20/8:30 and prepares the breakfast (if not already done by U1 ). N1 is checking the shutters are opened, brings the mail to the side window of the kitchen, takes the dust bins back in the front garden. Usual time to get up 9:00/9:15. U2 arrives between 9:15 and 9:30 to be present when the nurses are coming. She does the beds, cleaning and laundry. RN comes between 9:00 and 10:00, U1 may already have shaved and brushed his teeth before they arrive, they wash him and dress him, give him his eye droplets, he then goes to the living room. U1 is washed and dressed in her room, then washes her teeth at the washing room. Between 10:00 and 12:00; U1 stays in her armchair reading or dozing, U1 stays in his armchair. Between 12:00 and 12:15, U2 comes back with U2 1 for the cooking and the lunch in the dinning room, until 13:00 to 13:30, then U1 and U1 go back in their armchairs for a nap to 14:05 when they watch a program on the TV. Near 18:00, N2 comes to swap the newspapers. Between 18:30 and 19:00, U2 and U2 1 are coming back for the light dinner and help U1 and U1 get in their night dress, this takes 30mn on average. At 20:30, U2 2, comes, helps his parents to bed, switches off the lights. D : France deployment report Version: 1_0 Page: 11 of 41

12 U1 is watching the TV in the living room from 18:30, with U1, then in his bed to 22:30 when he switches off the TV and the light in his room. U1 is sleeping by 21:00. Weekly variants Thursdays: AN comes from 11:30 to 13:00 for lunch and from 18:30 to 19:00 for dinner. Tuesday morning: LC present. Saturday and Sunday lunch time, family lunch either at U1 s or U2 s, activity spanning from 12:00 to 14:30. According to that timetable, it was decided that the deployment work would be done preferably on the time slots between 10:00 and 12:00 in the morning and 13:30 and 18:00 in the afternoon. If the cooperation of U1 or U1 was required, due attention was taken to choose the timeslots when they would not have a usual different activity and when they had a good level of awaking (end of morning and after 15:00). 7. Definition of the required service with the main caregiver and the patients Various open interviews were organised between Dr Pierre Rumeau (MD) and Dr Nadine Vigouroux (PhD) and U2 in one hand and U1 and U1 in the other hand. U2 asked for a service that could help her check that her parents are all right. She gave two cases. The first is when the phone line is engaged or nobody is answering and it is not possible for her to go to her parents to check. The second is when her brother is not available and she would like to be able to check that her parents have not had trouble going to their bed at their usual time. U1 didn t see any point in having a robot at home, but she accepted to please her daughter and Dr Rumeau. When she had seen the robot functioning, during the first days of deployment, she found it fearsome and asked that it should not enter her room. Her husband agreed with her. U1, according to U2 (after discussion with U2 1 ), required the follow up of the physiological parameters proposed as part of the project but could do with the usual way of following them and their follow up through Kompaï was not a priority. Users and testers agreed that the main service expected was the possibility for the main caregiver to check that her parents were ok if required. This service is requiring the following functionalities to work: Mobility of Kompaï in the various rooms of the place of life (location : mapping, movement : navigation) Remote command with vision, Audio and video exchange started by remote operator, SOS button, Simple charge of batteries without intervention by end-user; i.e. docking station, User avoidance. Telemedicine functionalities and care logbook were not considered as first level priorities and were accepted for secondary implementation. D : France deployment report Version: 1_0 Page: 12 of 41

13 Scheme of the service deployed as require by the main caregiver and the patients; Connection between K and Lokarria server is fully secure, it uses a virtual private network set through private WiFi indoors connection and 3G+ outdoors connection. Connection between U2 and Lokarria server is controlled at the entrance on the server via login and password. Connection from K to U2, via IP, with 3G+ ten ADSL, is not secure. Access for U2 is through personnal computer and broadband access. 8. Service deployment procedure Start of the operational deployment with the delivery of the robot at users premises on March 13th, In the nomenclature used in the deployment description: A stands for action (either linked to one of the required functionalities or required by the development of the deployment), O stands for observation as occurring during deployment and related to one action, H stands for hypothesis as related to one observation linked to one action. O and H have one more figure than the related A, a secondary A has the same first figure as the original action and a second ranking figure. A 1 Robot (K) brought to end user s home O 1.1 axis of microphone skewed O 1.2 tablet PC fell twice from stand (recovered without reaching the ground) H 1.1 if the robot can not be carried vertically, top part of the robot is on an axis, it may turn during moving, moving it on a cushion while having the stand (heavier part to the floor) could avoid impact on the axis of the microphone D : France deployment report Version: 1_0 Page: 13 of 41

14 H 1.2 it is necessary to check that the tablet fits above the two stops on the lover part of the support stand and press hard to make sure that the Velcro is catching. V 1.2 no other such accident was further observed. A 2 Creation of a map of end user s home O 2.1 K is stopping and not obeying the control via Xbox handles in the bureau location O 2.2 If one doesn t increase the size of the display of the map, he can not know that the map is failing before completing the process. O 2.3 The last part of the map (including return to the start point and moving to the rooms) generated huge distortions (see screen picture below). H 2.1 K securities are triggered and robot is stopped as if there was a risk of fall. This may be due to the large windows and the bright sunshine on that day generating noise to the optical sensors (see picture below). H 2.2 Map should be enlarged in the mapping software from the start. H 2.3 Avoiding to go back to the start point and the part of the home that generated the failures would allow testing the navigation software. A Attempt to create a new map coming back only to the start point and the entrance O The distortion is generated as soon as the laser faces the entrance door with diffracting windows. D : France deployment report Version: 1_0 Page: 14 of 41

15 H Either the laser is mistaken by the refraction and diffraction of its own ray or by the diffraction of transmitted sunlight. H If we avoided that the SLAM laser was facing the front door we could generate a map to test the definition of interest points in navigation. A A is reproduced on a day without sun O K appears to be lost in the living room but the map is correct. H There is a delay in the refreshing of the displayed map. H In case of intense sunlight the window in the front door is causing interferences with the laser for the mapping. V The location of the robot on the map should be considered according to the delay. As a simplification, it will not be taken into account for mapping so far as the map remains correct. V Intense sunlight should be avoided during mapping. A Attempt to create a new map without facing the entrance door at any time. O The map is generated. A 3 Creation of localizations on the last created map (see O ) O 3.1 K, on starting point, is well localized on starting of the navigation software. O 3.2 Three localizations are created: zero (starting point), salon (living room entrance), salle à manger (dining room entrance on house entrance side). A 4 Starting of DOMEO software O 4.1 Failure of software. H 4.1 Internet connectivity is necessary for DOMEO application. V 4.1 Internet connection is highlighted in the starting process in the Frenchspeaking user s manual. A 5 K brought back to end user s home (after a period in the lab for the training of two researchers acting as service staff). O 5.1 screws from microphone have disappeared and the plastic shell fell. D : France deployment report Version: 1_0 Page: 15 of 41

16 H rubber bands have been placed on the microphone to held the parts together and on the support axis, microphone should be removed during transport. H K should be moved as little as possible when deployed at user s home. V 5.1 microphone parts are holding together. A 6 New map including all the ground floor. O 6.1 Stops at the entrance of salle d attente or chambre de derrière location with a shiny metal door step and thick wall-to-wall carpet, then eventually enters the room. O 6.2 Stops at the entrance of bureau location with a shiny metal door step and a white and black plastic mock marble flooring, then eventually enters the room. O 6.3 Stops sharply in different locations in the bureau. O 6.4 Stops sharply when driven on the far side of the carpet under the drawer in the living room. O 6.5 Map is showing superposed elements. H 6.0 A new map is required, starting by the kitchen to check if there could happen the same type of trouble (same door step and same flooring). H 6.1 Either the door step or moving onto the carpet caused the robot to stop. H 6.2 Either the door step or moving onto the flooring caused the robot to stop. H 6.3 K stopped due either to the flooring itself or the bright sunshine reflecting on the flooring. H 6.5 When the robot is stopping sharply, the mapping process may be impinged by a drift of K location. V 6.1 Brutal stops on a thick carpet are due to the optical anti-fall sensors that avoid the fall of the robot in a hole. V 6.2 Brutal stops on the black flooring are due to the optical anti-fall sensors that avoid the fall of the robot in a hole. D : France deployment report Version: 1_0 Page: 16 of 41

