DTPAAL: Digital Twinning Pepper and Ambient Assisted Living
DTPAAL: Digital Twinning Pepper and Ambient Assisted Living
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DTPAAL：数字孪生 Pepper 和环境辅助生活
DOI：
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发表时间：
2022
影响因子：
12.3
通讯作者：
I. Passero
中科院分区：
文献类型：
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作者：
Lucia Cascone;M. Nappi;F. Narducci;I. Passero
Pepper是一个类人机器人，能够表达肢体语言，感知周围环境，并与周围环境互动，这要归功于一组广泛的传感器和执行器，以及暴露能力和与人类自然互动的高级界面。在本文中，我们通过描述智能家居中数字孪生兄弟与智能对象复制品的交互经验，介绍了VPepper虚拟复制品的发展。胡椒机器人已经有了手臂和手，但它的电机和执行器无法支持密集的实验课程和培训程序，以学习如何安全地触摸物体。在这里，数字双胞胎隐喻起着至关重要的作用。通过机器人的虚拟和可靠的复制品，机器学习过程可以无缝地移入/移出数字孪生兄弟，从而显著地加速并防止物理机器人的退化。作为实际应用，所报道的案例研究启发了环境辅助生活在老年人援助中的应用。经验以及整个设计和开发过程表明，VPepper和智能环境为模拟的物理准确性和机器学习工具的可用性提供了有趣的机会，这些工具可以转换并用于实际设置。对25名志愿护理员进行的最后一次实证评估证实了该系统的感知价值和潜在用处。
Pepper is a humanoid robot capable of expressing body language, perceiving, and interacting with its surrounding environment, thanks to a wide set of sensors and actuators and exposing capabilities and high-level interfaces for natural interaction with humans. In this article, we present the development of VPepper, the Pepper virtual replica, by describing experiences focused on the interaction of the digital twin with the replicas of the smart objects in a smart home. Pepper robot has been featured with arms and hands, but its motors and actuators cannot support intensive experimental sessions and training procedures to learn how safely touch objects. Here, digital twin metaphor plays a crucial role. By a virtual and reliable replica of the robot, machine learning procedures can be seamlessly moved to/from the digital twin with a significant speedup and preventing the physical robot from deterioration. As a practical application, the reported case study is inspired to ambient-assisted living in elderly assistance. The experience, as well as the entire design and development process, has revealed VPepper and the smart environment to offer interesting opportunities for the physical accuracy of the simulation and for the availability of machine learning instruments that may be converted and adopted for real settings. A final empirical evaluation, performed involving 25 volunteer caregivers, confirms the perceived value and the potential usefulness of the system.