Improving Domiciliary Robotic Services by Integrating the ASTRO Robot in an AmI Infrastructure

  • Filippo CavalloEmail author
  • Michela Aquilano
  • Manuele Bonaccorsi
  • Raffaele Limosani
  • Alessandro Manzi
  • Maria Chiara Carrozza
  • Paolo Dario
Conference paper
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 94)


This work describes the ECHORD Experiment ASTROMOBILE, a project aimed to design, develop and test a system for favourable independent living, improved quality of life and efficiency of care for senior citizens in domestic environments. The system, composed of a mobile robotic platform (called ASTRO) and an Ambient Intelligent Infrastructure that actively cooperated between them and with the end-user, was designed and implemented with a user-centred design approach, involving different stakeholders. The system was designed to deliver services to users, like drug delivery, stand support, reminding, info-entertainment. The design took advantages of the integration of robotic platforms with smart environments, to provide to users higher quality and localization based services. Senior end-users were involved in the experimentation of the system in the DomoCasa Living Lab and feedbacks were gathered for the technology assessment. Particularly, this paper demonstrates the general feasibility of the ASTROMOBILE system and thanks to users feedbacks its acceptability and usability.


Companion robot ambient assisted living autonomous robot smart environment ambient intelligence user localization 


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.


  1. 1.
    Plowman, T., Prendergast, D., Roberts, S., Sherry, J.: The Global Aging Experience Project. Ethnographic Research, Intel Research (2010)Google Scholar
  2. 2.
    European Commission - Economic Policy Committee, The 2012 Ageing Report: Economic and budgetary projections for the 27 EU Member States (2010-2060) (2012)Google Scholar
  3. 3.
    van der Broek, G., Cavallo, F., Wehrmann, C.: AALIANCE Ambient Assisted Living Roadmap, vol. 6. IOS Press (2010)Google Scholar
  4. 4.
    The MOBISERV Project (An Integrated Intelligent Home Environment for the Provision of Health, Nutrition and Mobility Services to the Elderly),
  5. 5.
    The Florence Project (Multi Purpose Mobile Robot for Ambient Assisted Living),
  6. 6.
    The CompanionAble Project (Integrated Cognitive Assistive & Domotic Companion Robotic Systems for Ability & Security),
  7. 7.
    The KSERA Project (Knowledgeable SErvice Robots for Aging),
  8. 8.
    The SRS Project(Shadow Robotic System for Independent Living),
  9. 9.
  10. 10.
  11. 11.
    European Robotics Technology Platform (EUROP), Robotic Visions To 2020 And Beyond - The Strategic Research Agenda For Robotics In Europe (2009)Google Scholar
  12. 12.
    Volkhardt, M., Mueller, S., Schroeter, C., Gross, H.M.: Playing hide and seek with a mobile companion robot. In: 2011 11th IEEE-RAS International Conference on Humanoid Robots (Humanoids), pp. 40–46. IEEE (October 2011)Google Scholar
  13. 13.
    Yachir, A., Tari, K., Amirat, Y., Chibani, A., Badache, N.: QoS based framework for ubiquitous robotic services composition. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009, pp. 2019–2026. IEEE (October 2009)Google Scholar
  14. 14.
    Heerink, M., Krse, B., Evers, V., Wielinga, B.: Measuring acceptance of an assistive social robot: a suggested toolkit. In: The 18th IEEE International Symposium on Robot and Human Interactive Communication, ROMAN 2009, pp. 528–533 (2009)Google Scholar
  15. 15.
    Yan, R.H., Yu, C.H., Ding, I.J., Tsai, K.C.: Wireless Sensor network Based Smart Community Security Service. In: The 2nd Workshop on Wireless, Ad Hoc, and Sensor Networks, p. 13 (2006)Google Scholar
  16. 16.
  17. 17.
    LaValle, S.M.: Planning algorithms. Cambridge University Press, Cambridge (2006)CrossRefzbMATHGoogle Scholar
  18. 18.
    Ulrich, I., Borenstein, J.: VFH+: reliable obstacle avoidance for fast mobile robots. In: Proc. 1998 IEEE International Conference on Robotics and Automation, ICRA 1998, Leuven, Belgium, pp. 1572–1577 (1998)Google Scholar
  19. 19.
    Simon Listens official web page,
  20. 20.
    Modular Architecture for Research on speech sYnthesis (MARY) official web page,
  21. 21.
  22. 22.
    Graefenstein, J., Bouzouraa, M.E.: Robust method for outdoor localization of a mobile robot using received signal strength in low power wireless networks. In: IEEE International Conference on Robotics and Automation, ICRA 2008, pp. 33–38. IEEE (May 2008)Google Scholar
  23. 23.
    Dabin, J.A., Ni, N., Haimovich, A.M., Niver, E., Grebel, H.: The effects of antenna directivity on path loss and multipath propagation in UWB indoor wireless channels. In: 2003 IEEE Conference on Ultra Wideband Systems and Technologies, pp. 305–309. IEEE (November 2003)Google Scholar
  24. 24.
    Whitehouse, K., Karlof, C., Culler, D.: A practical evaluation of radio signal strength for ranging-based localization. ACM SIGMOBILE Mobile Computing and Communications Review 11(1), 41–52 (2007)CrossRefGoogle Scholar
  25. 25.
    Ding, X., Zhao, H., Zhu, J., Zhang, K., Li, D.: A Novel Localization Algorithm Based on RSSI for Wireless Sensor Networks. In: 2011 7th International Conference on Wireless Communications, Networking and Mobile Computing (WiCOM), pp. 1–4. IEEE (September 2011)Google Scholar
  26. 26.
    Arndt, M., Berns, K.: Mobile Robots in Smart Environments: The Current Situation. In: Autonomous Mobile Systems 2012, pp. 39–47. Springer (2012)Google Scholar

Copyright information

© Springer International Publishing Switzerland 2014

Authors and Affiliations

  • Filippo Cavallo
    • 1
    Email author
  • Michela Aquilano
    • 1
  • Manuele Bonaccorsi
    • 1
  • Raffaele Limosani
    • 1
  • Alessandro Manzi
    • 1
  • Maria Chiara Carrozza
    • 1
  • Paolo Dario
    • 1
  1. 1.The BioRobotics Institute of Scuola Superiore Sant’AnnaPisaItaly

Personalised recommendations