17 A 6.1 Robosoft has disconnected the anti-fall sensors as the robot was used on a level environment. O No more problem of brutal stop. V Solution efficient. A 7.0 New map is started going first to the kitchen O Map is showing superposed elements. H Going through the kitchen is causing the mapping to fail. A new map with the doors of kitchen, office and waiting room closed will avoid mapping failure. A New map with kitchen, office and waiting room doors closed O Map is correct. V Excluding kitchen, office and waiting room is allowing for correct mapping of the ground floor. 3 A a new map is done on a sunny day with newspapers hiding the windows of the entrance door, the marble stairs in the entrance, the shiny tile skirting in the corridor. The shutters on the French-window in the living room were shut. O Map is correct. V The errors with the SLAM are mostly due to interference with intense sunlight with diffraction of laser on shiny surfaces being of a minor effect. A 8 Interview with users to name interest points O 8.1 Users could provide 9 interest points relevant to their activity. One interest point could be named in two different ways ( waiting room for U1 and the room behind for U1 ). Docking station is excluded from the naming. H 8.1 Is it possible to give a same location two different names? A 9 Setting of the interest points (localizations) O 9.1 Setting successful V 9.1 Points of interest creation on the navigation software is operating. A 10 Interview with users to locate docking station O 10.1 Proposed initial location by the stairs in the entrance A 11 Setting of docking station location as asked by users O 11.1 When trying to use the remote Xbox control to dock the robot and define the docking station as a «localization» the same way as the other interest points: the robot is sliding on the docking, then backs when one is stopping to press the forward command on the remote control and gets lost. 3 U1 is scarcely going to the kitchen and therefore the place could be excluded, U1 and U1 remain in their bed when in their room, thence it is possible to check their presence from the entrance of their room if doors are open. D : France deployment report Version: 1_0 Page: 17 of 41

18 H 11.1 Considering that the robot was getting lost when facing shiny surfaces; the marble stairs could be causing the loss. A 11.1 New attempt at creating the docking station as a localization with newspapers hiding the marble stairs, and front door (facing the robot when docking in that position). O same as O 11.1 O the robot is successfully relocalized manually on the map with «replace localization» and the setting saved. H The local geometrical conditions do not allow proper self-localizing by the robot. H Manual localization could allow proper setting of the docking station location. A «Domeo» software is started to test the movement to the docking station and from it. O K is well localized but doesn t propose a trajectory to the docking when out of the docking. O K doesn t propose a trajectory to leave the docking when docked. O U1 sent U1 retrieve a carpet that had been stored under the stairs behind the docking station to put it back in front of the TV. This caused a high risk of fall and subsequent injuries. H It doesn t seem the docking station was properly created in the navigation software, this point has to be referred to the technical members. H The local geometrical conditions do not allow proper self-localizing by the robot. V The save as docking station functionality in the navigation software has to be used to set the location of the docking station as this is involving special commands (in and out), this will be stressed in the French language manual. V It is decided to look for a different location to the docking station that would be in a room not usually used by U1 or U1 and where the docking could be against a straight wall with space on each side. A 11.2 New setting of docking station location as discussed with users after failure of first location (location in the laundry room) requiring a new map. O A new map is created. O Locations are set. O Docking edition is impossible. D : France deployment report Version: 1_0 Page: 18 of 41

19 H The map was first created with a table that was replaced by the docking station. H There is not enough room on either sides of the docking station for the robot to get enough localization information. A A new map is created without the table and leaving 95 cm free for the docking station. O The docking location is set. Map with numbers corresponding to 10 named locations: , Armchair ; 2, The room behind; 3, Office; 4, Dining room ; 5, Small corridor ; 6, Kitchen entrance ; 7, Living room entrance ; 8, Entrance of night corner ; 9, Dining room entrance ; 10, Docking station. O The robot still backs when one releases the Xbox control, there is no contact with the docking station. H K has enough space for location. H The ground might be uneven and/or the contacts dirty V The free space is sufficient for location of the robot. A Checking and cleaning of contacts. O Contacts are at a different height on the robot and the docking station (5 to 8 mm). H Battery doesn t charge due to a bad contact between electrodes. D : France deployment report Version: 1_0 Page: 19 of 41

20 A A piece of cardboard under the docking station is compensation the difference of height of the contact electrodes. O K is fitting properly in the docking station, it doesn t come out when the remote control is released, the charge led shows that contact is obtained. V The location of the docking station is validated. A 12 «Domeo» software is started to test different paths and access to points of interest O 12.1 In the corridor, going from the entrance to the bedrooms: K takes some time to enter the corridor, then may fail to go forward when reaching the end of the corridor in front of the open door (door opening inwards, see picture), going from the bedrooms to the entrance: K succeeds irregularly in going through the first door of the corridor on the bedrooms side. O 12.2 When K is sent from the entrance to the «fauteuil» point of interest in the living-room, it may push on the way the yellow armchair, then say I m in place, even if it was not in the proper location, then get lost. O 12.3 When K is going from the entrance to the fauteuil with a person in the door of the living room: it stops and is unable to calculate a new trajectory using another free path. When K is facing a person blocking the door from the living room side: it is tracing a new path successfully. O 12.4 Others movements between points of interest where successful. H 12.1 The clearance of the robot is too large regarding its width and stopping it from crossing the tight corridor (59cm at the smallest). H The yellow armchair may remain undetected or be detected with an error on its volume. H The robot may get lost either due to the sliding of the wheels when pushing the armchair, or due to the French-window causing an open space for the laser, or due to the interference of the sun with the laser, or due to the robot being too close to the red armchair (where fauteuil was created) to use its SLAM, or the environment is too changeable to allow SLAM process. V 12.4 K movement with Domeo application using tablet PC as interaction medium is functioning. A 12.1 Tests with a modification of the robot radius setting on Kompaï O Robot radius = 0.29: K doesn t succeed with consistence in crossing the corridor, K pushes yellow armchair. Robot radius = 0.32: K doesn t see the corridor, K touches yellow armchair without pushing. Robot radius = 0.35: K doesn t see the D : France deployment report Version: 1_0 Page: 20 of 41

21 corridor, K pushes yellow armchair more significantly than before. Robot radius = 0.28: K crosses more easily the corridor, K pushes yellow armchair. K leaves the Corridor K pushes the armchair O K says repeatedly: je vais me recharger (with the microphone shut) without moving to the docking station, charge is at 19 to 21% on the screen of DOMEO software. As a consequence U1 got up from her armchair to press the dead man s button, both U1 and U1 got very upset. O K doesn t charge correctly on the docking station with the wireless contacts and charges more efficiently with the wire. H The adaptation of radius setting has no straight forward effect on yellow chair avoidance, but a radius over 0.32 stops K from crossing the corridor. H Lack of charge may generate dysfunctions; automated charge in case of low charge level needs verification. H Either the charge switch is badly positioned or the charge with wireless contact is not working. V Radius decreasing has a positive effect on crossing the corridor, but majoring has no direct effect on avoidance of the yellow armchair. Radius is set at V Repeated vocally disruptive behaviour by K is largely unacceptable. Endusers and their caregivers need to be trained to switch off properly the robot. Microphone would be disconnected after using the robot until a solution was found and the users had recovered. A Charge testing with switch in either position. O Wireless charging doesn t work whatever the position of the switch. O Maximum charge according to DOMEO software level indicator is around 60%. H Either K or the docking station are failing in the wireless charge. H Either the gauge is not accurate for the charge level or the batteries are worn-out. V An intervention by the manufacturer is required. A Robosoft sends personnel with a new docking station. O The new docking station doesn t improve charging. H The problem is within the robot itself. V K is sent for repair and the trouble is found and fixed by Robosoft. A 13 Avoidance of a moving obstacle D : France deployment report Version: 1_0 Page: 21 of 41

22 O 13.1 K can not avoid a human coming across it in the living room when facing the armchairs from the entrance. H 13.1 There could be a blazing problem. H 13.2 K due to the restricted space could be unable to see the obstacle early enough to compute a new path. V Robosoft validated H13.2 and increased detection window to 8m. A 14 Use of Lokarria with main caregiver s computer and personal ADSL connectivity O 14.1 It is possible to connect log on Lokarria with U2 s login and password using Google chrome. O 14.1 The video feedback was functioning. O 14.2 The feed back on laser mapping was functioning. O 14.3 The map is showing the location of the robot but only part of the map was available. O 14.4 The automated movement towards a predetermined location was not functioning. O 14.5 Connection with oovoo was functioning. H 14.1 Dysfunction could be due to the end-user s computer and connectivity. H 14.2 Dysfunction could be due to the functioning of the server. A 14.1 Lokarria was tested with other computer and other connectivity (ADSL, 3G+). O Same problems were observed as with U2. V Dysfunction is due to the server, Robosoft was informed. A 14.2 Robosoft fixed the problems on the server. O Automated movements towards a predefined location is functioning apart from movement to the docking station. O The video camera for navigation stopped functioning refreshing of image needed to press again the start button. O For some reason oowoo would not function anymore. D : France deployment report Version: 1_0 Page: 22 of 41

23 H There is still some special development to be done by Robosoft. H There was some evolution of the environment (Google?) impacting on the functioning of the webservice. Robosoft is informed. H There might be a conflict on U2 s computer due to its use by her grandchildren. A U2 is provided with a laptop computer from the project to allow access to Lokarria. O It is not possible to connect that computer on the local WiFi of U2. O Connection is possible with 3G+. H Project laptop and 3G+ could be a temporary solution. A 15 SOS button test. O 15.1 SOS button is sending an . O 15.2 U2 doesn t use a smart phone with permanent access and doesn t look at her s more than once a day. H 15.1 Short message scripts should be sent instead of s. H s could be sent to U2 s daughter who is connected more often to her s. V 15.1 prepaying a few SMS through Skype will be considered. D : France deployment report Version: 1_0 Page: 23 of 41

