Motion assistance for elderly people is a field of application for service robotic systems that can be characterized by requirements and constraints of human–machine interaction and by the specificity of the user’s conditions. The main aspects of characterization and constraints are examined for the application of service systems that can be specifically conceived or adapted for elderly motion assistance by having to consider conditions of motion deficiency and muscular strength weakness as well as psychological aptitudes of users. The analysis is discussed in general terms with reference to elderly people who may not even suffer from specific pathologies. Therefore, the discussion focuses on the need for motion exercise in proper environments, including domestic ones and frame familiar to a user. The challenges of such applications oriented toward elderly users are discussed as requiring research and design of solutions in terms of specific portability, user-oriented operation, low costs, and clinical-physiotherapeutic functionality. Results of the author’s team experiences are presented as an example of problems and attempted solutions to meet the new challenges of service systems for motion assistance applications for elderly people.

Designing autonomous robotic systems for monitoring tasks in critical security scenarios requires more rigorous verification criteria. The losses associated with unsuccessful practical experiments are immeasurable, ranging from the simple loss of high-value-added equipment to those related to loss of life. This reality justifies the need to adopt an extensive framework of tools for realistic, efficient, and responsive computer simulation. This article proposes a novel integration architecture and combines open-source tools to promote the successful implementation of autonomous robotic systems in monitoring tasks. The proposed solution relies on consolidated tools like Robot Operating System (ROS), Gazebo Simulator, and ArduPilot FCU (Flight Control Unit). It includes full support for implementing XITL techniques (such as Model, Software, and Hardware) – in the Loop. Experimental results demonstrate the proposal’s effectiveness for a new model of autonomous surface vehicles (ASVs) in a realistic environment, dedicated to environmental monitoring in challenging natural conditions, commonly found in a stretch of the Madeira River – Brazil, specifically at Santo Antônio hydroelectric plant.

This work aims to propose an innovative mechanism of human–robot collaboration (HRC) for mobile service robots in the application of elderly and disabled assistance. Previous studies on HRC mechanism usually focused on integrating decision-making intelligence of human beings by qualitative judgment and reasoning intelligence of robots by quantitative calculation. Instead, novelties of the proposed methodology include (1) constructing an HRC framework by taking reference from the Adaptive Control of Thought – Rational (ACT-R) human cognitive architecture; (2) establishing semantic webs of cognitive reasoning through human–robot interaction (HRI) and HRC to plan and implement complex tasks; and (3) realizing human–robot intelligence fusion by mutual encouragement, connect, and integration of modules of human, robot, perception, HRI, and HRC in the ACT-R architecture. Its technical feasibility is validated by some selected experiments within a “pouring” scenario. Further, although this study is oriented to mobile service robots, the modularized design of hardware and software makes its extensive use feasible in other types of service robots like smart rehabilitation beds, wheelchairs, and cleaning equipments.

This paper presents a modular control architecture that enables a mobile manipulator to be compliant and perform manipulation tasks in partially known everyday human environments. An impedance velocity/force controller that allows the execution of a great variety of tasks under the Task Frame Formalism (TFF) is implemented.

Tasks are represented as a net of basic abilities which are performed by the robot using the impedance controller. Mechanisms for switching between abilities according to the robot's perceptual state are defined.

We show the validity of our approach on the UJI Service Robot, making it to perform a common daily task such as opening a door. Finally, we apply this framework to make progress on the new version of the UJI Librarian Robot, making a great step forward in the way the robot manipulates books.