Francisco Javier Rodríguez Lera

Augmented Reality in Robotic Assistance for the Elderly

The basis of this research was to create a platform for social interaction based on augmented reality, ready to be deployed in the homes of elderly people. Two main components are presented: the first one is an affordable robot platform built from TurtleBot robot. The second one is the underlying software system built on top of ROS, in charge of the interaction interface and the user tasks, called MYRA. The purpose of this study is to test the platform and the augmented reality in real environments and how it can be used effectively and without complications by elderly people. With this goal in mind we prepared our platform to be able to do two different tasks: a generic assistance system, and a drug dose control system. Both were tested in a real environment.

MYRABot+: A feasible robotic system for interaction challenges

This paper describes the development of a low cost robotic platform named MYRABot+, which is able to make the required tasks in order to assist a human in a domestic environment. We also believe that the best way to measure its performance and validate its behavior is taking part in a robotic challenge. This robotic platform explicitly uses low cost components, making it an accessible platform in monetary terms. In addition, we have designed a component-oriented software architecture that allows an easy implementation of simple HRI tasks. We demonstrate the feasibility of this proposal by taking part in the competition RoCKIn@home. There we show the basic abilities needed to work in a house environment, such as selflocalization, navigation, human dialog, and object manipulation. Our goal is to be able to evaluate and to compare it with other robotic platforms.

Using Robots and Animals as Motivational Tools in ICT Courses

This paper presents the use of robots to increase students engagement in nonrobotic IT courses. It describes the experience of using robots in a course on computer architecture of the Computer Engineering program at the Universidad de León (Spain). It also states that including competitions contribute to students engagement. Finally, we show how the use of natural and unpredictable elements (living animals) in the environment makes these competitions more challenging. Preliminary analysis of this experience is also discussed based on a group of 67 students. We assessed the students attendance, their final marks, and also the subjective impression about lectures through ad hoc questionnaires.

Path Planning in Service Robotics Considering Interaction Based on Augmented Reality

This research presents how augmented reality (AR) can be used for assistance tasks in indoor environments. The approach of AR supported human-robot interaction arises two classical questions in robot navigation: What does the robot need to do to show the AR? (task planning) and, which are the best movements to reach the destination allowing the user to get the AR information? (path planning). In addition, a constraint related to assistance environments has to be considered: How can the robot perform its tasks in order to improve the interaction?. These problems along with how AR can enhance human-robot interaction, and therefore improve the human experience with the robot, are addressed along the paper. The first experiments developed with this system are performed using the gazebo simulator. The solutions proposed are analized using a low cost platform for elderly assistance, which already uses AR for some assistance tasks, developed in Universidad de Len.

Inside the maze: who would find the cheese first, a robot or a mouse?: teaching IT using robots

This paper discusses the feasibility of using mobile robots to motivate students in non-robotic courses. We propose that robots can be a catalyst for students engagement in non-robotic related courses. In this way, the paper describes the experience of using robots for elective practical assignments in a Computer Architecture course of the Computer Engineering program at the Universidad de León (Spain). The paper also analyzes the hardware alternatives, providing as additional contribution a table for choosing the more suitable robotic platform for different teaching needs based of several criteria.n We also propose that including competitions also contribute to students engagement. So, these assignments have been organized as internal competitions. Finally, we also propose the use of natural unpredictable elements in the environment to make the programing of the robot more challenging. So, we have used live animals competing versus the robot.n Finally preliminary analysis of this experience is presented and discussed. This analysis is based on the results get by the students and also by the subjective impression of students and lecturers obtained by ad-hoc questionnaires.

Analysis and Evaluation of a Low-Cost Robotic Arm for @Home Competitions

This paper reviews the design design, construction and performance of an affordable robotic arm of four degrees of freedom based on an Arduino controller in a home-like environment. This paper describes the kinematic design of our 4 DOF arm and the physical restrictions that this design imposes. We have also proposed two types of end-effectors to address two types of manipulation tasks: to grasp objects and to push different light switches. The arm was on board of the MYRABot platform and both were evaluated in the RoCKIn competition. This competition involves grasping and manipulation tasks that are described in the paper as well. Comments on the results of the competition and their implication in further improvement of the robot are also described in the paper.

Implementation of a haptic simulation environment for surgical learning systems

The acquisition of manual and visual skills for a surgery student is related with their practical experience. An alternative to traditional methods of surgical learning is the use of virtual reality simulators. However, there is not a standard to guarantee proper learning with virtual reality simulators. In order to solve this, we have designed a framework that facilitates developing this type of surgery simulators. The present work summarizes the design of the framework and delves into implementation details gathered through the application of SCRUM agile methodology. Among this details this research is specially focused in how to model the information obtained while using the simulator, that allow assessing students performance.