24 Summary table of deployment Essential function Status Corrective action if required Mapping completed none Navigation completed none Remote control from U2 s partial/ temporarily acceptable Provision of laptop with 3G+ Investigation on cause of secondary dysfunction Improvement of webservice Webconferencing started partial/ Provision of laptop with 3G+ by U2 acceptable Investigation on cause of secondary dysfunction SOS button completed Improvement of accessibility of Charge of Kompaï Human obstacle avoidance partial/ acceptable message to U2 (SMS on mobile) Remote docking through Lokarria to be implemented Automated loging through battery management to be implemented Disruptive repetitive message when charge is needed suppressed completed Efficiency to be assessed with scenario based tests Conclusion: the minimal service as required by U2 for U1 and U1 is deployed and functioning, allowing to start the scenario based testing. D : France deployment report Version: 1_0 Page: 24 of 41

25 Notes Medical logbook with automated integration of results from blood pressure, pulse and scales is reaching deployment stage and will be deployed before the end of the project. Contents have evolved following brain storming sessions with U2 1 and interface have been tested for cognitive accessibility. Intellectual property is being addressed. Telemedicine with H323 protocol, using the multicast unit of GCS Télésanté Midi-Pyrénées has been tested. The issue is the management of the connection under two aspects: connection to the gatekeeper and automated remote connection when the telemedicine software is already launched. Those issues face two difficulties: if the IP of the 3G+ access is public, it is mobile and then the gatekeeper can not be set for a fixed address as usual, the second issue is the multicast unit of GCS Télésanté Midi-Pyrénées was recently changed and production engineers are still in the debugging phase. Expert manpower on the telemedicine (as define by HPST law and the decree of October 19, 2011) aspects is reduced as the change of status and leaving the CHU of Toulouse has deprived GCS Télésanté Midi-Pyrénées from the funding scheduled for that work in the project. D : France deployment report Version: 1_0 Page: 25 of 41

26 Annex 1: «Possibility for people without medical or healthcare training to take part in technological research with patients or disabled volunteers» an ethical counsel, report translation. Foreword The experience of researchers in Gerontechnology has shown that French physicians and caregivers may be reluctant to allow technical and non-medical research partners to approach sick or impaired volunteers with their support. This attitude appears largely due to a lack of information and would stop after some cautious and patient contact. Yet, on such a widespread issue, a more formal contribution was required to foster cooperation and save time for actual work in forthcoming studies. It was decided that the DOMEO project (as having to address that issue anyway in preparation for the French field tests) could contribute to the community by taking part in this ethical issue. The chosen methodology and the ethical approach, particularly in a French legal setting, can provide relevant indicators for a more general European context. This work was endorsed by the SFTAG (French Society of Technologies for Autonomy and Gerontechnology), APPROCHE (the French association fostering the use of new technologies in physical medicine ) and ASSISTH (the French association of researchers addressing the field of technologies for handicap compensation). The following English translation is under the responsibility of Dr Pierre Rumeau, CHU de Toulouse, La Grave Gerontechnology Lab. «Possibility for people without medical or healthcare training to take part in technological research with patients or disabled volunteers» An ethical counsel Counsel held under APPROCHE, ASSISTH and SFTAG, Organised by the Ethical Committee of SFTAG, Held Wednesday, January 19th 2011 during ASSISTH 2011 congress. Methodology and development The ethical counsel is entitled to address an ethical issue regarding an existing practice. The topic is prepared by a group of people experienced in the relevant field. This organizing committee must appoint the person with the required reputation to provide the opening legal overview in relation to the topic. It is responsible for calling the witnesses D : France deployment report Version: 1_0 Page: 26 of 41

27 according to their practical knowledge of the topic and their ability to share it. Those witnesses should represent the different interested parties of the issue, according to what is observed in practice. Council members are representatives of the endorsing societies or members, either selected individually by the organizing committee, or through delegation by a research society, an association, an administration or any legal body they are representing. Witnesses are recruited according to their competence, legitimacy and their role as interested parties of the considered topic. The secretary of the ethical committee is in charge of managing the talks, but should not interfere. The counsel starts with a summary of the relevant legislation, followed by the contributions of the witnesses and their answers to questions by the council members. After the hearings, the counsel discusses the issue, reformulating and bringing forward a statement of general agreement. After the session, the secretary, who recorded the talks forwards that report of the proceedings for validation by each author. The legal summary and the four testimonies are individually validated by their authors. By consensus the council members then ratify the discussions, recommendations and the summary of the report. The final report is then published. Council participants Preliminary work, the Ethical Committee SFTAG, Christophe Brissonneau (Manufacturer, Technologies for disabled people) Vincent Rialle (Technology specialist and ethicist, research responsible, university hospital staff) Pierre Rumeau (Physician, Secretary) Legal aspects, Anne Marie Duguet (Legal medicine, Chairwoman of the Persons Protection Committee of Toulouse) Witnesses, Blandine Boudet (Biologist, Researcher) Viviane Pasqui (Engineer, Researcher) Agnès Roby-Brami (Physician, Researcher) Maria Papaiordanidou (Physical activity and sports, Researcher) Members of the council, Representatives of organizing societies: Charles Fattal (Physician, Chairman APPROCHE) François Piette (Physician, Chairman SFTAG) Nadine Vigouroux (Engineer, Chairwoman ASSISTH) Persons relevant to the subject: D : France deployment report Version: 1_0 Page: 27 of 41

28 Patrick Coquerel (Charity activist, Association Marie Louise, Engineer) Gerard Cornet (Gerontologist, Expert for the European Commission) Monique Ferry (Physician, SFGG : French Society of Gerontology and Geriatrics) Geneviève Imbert (Head of Research, FNG : French National Foundation for Gerontology, anthropologist) Catherine Ollivet (France Alzheimer 93 Charity, Espace Ethique AP-HP ethical research group) Patrick Mallea (Engineer, CNR Santé à Domicile et Autonomie: French National Center for home health technologies) Robert Picard (Engineer, CGIET: French Ministry of Finance branch in charge of developing industry, economy and technologies) Dr Anne Marie Duguet : legal aspects Definition of the different types of research involving human volunteers Research types with humans are: pilot studies, experiments and research. Research includes biomedical research, research on medical devices, research on common care procedures and observational research. Research, apart from observational research, is under the jurisdiction of both Persons Protection Committee (Comité de Protection des Personnes or CPP) and the National Committee for Digital Data and Privacy (Commission Nationale Informatique et Libertés or CNIL). Observational research is under the jurisdiction of CNIL only. Research on common care procedures is allowed a simplified procedure for approval by CPP. Research on medical devices with EC Medical marking may belong to research on common care procedures. It must be stressed that research and care procedures should be well specified, with a greater care in the case of research on common care procedures. Research on vulnerable persons is authorized only where they might derive a direct return, or if a return is expected for people experiencing the same condition. Article L of Public Health Code (Code de Santé Publique) states that research without drugs may be carried, in case of negligible risk, under the supervision of a qualified responsible person. Experiments must be declared to the CNIL if a digital nominative database is used. Pilot studies are free, so far as they obey the common law. Peculiarities of research activity with volunteers outside Huriet-Serusclat Law 4 An experimentation is a research activity with a negligible physical or psychological risk to the participants. Risk to privacy should be taken into account. It is regulated by a research protocol. The volunteer (or volunteers, in case end and intermediate users are both involved) gives informed consent. The volunteer may withdraw his consent anytime, he may also ask to take part after having previously refused. Any nominative digital database in the experiment should be declared to the CNIL. A pilot study is a research activity with a negligible physical or psychological risk to the participants. Risk to privacy should be taken into account. It is relevant to the beginning of a research process. It is carried out in laboratory conditions. A very small number of volunteers are involved after informed consent; they are most commonly selected among the researchers 4 Translation comment: Huriet-Serusclat Law, or law for the protection of persons taking part in biomedical research, is the law defining the conditions in which biomedical research should be organized so as to protect volunteers from any kind of abuse of themselves and their rights. D : France deployment report Version: 1_0 Page: 28 of 41

