Miseikis Justinas, Caroni Pietro, Duchamp Patricia, Gasser Alina, Marko Rastislav, Miseikiene Nelija, Zwilling Frederik, de Castelbajac Charles, Eicher Lucas, Fruh Michael, Fruh Hansruedi
F&P Robotics AGCH-8005ZürichSwitzerland.
IEEE Robot Autom Lett. 2020 Jul 7;5(4):5339-5346. doi: 10.1109/LRA.2020.3007462. eCollection 2020 Oct.
Lio is a mobile robot platform with a multi-functional arm explicitly designed for human-robot interaction and personal care assistant tasks. The robot has already been deployed in several health care facilities, where it is functioning autonomously, assisting staff and patients on an everyday basis. Lio is intrinsically safe by having full coverage in soft artificial-leather material as well as collision detection, limited speed and forces. Furthermore, the robot has a compliant motion controller. A combination of visual, audio, laser, ultrasound and mechanical sensors are used for safe navigation and environment understanding. The ROS-enabled setup allows researchers to access raw sensor data as well as have direct control of the robot. The friendly appearance of Lio has resulted in the robot being well accepted by health care staff and patients. Fully autonomous operation is made possible by a flexible decision engine, autonomous navigation and automatic recharging. Combined with time-scheduled task triggers, this allows Lio to operate throughout the day, with a battery life of up to 8 hours and recharging during idle times. A combination of powerful computing units provides enough processing power to deploy artificial intelligence and deep learning-based solutions on-board the robot without the need to send any sensitive data to cloud services, guaranteeing compliance with privacy requirements. During the COVID-19 pandemic, Lio was rapidly adjusted to perform additional functionality like disinfection and remote elevated body temperature detection. It complies with ISO13482 - Safety requirements for personal care robots, meaning it can be directly tested and deployed in care facilities.
Lio是一个移动机器人平台，配备了一个专门为机器人与人类交互及个人护理助手任务设计的多功能手臂。该机器人已在多家医疗保健机构中部署，在那里它能自主运行，每天协助医护人员和患者。Lio本质安全，其全身覆盖柔软人造皮革材料，并具备碰撞检测功能，速度和力量受限。此外，该机器人还有一个柔顺运动控制器。它使用视觉、音频、激光、超声波和机械传感器的组合来实现安全导航和环境感知。基于ROS的设置使研究人员能够访问原始传感器数据并直接控制机器人。Lio友好的外观使其很受医护人员和患者欢迎。通过灵活的决策引擎、自主导航和自动充电实现了完全自主运行。结合定时任务触发功能，这使得Lio能够全天运行，电池续航时间长达8小时，并在空闲时充电。强大的计算单元组合提供了足够的处理能力，可在机器人上部署基于人工智能和深度学习的解决方案，而无需将任何敏感数据发送到云服务，确保符合隐私要求。在新冠疫情期间，Lio迅速进行了调整，以执行诸如消毒和远程测量体温等额外功能。它符合ISO13482——个人护理机器人的安全要求，这意味着它可以直接在护理机构进行测试和部署。
