Using Adjustable Autonomy to Extend the Independence of the Elderly

Abstract

We have investigated using the 3T layered software architecture to control an Elder Care Robot. This robot is to provide support to humans who suffer some loss of ambulatory or fine motor skills, such as the elderly, or prematurely arthritic. The main problem with such a robot is the lack of technology for fully autonomous operations in the given environment. This paper describes changes made to the architecture which allow for semi-autonomous operation with present state of the art, and an increasing level of autonomy as sensor and actuator technology advance.