29 of that study themselves. It is tolerated that the corresponding digital nominative database could not be declared to the CNIL. Consent With due regard to the potential vulnerability of volunteers (age, handicap, pathology) 5 informed consent must be obtained for any research activity. Having an informed consent is necessary but not sufficient. Respect of the individual dignity of the volunteer is of outstanding importance. In the case of cognitive impairment, affecting a volunteer s understanding, valid informed consent may come from: a) Patient s legal representative (tutor or curator), b) A previously formally endorsed trustee, as recorded in the person s medical records when the volunteer was still cognizant ( personne de confiance according to French law), c) A relative of the volunteer who could be described as a natural caregiver. The choice of the volunteer to oppose participation will be acknowledged, what ever the cause. Note that, under French law, it is against the law to allow a person under judiciary protection ( sauvegarde de justice ) 6 to volunteer in a biomedical research project. For under-aged non-emancipated people, the parents give the informed consent. The under-aged person is informed and considered consenting. Yet, the under-aged person may anytime withdraw his/her consent. If a natural or professional care-giver is involved in the research with the cared for person their informed consent is received separately. Notwithstanding, the care-giver may take part in the assessment of the constraint level or acceptable prejudice to the cared for person. Hearing of witnesses Blandine Boudet, clinical research technician at University Hospital Toulouse, researcher at La Grave Gerontology Lab (Gerontopole), master in biology and health, trained representative in pharmaceutical products. She is taking part in research activities, involving elderly patients, on human-computer interaction and various measurement devices (Predica gait assessing scales, quiritachronometer disruptive vocal behaviour quantification device). She has experience both in hospitals and nursing homes. She states that she is perceived by the care personnel as a medical auxiliary. She has access to the patients medical records to retrieve relevant information to the considered research activity and is bound by medical secrecy. She believes that the objection of potential participants must be acknowledged, whether at the time of recruiting or anytime during the tests. She describes the required tact and moderation required to allow cognitively impaired or dependent people to take part voluntarily in the research activity. Viviane Pasqui, senior lecturer in mechanics at Paris 6 University, researcher at the Institut des Sciences Informatiques et de la Robotique (institute of computing and robotics), PhD in industrial robotics. She was put in contact with healthcare as part of a cooperation program between Charles Foix University Hospital (Ivry sur Seine) and the Department of Robotics of Paris 6 University sponsored by Pierre and Marie Curie University. She describes her practice 5 Any such age, disease or handicap related vulnerability should command the highest care in receiving the informed consent. 6 This is a temporary measure started by a medical certificate to the Public Prosecutor Procureur de la République ) stating that the person is fragile, and if that person was involved in any legal action this should be taken into account. D : France deployment report Version: 1_0 Page: 29 of 41

30 with patients. It started in a geriatric background with Monimad project (2002) and then developed in rehabilitation facilities. She insists on the personal dedication of researchers choosing that particular domain. She demonstrates the collaboration that started at the earliest stages of experimentation with medical and rehabilitation personnel. She insists on the issue of judging the robustness of a device and the pure engineering knowledge to be made available. The engineer should be part of experiments and react speedily to any mishap or accident. She expects the health professionals to share their experience of the etiquette and norms applying to healthcare. She states that collaboration during experiments is easing the iterations of the user-centred development. She considers that the quality of the collaboration could help avoid technopush 7. She acknowledges the difficulty in sorting the actual needs from the perceived needs. She questions the intermingling of manufacturing and trading issues with development targets and needs assessment. Agnès Roby-Brami MD, researcher at the Neurophysiology and Physiologie Laboratory of the Saints-Pères, Paris Descartes University, AIHP (former resident at the Hospitals of Paris), Physiologist. Her main topic is motor recovery after brain or spine injury as assessed first by electrophysiology then according to biomechanics and behaviours. She first work on technological devices for handicap compensation at Raymond Poincaré University Hospital, Garches, in the early 90s. Her former PhD students in engineering are now active members of the community of handicap compensation technology research. After a temporary return to neuroscience topics, she could come back into applying technological devices to rehabilitation. She acknowledges the required multifactor method from the needs assessment stage; human sciences, including physiology, are a compulsory component. Teams are required to sum each one s capabilities. Legitimacy is in the addition of capabilities forming the team. Fundamental laboratory research is feeding intermediate behavioural research (using laboratory and technology platforms), considering usage and learning of the technical aid (knowing how to use it, thence how to train in using it, thence how to prescribe it), and, eventually, home ecological assessment and medical aspects may come to the fore (assessment of efficiency in daily life, long term benefits; evidence based medicine methodology may be relevant at that stage). Grey overlapping zones, where norms and regulations are uncertain, range from the area of engineering (computing) sciences to biomedical trials. She describes the ideal research team for a biomedical technology research project: including the technological research team, a researcher in neuroscience and/or cognitive science, a rehabilitation medicine physician, rehabilitation personnel (psychologists, occupational therapists, physiotherapists). The researcher responsible writes and manages the ethical documents, the medical and paramedical members are in charge of informed consent, the technical members should ascertain the consent at the very time of testing and, if it happens, acknowledge a consent being withdrawn. The proper role of each member of the team should be respected. She shares in the practice of an ad hoc ethical committee at Paris 5 University that deliberates on research projects which don t come under the French biomedical research regulation. Maria Papaiordanidou, lecturer at UFR-STAPS de Montpellier (Montpellier Sports University) is collaborating with DEMAR research team of LIRRM (robotics research laboratory in Montpellier), she has a PhD in Sports and Physical Activity and got her MSc in the Sports University of Leeds. She joined the LIRMM for her thesis work on electrostimulation induced muscle fatigue in spinal cord injury patients. She runs her studies at Propara mutual insurance rehabilitation centre, Montpellier, a facility specialized in care for para and tetraplegics. She describes how the actual need makes it necessary for the researcher 7 Where possible uses are invented for existing technological devices. D : France deployment report Version: 1_0 Page: 30 of 41

31 to make contact with the prospective users. She believes patients have an outstanding role in making a realistic needs evaluation. She describes the cooperation with practitioners: bringing in the medical expertise and allowing the combination of the various researchers involved. Named as a researcher, she was part of the weekly ward rounds. She sees that involvement of research team members as complementary to the statutory role of medical personnel. For her, the medical staff has a role in the limitation of risks for the volunteering patient, namely by taking part in writing the experimental protocol. The physician presents the study to his patient and receives the informed consent; the informed consent file is an essential link to the patient. The physiotherapist attends the full duration of the experiments, reassuring both the patient and the researcher. As a conclusion, she insists on the choice of researching with and for patients. She says the inclusion protocol should ease the integration of the researcher and facilitate the research with technological devices in a healthcare setting. She believes completely in the benefits brought to the research, when required, by an integrated collaboration in the place where prospective users live. Debate The council established that, taking part in technological research in contact with patients (people facing disease or handicap) for researchers without medical or initial care training, far from being casual, was automatically encouraging quality. The terms without medical or healthcare training was defined from a statutory point of view as not having received a medical training (medicine, dentistry, pharmacy or as a midwife) or an healthcare training (nurse, auxiliary nurse, nursery auxiliary nurse, physiotherapist, occupational therapist, psychomotor rehabilitation therapist, vision rehabilitation therapist, podiatrist, orthopaedist). That definition soon appeared limited, as it didn t clearly define the potential participants. The idea that technological research with patients would be shared between care staff and technological researchers proved false. The question to be asked is: what knowledge is lacking for the success of the research project? The discipline and the branch of the researcher have to give way to the actual contribution to the research project. None should be excluded from the range of subjects. The council has established that two communities of practice are facing each other: that of research and that of healthcare. Mediators, acknowledged by both communities, should behave as intermediaries; interpret the special terms that would not be shared by both communities and act as facilitators. They must add to their knowledge a will to include and an attitude of openness. The researcher entering the patient s environment will have to be accepted and endorsed by the health community; he is responsible proportionately to his expertise for the considered project. Those mediators are authorized by the experimental protocol. They may be the main investigator of the study (no matter whether they have a medical or research background); there is also possibility of co-management by the two communities of practice, or they may be associate investigators. Those mediators keep a «transdisciplinary» research team safe from corporativism. The council, had to concede that integration of both communities of practice also required good mutual collaboration, and was bringing a risk of confusion. The patient must not misunderstand; the role and function of each one should be readily available (both by their behaviour and visible labels). Anyone, inside the transdisciplinary team, should be easily recognised by the patient and should stand for his difference and special abilities. Each team member, in contact with the patient, should make sure the patient would not have expectancies from the research, in terms of healing or handicap compensation, that could denote a form of belief or mental manipulation. D : France deployment report Version: 1_0 Page: 31 of 41

32 Reminder on the issue The council had to assess the possibility for individuals without medical or paramedical training to take part in technological research activities with patients or disabled people. This question, when analysed, asked as a preliminary question whether, in this type of study, a collaboration of different branches was required to improve the return for society. It also had, in the case of a positive answer to consider the ethical background to that collaboration. Conclusion - The council observes that the participation of individuals without medical or paramedical training is necessary for the functioning of research activities with patients or disabled people. - The council recommends that research activities with patients or disabled people should be carried out by transdisciplinary teams. Those teams should include abilities defined according to the topic of the research activity and framed by the experimental protocol. - The council recommends that volunteers should easily recognise the profession of each one of the research team members. Each member should make sure that no ambiguity on that issue could cause irrational expectations from the experiments for the patient. - The council recommends that the personnel, part of the care community, could be involved, from the start when possible, in the research project and protocol design. This project should concur with the care project. Personnel have a special role in the protection of the volunteers from recruitment to the end of the duration of the tests. They must help with the integration of the transdisciplinary team members who will be in contact with the volunteers. The council stresses that this integration may include an attendance to care related activities. - The council observes that the personnel belonging to the technological research community are acceptable to the volunteers, due to them taking part in the multidisciplinary team. That integration is due to their own competence and what they specially bring to the execution of the research project. The council notes that integration implies related duties: being clearly identified to volunteers, coping with the uses of the care community, behaving as a care auxiliary regarding the secrecy due to patients, to make sure that the volunteers consent is respected and not getting in the way of care. - Regarding the management of technological research activities with patients or disabled people, the council notes that French law on biomedical research states that in case of negligible risk the main investigator may be a qualified person, otherwise he should be a physician. For experiments and pilot studies, the main investigator is chosen according to his legitimacy in the transdisciplinary team; the council recommends that he should be recognised as a mediator between the research and health communities. The council observes there may be a point in co-management by two main investigators respectively from the research and care communities. Summary It is deemed desirable that people coming from other professions than that of care could bring their special knowledge into technological research with and for the patients and persons facing a handicap situation. Those people are acting accordingly to a protocol. The council recommends that protocol be implemented by a multidisciplinary team including a component from the community of care. Those people must abide by the protocols of the field of care and must keep to the rules of medical secrecy protection. They must identify clearly to the volunteers and respect their consent or refusal. D : France deployment report Version: 1_0 Page: 32 of 41

33 Acknowledgements: many thanks to Mrs Barbara Graves for correcting the English version. Note: a new law on biomedical research was passed in 2012 (Loi Jardé), instatement is not expected before the end of the French trial and of DOMEO project. D : France deployment report Version: 1_0 Page: 33 of 41

34 Annex 2: French speaking Kompaï use manual for deployers. See content in the attached pdf file: Projet AAL DOMEO : Manuel d utilisation - Configuration du robot. Denis M, Boudet B, Rumeau P. 48p, Laboratoire de Gérontechnologie CHU Toulouse, Toulouse D : France deployment report Version: 1_0 Page: 34 of 41

35 Annex 3: French speaking reminder leaflets for service staff. Robot launching leaflet; D : France deployment report Version: 1_0 Page: 35 of 41

36 Creating a new map leaflet; D : France deployment report Version: 1_0 Page: 36 of 41

37 Naming the locations leaflet; D : France deployment report Version: 1_0 Page: 37 of 41

38 Annex 4: French speaking Lokarria use reminder leaflet for main caregiver. (In the actual version the login and password are given, obviously not here.) D : France deployment report Version: 1_0 Page: 38 of 41

39 D : France deployment report Version: 1_0 Page: 39 of 41

40 D : France deployment report Version: 1_0 Page: 40 of 41

41 Annex 5: photographs of incident logbook with instructions on how to stop the robot. Home, paper, incident logbook, as shared with the users, including how to stop the robot and a sample of events. D : France deployment report Version: 1_0 Page: 41 of 41

42 Manuel d utilisation Configuration robot - Manuel réservé au personnel habilité - Rédacteur : Mathieu Denis, Vérification : Blandine Boudet, Pierre Rumeau Laboratoire Gérontechnologie Hôpital La Grave / CHU Toulouse Place Lange, TSA TOULOUSE Cedex 9 Tel : Page Version 1.9 (14/09/2012)

43 Sommaire 1. Présentation générale 1- Le robot KOMPAI 2- La manette de contrôle 3- La station de recharge 4- L interface de communication Internet 1. interface Wifi 3G+ 2. carte interne 3G+ du Tablet PC 2. Mise en route / arrêt du robot 1- Mise en route du robot 2- Arrêt du robot 3. Mise sous tension / arrêt du Tablet PC 1- Mise sous tension du Tablet PC 2- Utilisation du stylet et du clavier virtuel 3- Login et mot de passe WINDOWS 4- Arrêt du Tablet PC 4. Contrôle manuel du robot 1- Mise en route de la manette 2- Commandes de déplacements 5. Déplacement autonome du robot 1- Génération d une carte de l environnement 2- Modification d une carte de l environnement 3- Création des points d intérêts (lieux de stationnement du robot) 6. Application principale 7. Prise en main du robot à distance (LOKARRIA) Page /09/2012

44 1. Présentation générale Le système DOMEO est constitué : o Du robot KOMPAI o D une manette de contrôle (de type Xbox 360) o D une station de recharge (Docking Station) o D une interface de communication Wifi 3G+ 1. Le robot KOMPAI Buste Rotation buste Bouton d arrêt d urgence Base RobuLab10 Télémètre laser Pare-chocs arrière Pare-chocs avant Télémètres optiques Marche avant Figure 1 : Vue d ensemble du robot Remarque : «L avant» du robot correspond à la façade de la base RobuLab10 portant le télémètre Laser pour le SLAM (Simultaneous Localization And Mapping), cf. Figure 1. Page /09/2012

45 ON/OFF Bouton de mise en route Bouton d arrêt Figure 2 : Vue du panneau arrière de la base RobuLab10 Le robot KOMPAI se décompose en deux parties principales : La base RobuLab10 : correspond aux fonctionnalités dites de bas niveau. Elle embarque un ordinateur qui fonctionne avec le système d exploitation «Windows CE» qui gère : o Les déplacements (moteurs et odométrie) o Le télémètre Laser o Les capteurs infrarouges et ultrasons (ne sont pas activés) o La caméra IP o Les télémètres optiques de niveau (mesures de dénivelés ou de décalage au sol, 4 unités situées aux 4 angles sous la base) Le «buste» : correspond aux fonctionnalités dites de haut niveau. Cette partie embarque le Tablet PC qui gère (via divers logiciels) : o La création d une carte de l environnement (Mapper.bat) o La gestion des déplacements dans la carte générée (Navigation.bat) o Le programme principal (Doméo.bat) o Les capteurs physiologiques (Balance, Tensiomètre, ECG) o Le système de télémédecine (Cahier de liaison et Visioconférence PVX) Page /09/2012

46 Descriptif simplifié du Tablet PC Le Tablet PC est un ordinateur portable avec un écran tactile. Dans la configuration utilisée ici, il n a ni clavier, ni souris. Donc, toutes les opérations sont réalisées sur l écran tactile, à l aide d un stylet (cf. Figure 3) ou d un doigt. Bouton Marche/arrêt Emplacement du stylet Figure 3 : vue du panneau avant du Tablet PC Page /09/2012

47 2. La manette de contrôle Cette manette de contrôle est utilisée pour gérer les déplacements du robot en mode manuel. Pour plus de détails sur son usage, se reporter au chapitre 4, «Contrôle manuel du robot». Bouton de mise en marche de la manette(start) Bouton rond central Bouton d ouverture du compartiment des piles Figure 4 : Vues de la manette de contrôle Les piles utilisées sont des piles alcalines de type AA LR6. Pour les remplacer, il suffit d appuyer sur le bouton d ouverture situé à l avant du compartiment de piles et de tirer en même temps sur le capot (cf. Figure 5). Le sens et la polarité des piles doivent être respectés conformément au schéma suivant (cf. Figure 5). Figure 5 : Schéma de changement des piles Page /09/2012

48 3. La station de recharge (Docking Station) Le robot a une autonomie d environ 7 heures et il possède une station de recharge («Docking Station») pour recharger ses batteries. Cette station se place au sol, contre un mur et se connecte à une prise murale 220 Volts. La station doit être positionnée de façon à ce qu un espace libre au niveau du mur sur lequel repose la station, d au moins 30 cm de part et d autre, soit présent. De plus, il est recommandé que cette station soit placée de façon à ce qu un dégagement suffisant en face d elle soit présent, comme indiqué sur le schéma suivant : Station Le robot peut se recharger de 3 façons : L utilisateur déplace le robot à l aide de la manette afin de le positionner dans la station de recharge. L utilisateur demande oralement au robot d aller se recharger (commande vocale) Lorsque le robot détecte un niveau de batterie insuffisant, il prend la décision de se rendre automatiquement à la station de recharge et se connecte. Interrupteur Figure 6 : Vue de la station de recharge (Docking station) Page /09/2012

49 Figure 7 : Vue latérale de la station de recharge [1] Connecteur 220V [2] LED indiquant la connexion du robot à la Docking Station (allumé quand connecté) [3] Connecteur du câble externe [4] Bouton de recharge par le câble externe La station de recharge est équipée sur sa face supérieure d une LED (indicateur électroluminescent) de couleur variable suivant le courant de charge, à savoir : Verte = batteries chargées (fin de charge) Jaune = batteries en fin de charge Orange = batteries en charge Rouge = batteries complètement déchargées (début de cycle de charge) La station de recharge est équipée sur le coté droit (cf. Figure 7): D une embase secteur pour câble répondant à la norme européenne D un interrupteur situé à coté dont la fonction est de sélectionner le mode de rechargement, c est-à-dire une position rechargement standard et une position rechargement par le câble : o Position en haut : rechargement par le câble o Position en bas : rechargement standard ATTENTION! Page /09/2012

50 Bien vérifier la bonne position de l interrupteur lorsque le robot est en mode rechargement standard. La mauvaise position (position haute) ne permettra pas au robot de se recharger! D un connecteur situé sous l embase secteur (permettant la recharge du robot en cas de décharge complète des batteries) D une LED (indicateur électroluminescent) de couleur «Verte» en position active, indiquant le bon positionnement du robot et la connexion électrique effective du robot à la station de recharge. Remarque : Il peut arriver que le robot se positionne mal dans sa station et par conséquent que le chargement ne s effectue pas. La conséquence de cet événement est le déchargement total des batteries du robot si aucune action n est entreprise à très court terme. Dans le cas particulier du déplacement autonome du robot, celui-ci détectera l échec de positionnement (et par voie de conséquence, l absence de connexions) et effectuera un mouvement de recul d une trentaine de cm par rapport à la station de recharge et stationnera à cet emplacement jusqu à une éventuelle action de la part d un utilisateur potentiel. Dans ce cas précis, il faut obligatoirement utiliser le câble fourni avec la station et le brancher à l arrière du robot, sur le connecteur «Charger» (cf. élément 10, figure 2). Page /09/2012

51 4. L interface de communication Internet Interface Wifi 3G+ : Afin d optimiser cette liaison internet, la clé 3G+ est couplée à une borne wifi, le robot (via l antenne wifi du Tablet PC) récupère la liaison 3G+ via cette borne wifi. Clé 3G+ Borne wifi HUAWEI Figure 8 : Vue de l interface de communication Wifi 3G+ Comme tout système sans fil, le mode de communication wifi a des limitations d utilisation. La portée et l efficacité du système sont fonction de la distance, mais aussi et surtout de la nature des obstacles que devront franchir les ondes (ex : surfaces vitrées, mur de pierres, ). Pour mettre en route l interface wifi-3g+, il faut : Connecter la clé 3G+ sur le connecteur USB de la borne wifi HUAWEI Brancher la prise électrique sur le secteur Appuyer sur le petit bouton «Power» situé sur un des côtés de la borne wifi HUAWEI (cf. Figure 9). Connecteur USB pour clé 3G+ Bouton de mise sous tension Connecteur cordon secteur Figure 9 : Vue de côté de la borne wifi HUAWEI seule Page /09/2012

52 Carte 3G+ interne du Tablet PC : Le Tablet PC possède son propre logement pour micro carte SIM 3G+. Il est donc possible de le connecter directement à Internet sans passer par une borne Wifi. Une fois cette carte 3G+ insérée dans son logement, il faut configurer la connexion de la façon suivante : Cliquer sur l icône «réseaux» dans la barre des tâches de Windows, en bas à droite. Choisir le réseau mobile «F Bouygues» en cliquant dessus, un bouton «Connecter» apparaît Page /09/2012

53 Cliquer sur le bouton «Connecter», une fenêtre apparaît, dans laquelle un mot de passe est demandé. Inscrire «0000» dans la zone de saisie, puis cliquer sur «Continuer» Le Tablet PC se connecte alors au réseau 3G+. Page /09/2012

54 2. Mise en route et arrêt de la base du robot 1. Mise en route du robot Appuyez sur le bouton «ON/OFF» (cf. élément 7, Figure 2). 2. Arrêt du robot, Appuyez le bouton «Valid.» (cf. élément 8, Figure 2). 3. Mise sous tension et arrêt du Tablet PC (tactile) 1. Mise sous tension du Tablet PC Appuyer sur le bouton de mise sous tension de l ordinateur en bas à gauche (cercle rouge, cf. Figure 3). 2. Utilisation du stylet et du clavier virtuel - Utilisation du stylet pour entrer les données, cliquer ou sélectionner les différents menus. Sur ce Tablet PC à écran tactile, toutes les opérations effectuées sur un PC classique avec la souris seront réalisées sur l écran lui-même à l aide du stylet ou du doigt, remplaçant ainsi cette souris. L opération de sélection (simple clic avec la souris) se fera par un simple appui court sur l élément à sélectionner. L opération d ouverture de répertoire ou de lancement d une application (double clic avec la souris) se fera par deux appuis courts successifs réalisés dans un laps de temps très bref. L opération d affichage de menus sur un élément sélectionné (clic droit avec la souris) se fera par un appui long. On définit un appui long comme l action d appuyer longuement sur l écran tactile (stylet ou doigt). C est au moment où l on relâche l appui qu un menu apparaît (cf. Figure 10), comme lors d un clic droit avec une souris. Figure 10 : Appui long (Clic droit) Page /09/2012

55 - Utilisation du clavier virtuel Figure 11 : Illustration du clavier virtuel sur le bureau de Windows 3. Login et mot de passe WINDOWS Figure 12 : Exemple d écran de démarrage A l aide du stylet (ou du doigt), ouvrir le clavier virtuel en cliquant sur le champ «mot de passe» et taper le mot de passe «Administrator» (cf. Figure 13) (Respecter les majuscules et minuscules) Page /09/2012

56 Figure 13 : Saisi du mot de passe 4. Arrêt du Tablet PC Pour arrêter le Tablet PC, il faut cliquer sur le menu «démarrer»», une fenêtre s affiche, il faut alors cliquer sur le bouton «arrêter» (cf. Figure 14). Le Tablet PC s étendra alors tout seul. Bouton «arrêter» Bouton «démarrer» Figure 14 : Boutons «démarrer» et «arrêter» Page /09/2012

57 4. Contrôle manuel du robot Il est possible de déplacer le robot «manuellement», à l aide d une manette de jeu Xbox 360 (technologie sans fil de type Bluetooth). 1. Mise en route de la manette Xbox Appuyer longuement sur le bouton «START» de la manette (cf. Figure 4) : ceci a pour effet que le bouton rond central se met à clignoter* (cf. Figure 4). ATTENTION! * Si ce n était pas le cas, vérifier le bon sens d insertion des piles dans le compartiment et l état d usure des piles (cf. explication Page 6 et Figure 5). 2. Commandes de déplacement (cf. Figure 4) ATTENTION! Le bouton de sécurité «A» doit être maintenu enfoncé pour que le robot se déplace. (Sécurité de type homme mort) - Appuyer et maintenir enfoncé le bouton de sécurité «A» Puis actionner, simultanément, l une des différentes commandes présentées ci-dessous : - Pour avancer : appuyer progressivement sur l accélérateur marche avant* (la vitesse est proportionnelle à la pression appliquée à la gâchette). - Pour reculer : appuyer progressivement sur l accélérateur marche arrière* (la vitesse est proportionnelle à la pression appliquée à la gâchette). - Pour obtenir une rotation du robot sur son axe à droite ou à gauche : utiliser la commande de direction en appuyant progressivement. - Si on lâche l accélérateur, le robot stoppe sur place. Faire très ATTENTION! * Appuyez doucement sur les boutons pour éviter les chocs dans les murs. Page /09/2012

58 5. Déplacement autonome du robot 1. Acquisition de la carte d environnement (Logiciel Mapper.bat) Le robot a besoin, pour pouvoir se déplacer de façon autonome, de connaître l environnement dans lequel il évolue. Pour cela, il est donc nécessaire de faire l acquisition et d enregistrer une carte de son environnement, à laquelle il fera référence pour tous ses déplacements ultérieurs. Avant toute chose, il faut : - Faire pivoter manuellement la partie supérieure du buste du robot (un demi-tour) conformément à la figure 1 : le buste doit être retourné jusqu à ce que le Tablet PC soit tournée vers l arrière de la base. - Déplacer le robot à l aide de la manette à un point spécifique* nommé «Point ZERO» repéré dans l environnement (point d origine de la carte d environnement), et une orientation du robot dans un sens de déplacement. Faire très ATTENTION à * Prendre comme point ZERO, un lieu facile à retrouver dans la pièce (ou dans l une des pièces de l environnement d évolution du robot) afin de permettre au robot d être facilement repositionné pour les autres étapes de l installation sur site. La position et l orientation du robot au point ZERO devront être rigoureusement respectées. - Arrêter la partie basse du robot sans arrêter le PC (cf. Chapitre 2). - Attendre 15 secondes - Redémarrer la partie basse du robot (cf. Chapitre 2). - Attendre 15 secondes avant de passer à l étape suivante. Puis : - Sur le bureau de Windows, Double-cliquez sur le répertoire «Lancement» (cf. Figure 15). Répertoire «Lancement» Figure 15 : bureau de Windows Page /09/2012

59 - Double-cliquez sur «Mapper.bat» (cf. Figure 16). Figure 16 : répertoire «Lancement» L application Mapper s ouvre avec ses 5 sous-fenêtres : Mapview : visualisation du robot et de la carte Console : listing des logs servant plutôt au débogage Cam : visualisation de la caméra IP Mapmanagerviewer : liste des cartes enregistrées Mapperviewer : boutons de démarrage d acquisition et paramétrage de l application. - Dans la fenêtre «mapmanagerviewer» (cf. Figure 17), si la liste des noms de carte n est pas vide, supprimer tous les éléments de cette liste : o Faire un appui long sur l élément à supprimer, o Un menu s affiche (cf. Figure 18), o Cliquer sur «RemoveMap» pour supprimer l élément. Figure 17 : Interface graphique de l application «Mapper.bat» Page /09/2012

60 Figure 18 : Zoom sur la fenêtre «mapmanagerviewer» - Dans la fenêtre «mapperviewver» (cf. Figure 19), vous pouvez modifier certains paramètres (nom de la carte, résolution par exemple) : o Cliquer sur le paramètre à modifier : le paramètre apparaît en surligné, o Modifier le alors à l aide du clavier virtuel. ATTENTION! C est ici et uniquement ici que l on peut nommer la carte que l on veut créer. C est le champ «Path» qui permet de nommer la carte (cf. Figure 19). Figure 19 : fenêtre «mapperviewer» (gestion des paramètres de création de carte) - Dans la fenêtre «mapview» (cf. Figure 20) : o Agrandir la visualisation de la carte en utilisant le curseur vertical situé à droite de la fenêtre. Pour cela, maintenir le stylet (ou doigt) sur le curseur et monter ou descendre selon l action désirée. o Appuyer longuement sur la fenêtre avec le stylet, o Choisir le menu «reset localization»* ATTENTION! * Le gros point vert représentant le robot et son orientation se replace alors à l origine du repère x,y correspondant au point d origine que l on vient de fixer. Ce point sera identifié comme LE point de référence (point spécifique permettant au robot perdu de se retrouver). Page /09/2012

61 Curseur de zoom de la carte Figure 20 : fenêtre «mapview» - Dans la fenêtre «mapperviewver» (cf. Figure21) : o Appuyer sur la touche «start», (bouton bleu en forme de bouton «lecture», en haut à gauche) Figure 21 : fenêtre «mapperviewer», bouton START o Déplacer lentement le robot, avec la télécommande, dans l environnement (en le suivant afin de ne pas se faire «voir» par le faisceau laser situé à l avant du robot) afin d acquérir les données nécessaires à la création de la carte. Afin d obtenir un niveau de détails assez important, on peut faire pivoter le robot sur lui-même à plusieurs endroit de l environnement. ATTENTION! Si la carte n apparaît pas dans la fenêtre «mapview», vous n avez pas du bien appuyer sur la touche «start». Page /09/2012

62 o Appuyer sur la touche «stop» pour arrêter la procédure de création de la carte. C est à ce moment-là que la carte est sauvegardée (dans le répertoire C://MRDS/store/maps). La carte apparaitra alors dans la fenêtre «mapview» (cf. Figure 22). Figure 22 : Fenêtre «mapperviewer», bouton STOP ATTENTION! Si une personne se trouve dans le champ du laser pendant l acquisition de la carte, elle sera considérée comme un obstacle par le robot. En astuce, vous pouvez rester derrière le robot et tourner son buste de façon à avoir l écran visible face à vous. o Cliquer simplement sur le bouton de fermeture de la fenêtre Windows (cercle rouge cf. Figure 23) Figure 23 : Fermeture de l application Mapper Page /09/2012

63 o Cliquer sur le bouton de fermeture de la fenêtre de commande (cf. Figure 24). Figure 24 : fenêtre de commande 2. Modification d une carte de l environnement Il peut arriver que l environnement dans lequel évolue le robot change (déplacements d objets, zones inaccessibles, ). Pour éviter de refaire une carte à chaque fois que celle-ci évolue, il y a la possibilité de la modifier. Modifier la carte, c est aussi permettre de limiter le robot dans ses déplacements, par exemple, ne pas l autoriser à aller dans certaines zones de la maison. La carte est une image PNG, mais contient des métadonnées essentielles pour la cartographie. Elle ne peut être modifiée comme on modifie une simple image. 2 logiciels sont nécessaires pour cette action : GIMP et TWEAK PNG. Ces deux logiciels sont téléchargeables gratuitement et il sera plus pratique de les installer et des les utiliser sur un autre PC que le Tablet PC. Pour plus de sécurité, garder la carte originale et travailler sur une copie de cette image. La carte de l environnement créée dans «Mapper» se sauvegarde automatiquement toujours dans le même répertoire du Tablet PC. Le chemin pour la trouver est : C://MRDS/store/maps Récupérer la carte à modifier depuis le répertoire «maps» depuis le Tablet PC, sur une clé USB afin de travailler sur un autre PC sur lequel sont installés GIMP et TWEAK PNG. Après avoir placé l image de la carte sur le PC, ouvrir THE GIMP et ouvrir cette image. Page /09/2012

64 Figure 25 : Interface du logiciel THE GIMP Les zones en blanc sont des espaces dans lesquels le robot peut se déplacer. Les zones en noir sont des espaces inconnus. Les zones en gris sont des espaces occupés par des objets. Par défaut, le robot ne va ni dans les parties noires, ni dans les parties grises. Si l on veut définir de nouvelles zones inaccessibles au robot, il suffit d utiliser les outils de remplissage fournis par le logiciel GIMP : Utiliser l outil de sélection de zone (les 3 premières icones en haut à gauche dans la fenêtre «Boîte à outils» (cf. Figures 26 et 27)). Figure 26 : Outil «sélection rectangulaire» Page /09/2012

65 Figure 27 : Outil «sélection elliptique» Sélectionner la zone à modifier (cf. Figure 28). Par exemple, ici, une zone ovale représentant une table et des chaises autour de cette table. Figure 28 : Sélection de la zone à modifier Choisir la couleur grise pour la couleur de remplissage de cette zone. Pour cela, cliquer sur l outil de choix de couleur de premier et arrière plan (cf. Figure 29). Page /09/2012

66 Figure 29 : Outil de choix de couleur de premier et d arrière plan Puis, dans la fenêtre «Modification de la couleur de premier plan», ajuster les paramètres R,V,B (seulement ces 3) à la valeur «100», puis cliquer sur «Valider». Figure 30 : Fenêtre de modification de la couleur de premier plan Remplir cette zone avec l outil remplissage. Pour cela, cliquer sur l outil de remplissage (cf. Figure 31). Page /09/2012

67 Figure 31 : Outil de remplissage de zone Puis cliquer à l intérieur de la zone sélectionnée (cf. Figure 32). Figure 32 : Remplissage de la zone sélectionnée Sauvegarder le fichier modifié. Pour cela, cliquer sur «Fichier» dans le menu contextuel du logiciel, puis sur «Enregistrer sous». Page /09/2012

68 Figure 33 : Menu «enregistrer sous» de THE GIMP Une première fenêtre pop-up apparaît. Ici, vous pouvez changer le nom de la carte. Cliquer sur le bouton «Enregistrer» pour passer à l étape suivante. Figure 34 : Fenêtre «Enregistrer l image» ATTENTION! L image doit impérativement être enregistrée au format PNG! Une deuxième fenêtre pop-up apparaît. Décocher tous les paramètres et mettre le niveau de compression à zéro. Page /09/2012

69 Figure 35 : Fenêtre «Enregistrer en PNG» Etape de sauvegarde des métadonnées (TWEAKPNG): Ouvrir une première fenêtre TWEAKPNG et ouvrir la carte originale Ouvrir une deuxième fenêtre TWEAKPNG et la carte modifiée. Figure 36 : 2 fenêtres TWEAKPNG (carte original à gauche et modifiée à droite) Supprimer la seconde ligne de la carte modifiée (clic droit et menu «Delete») Page /09/2012

70 Figure 37 : Sélectionner et copier les lignes 2 à 5 de la carte originale. Sélectionner la ligne 2 de la carte modifiée et coller les lignes que l on vient de copier à cet endroit (les 5 premières lignes des 2 fichiers sont alors les mêmes). Sauvegarder la carte modifiée Transférer cette carte modifiée depuis le PC de travail vers le Tablet PC, via une clé USB. Placer cette carte dans le répertoire C://MRDS/store/maps Figure 38 : Une fois que cette manipulation est faite, il ne faudra pas oublier de sélectionner la carte modifiée dans les applications «Mapper» ou «Navigation» pour définir cette nouvelle carte comme la carte utilisée par défaut. Page /09/2012

71 3. Création des points d intérêts (lieux de stationnement du robot) Avant toute chose, il faut : Amener le robot avec la télécommande manuellement à un point spécifique dans l environnement, qui aura été spécifié précédemment comme étant le point d origine de la carte de l environnement. Arrêter la partie basse du robot sans arrêter le Tablet PC, Attendre 15 secondes, Puis redémarrer la partie basse du robot, Attendre 15 secondes avant de passer à l étape suivante. Puis : Sur le bureau, Ouvrir le répertoire «Lancement». Double-cliquez sur l icône «Navigation» (fichier.bat) pour lancer l application de localisation et de déplacement. Cet applicatif sert à créer des points d intérêts sur la carte générée dans «Mapper» qui correspond à l environnement dans lequel va se déplacer le robot. Pour créer ces points : Sélectionner en bas à droite la carte à utiliser dans «localizermapmanagerviewer» et dans «plannermapmanagerviewer». Pour cela, faire un appui long (clic droit) sur la carte à sélectionner et choisir «SetAsCurrent» dans le menu affiché (cf. Figures 39 et 40). Figure 39 : Interface de l application «Navigation», fenêtre «localizermapmanagerviewer» Page /09/2012

72 Figure 40 : Fenêtre «plannermapmanagerviewer». Vérifier que le robot est correctement localisé sur la carte. A ce moment-là, faire un clic droit sur la carte (appui long avec le stylet ou le doigt) et choisir le menu «replace localizer». Figure 41 : Menu de la fenêtre «mapview», choix «Replace localizer» Déplacer manuellement le robot vers un point d intérêt à sauvegarder. Faire un clic droit sur la carte et choisir le menu «save current robot position as map position». Vous pouvez alors enregistrer ce point avec le nom que vous désirez (par exemple, cuisine ou fauteuil). Page /09/2012

73 Figure 42 : Fenêtre «mapview», choix menu «Save current» Figure 43 : Enregistrement d un nom de point d intérêt Vous pouvez enregistrer autant de points que vous voulez. Vous pouvez également effacer les points que vous voulez en sélectionnant le point à supprimer et en faisant un clic droit dessus. Le menu s affiche et propose l action «RemoveGoal». Page /09/2012

74 Figure 44 : Point particulier de la Docking Station : La mémorisation de la localisation de la Docking Station est une manipulation à part par rapport à la mémorisation des points d intérêts «classiques». Il suffit simplement de choisir le menu «Record as Docking Station location» (cf. Figure 44 bis) Choix pour mémoriser la localisation de la Docking Station Figure 44 bis : Menu dans «mapview» avec choix pour la Docking Station Page /09/2012

75 6. Application principale : utilisation du robot Avant toute chose, il faut : Amener le robot manuellement à un point spécifique dans l environnement, qui aura été spécifié précédemment comme étant le point d origine de la carte de l environnement (point ZERO). Arrêter la partie basse du robot sans arrêter le Tablet PC, Attendre 15 secondes, Puis redémarrer la partie basse du robot, Attendre 15 secondes avant de passer à l étape suivante. Puis : Afin que toutes les fonctionnalités de l application principale puissent être actives, il faut s assurer que le TabletPC est bien connecté à Internet. Pour cela, faire un double-clic sur l icône Internet-Exploreur en bas à gauche de l écran, une fenêtre doit s ouvrir sur le site Google. Si tel est le cas, la liaison internet est opérationnelle, dans le cas contraire il vous faut faire appel au support technique. Figure 45 : Bureau de Windows Avant de continuer, fermer la fenêtre «Google» puis lancer l application «OpenVPN» en faisant «un simple-clic» sur le «petit triangle» dans la barre de taches en bas de l écran à droite. Une petite fenêtre s ouvre (cf. figure 46) et faire un double-clic sur le logo représentant «2 ordinateurs de couleur Rouge». Cette application permet d ouvrir un canal sécurisé entre le robot et le serveur LOKARRIA de contrôle à distance. Une fois la liaison sécurisée complètement établie, le logo aura pris la couleur «verte» et indiquera «Assigned IP : ». Page /09/2012

76 Figure 46 : Emplacement de l application OpenVPN Figure 47 : connexion établie au VPN Pour lancer l application principale (qui sera l application qui tournera en permanence au domicile), il suffit d ouvrir le répertoire «Lancement» et de double-cliquer sur l icône «Domeo» (fichier.bat). Page /09/2012

77 Figure 48 : Répertoire «lancement» Au niveau de l interface de l application principale, il existe, en plus de la fonctionnalité de déplacement, 8 fonctionnalités (dans l ordre croissant d apparition sur l interface, de gauche à droite) : 1. Gestion d envoi d s 2. Module de visioconférence (module SKYPE) 3. Point d accès à Internet 4. Gestion d une liste de courses 5. Module de consultation météorologique 6. Gestion d un agenda électronique 7. Point d accès à des jeux vidéo 8. Gestion d un «pilulier» (aide à la gestion de prise de médicaments) Figure 49 : Interface graphique de l application «DOMEO» Page /09/2012

78 Par défaut, le micro pour la reconnaissance vocale est coupé. Si l on veut utiliser la reconnaissance vocale, il suffit de cliquer dessus pour réactiver le micro. Lorsque l on veut arrêter l application principale, cliquer sur l icône «Settings» en bas à gauche de l écran d accueil. Si vous n êtes pas sur l écran d accueil («menu principal»), vous devez d abord vous rendre sur le menu principal afin de pouvoir avoir accès au menu «Settings». Pour cela, il faut cliquer sur le bouton «menu principal», dans la barre du bas (bouton cerclé en rouge). Figure 50 : Mise en évidence du bouton «Menu principal», barre du bas Figure 51: Mise en évidence du bouton «Settings» L écran Settings apparaît. Il suffit alors d appuyer sur le bouton rond rouge pour quitter l application (entouré en rouge). Page /09/2012

79 Figure 52 : Ecran Settings L application se ferme et une fenêtre noire de commande est toujours présente sur le bureau. Il suffit de fermer cette fenêtre (croix rouge en haut à droite de la fenêtre) ou d appuyer sur une touche pour complètement sortir du programme. Figure 53 : Fenêtre de commande du programme Gestion du compte SKYPE pour le bouton SOS Le bouton SOS, situé sur le buste du robot, permet de déclencher une alarme sous forme de SMS ou d chez le personnel soignant. Le service d s et de SMS est actuellement fourni par SKYPE (la version 4.2 est installée par défaut sur le robot). Les s sont gratuits mais le service d envoi de SMS est payant. Pour que ce service soit fonctionnel, il faut acheter des crédits sur son compte SKYPE. Chaque SMS coûte 0,15 euros. Surveillance des s envoyés par le robot Page /09/2012

80 Par défaut, lorsque le bouton SOS est pressé, les s sont envoyés sur la boite aux lettres YAHOO à l adresse suivante : caregiverkompai@yahoo.fr. Pour se connecter sur cette boite aux lettres : Avec votre navigateur Internet, allez sur la page Accès à la boite aux lettres Figure 54 : Page d accueil YAHOO Accédez à votre boite aux lettres en cliquant sur le bouton «MAIL» comme indiqué sur la figure. Taper le login et le mot de passe dans les champs appropriés : Login : caregiverkompai@yahoo.fr Mot de passe : kompai31 Figure 55 : Page d accès au webmail YAHOO Page /09/2012

81 7. Prise en main du robot à distance Le robot peut être piloté à distance via Internet, à travers un serveur spécialisé appelé LOKARRIA. Il suffit simplement de taper l URL : sur son navigateur Web pour accéder à la page d accueil de LOKARRIA. Robosoft SA préconise d utiliser le navigateur Web «Google Chrome» pour des raisons de compatibilités avec son serveur LOKARRIA (la liaison vidéo n étant pas active sur certains navigateur Web comme Internet Exploreur de Microsoft). Figure 56 : Page d accueil de LOKARRIA Un login et un mot de passe sont alors demandés : Login : robumatefrance Passe : r0bum4t3fr4nc3 Page /09/2012

82 Plusieurs fonctionnalités sont alors disponibles : Monitoring (Site Monitoring) non affiché sur cet écran! Vidéoconférence Register Logs (Scripts) non affiché sur cet écran! Figure 57 : Page des menus de LOKARRIA Page /09/2012

83 La Fonction «Robot Monitoring» Figure 58 : Page de la fonction «Robot Monitoring» Cette fonction permet de piloter le robot à distance en ayant : un retour visuel de la caméra embarquée à l avant du robot (en position basse) un bloc de touches de commande de mouvement le niveau de la batterie du robot (contrôle d autonomie) sa position sur la carte d environnement la liste des points d intérêts (lieux de stationnement programmés du robot) l environnement vu par le télémètre Laser du robot (en bleu) Retour visuel de la caméra embarquée Faire «Start» pour obtenir l image, «Stop» pour interrompre la transmission de l image. (cette fonction n est pas active avec le navigateur Web Internet Exploreur de Microsoft). Le bloc de touches de mouvement Faire un seul clic sur une des touches et attendre le mouvement (en retour sur la vidéo et / ou sur la position du robot sur la carte si la définition de celle-ci le permet). Niveau de la batterie du robot Donne une indication sur l état de charge de la batterie et permet un contrôle à distance de la mise en charge du robot. Sa position sur la carte d environnement Cette fenêtre permet de visualiser la position et l orientation du robot sur la carte d environnement. Faire un double-clic sur un lieu quelconque de destination dans l espace de mouvement autorisé pour déclencher le déplacement du robot. L itinéraire de déplacement du robot est alors visualisé par un trait de couleur verte sur la carte et le déplacement du robot peut-être suivi en temps réel durant tout le parcours. Le robot indique par un message sonore en fin de parcours qu il est arrivé à destination. Page /09/2012

84 La liste des points d intérêts (lieux programmés de stationnement du robot) Cette liste correspond aux lieux qui ont été définis dans le programme de «Navigation» et permet ainsi de lancer un déplacement du robot vers chacun de ces lieux par un double-clic (à vérifier lors des tests). L environnement vu par le télémètre Laser du robot (en bleu) Cette fenêtre permet de visualiser en temps réel l environnement «vu» par le télémètre Laser du robot. C est un élément de contrôle pour l opérateur utilisant la commande à distance du robot lors de ses déplacements. Page /09/2012

85 La fonction «Site Monitoring» Figure 59 : Page de la fonction «Site Monitoring» Cette fonction n est pas détaillée. Page /09/2012

86 La fonction «Visioconférence» Figure 60 : Page de la fonction «Visioconférence» Cette fonction n est pas détaillée ici. Page /09/2012

87 La fonction «Register» Figure 61 : Page de la fonction «Register» Cette fonction n est pas détaillée. Page /09/2012

88 La fonction «Logs» Figure 62 : Page de la fonction «Logs» Cette fonction permet de télécharger un fichier au format «Excel» comprenant l ensemble des «Logs» générés par le robot. Cliquer sur le bouton «Download Excel file» pour lancer le téléchargement. Page /09/2012