Robot interaction for observable health symptoms

Abstract

A supportive robot is described that monitors the home or workplace for signs of health conditions, health hazards and / or conditions that may be of health concern. [Solution] The assistive robot 102 takes measures to avoid dangerous situations, diagnoses health problems, responds to requests for assistance, periodically processes or analyzes a person's medical condition, learns the habits of the user 201 or provides knowledge about people in its environment, understands the schedule and context of a person's actions and needs, interacts with people, understands people, communicates with people before, during or after providing assistance, and understands people's medical condition, current and future intended activities and intentions by combining gestures, clothing, emotions, time of day, posture recognition, movement recognition and other observational data.

Description

[Technical field]

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS This application claims the benefit of U.S. Provisional Patent Application No. 62 / 675,729, filed May 23, 2018, entitled "System and Method for Robotic Interactions for Observable Signs of Core Health," and U.S. Provisional Patent Application No. 62 / 675,730, filed May 23, 2018, entitled "System and Method for Robotic Interactions for Observable Signs of Intent," both of which are incorporated by reference in their entireties.

[0002] 2. Background of the Invention The present disclosure relates generally to robots, and more particularly to assistive robots. [Background technology]

[0003] Human connection is necessary for everyone's physical and mental health. A reliable and responsible companion to meet needs, provide support, help with household chores, interact with people, and perform many other social functions is expensive and difficult to find. With the rapid advancement in the field of technology, home assistants are becoming more and more popular. However, the capabilities of traditional home assistants are limited. For example, a smart speaker can only answer questions and commands, and a robot vacuum cleaner can only clean the floor. Summary of the Invention

[0004] Summary of the Invention Described herein are assistive robots that monitor the home, workplace, health care facility, or other facility for signs of health conditions, health hazards, and / or conditions of health concern. The assistive robot may take steps to avoid dangerous situations, diagnose health problems, respond to requests for assistance, and periodically treat or analyze the medical condition of a person. Described herein are assistive robots that anticipate the needs of one or more people (or animals). The assistive robot may recognize current activities, knowledge and contextual information about the person's daily routine. The assistive robot may provide or offer to provide appropriate robotic assistance.

[0005] An assistive robot may learn the habits of a user or be provided with knowledge about humans in its environment. An assistive robot may understand the schedule and context of a person's actions and needs. An assistive robot may interact with, understand and communicate with people before, during or after providing assistance. Examples of observational recognition may include body language, human interaction with recognized objects, daily routines and human movements over time. A robot may combine gestures, clothing, emotions, time of day, posture recognition, movement recognition and other observational data to understand people's medical conditions, current and future intended activities and intentions. [Brief description of the drawings]

[0006] [Figure 1] FIG. 1 is a diagram of a system environment for managing an assistive robot, according to one embodiment. [Diagram 2] FIG. 1 is a diagram of an assistive robot, according to one embodiment. [Diagram 3] FIG. 1 is a flow diagram illustrating a control system for determining a user's health status, according to one embodiment. [Figure 4] 1 is a table illustrating training data, according to one embodiment. [Diagram 5] FIG. 1 is a flow diagram illustrating a control system for determining user intent, according to one embodiment. [Figure 6] 1 is a table illustrating training data, according to one embodiment.

[0007] The drawings depict embodiments of the present invention for purposes of illustration only. Those skilled in the art will readily appreciate from the following description that alternative embodiments of the structures and methods described herein may be employed without departing from the inventive principles described herein. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0008] Detailed Description of the Invention 1 is a diagram of a system environment for managing an assistive robot, according to one embodiment. The system environment includes an assistive platform 120, a client device 110, an assistive robot 102, and a device 106, all connected via a network 140. In alternative embodiments, different and / or additional entities may be included in the system architecture. The environment may be a residential environment, a healthcare environment, or a workplace environment.

[0009] The client device 110 is a computing device capable of receiving user input and transmitting and / or receiving data via the network 140. The client device is a device having computing capabilities, such as a smart phone, a personal digital assistant (PDA), a mobile phone, a tablet, a laptop computer, a desktop computer, a wearable computer (such as a smart watch, a wristband, an armband, a chest band, etc.), or other suitable device. In one embodiment, the client device executes an application that allows a user of the client device 110 to interact with the assistive robot 102 and / or the assistive platform 120. For example, the client device 110 executes a browser application that allows the client device 110 to interact with the assistive platform 120 via the network 140. An individual may control the physical mobility and operation of the assistive robot 102 via the client device 110. An individual may be remote from the assistive robot 102 and may be able to control the assistive robot 102 to assist another individual. For example, a caregiver, an emergency contact, or a physician may interact with the assistive robot 102 to assist a user. In another embodiment, the client device 110 interacts with the assistance platform 120 via an application programming interface (API) running on the client device's native operating system, such as IOS® or ANDROID®.

[0010] The assistive robot 120 (described in more detail below with reference to FIG. 2 ) provides assistance such as monitoring and determining the user's health, monitoring and determining the user's intentions, and caring for the user by performing actions based on the user's health and / or intentions. The assistive robot 102 is mobile and can move around a space, such as a home. The assistive robot 102 may interact with people and animals. For example, the assistive robot 102 may bring items to the user, provide information to the user, or send alerts to contacts, among other actions. The assistive robot 102 records information about the user, such as the user's physical appearance, behavior, mental state, and actions, as well as data about the environment, such as time, location, and temperature. For example, the assistive robot 102 includes various sensors to collect data about the user and the environment. The assistive robot 102 analyzes the data to determine the user's health and / or the user's intentions. The assistive robot 102 may move and interact with the user, for example, via voice, touch, etc.

[0011] The assistance platform 120 is a computer server that includes one or more databases that store information about the assistive robot 102, the user, health information, and human behavior information. Information about the assistive robot 102 may include model, configuration, performance, etc. Information about the user may include demographic information, geographic location, contact information, medical history, etc. Health information may include information describing illnesses and associated symptoms, information describing human behavior and associated medical conditions, information describing injuries and associated human behavior, information describing mental illnesses and physical manifestations, etc. Human behavior information may include information describing human behavior and associated tasks, information describing human behavior and associated goals, information describing an environment and associated common human responses in that environment, information describing a context and associated common human responses in that context, etc.

[0012] The device 106 is a device available to a user in an environment. The environment may be a residential environment, a work environment, or a healthcare environment. The device 106 may be a home device, a work device, a healthcare device, or a transportation device. Examples of devices include home appliances (e.g., air conditioners, heaters, ventilators, refrigerators, ovens, coffee machines, lights, door locks, motorized blinds and shades, standing desks, recliners, stair lifts, music players, televisions, home theaters, audio players, bathroom appliances, vacuum cleaners, etc.), office equipment (e.g., printers, copiers, scanners, etc.), transportation equipment (e.g., scooters, bicycles, cars, wheelchairs, etc.), healthcare monitoring equipment (e.g., blood pressure monitors, glucose meters, pulse meters, etc.). The device 106 may include other types of devices not listed here. The device 106 may include an interface to allow the assistive robot 102 or a remote user to interact with the device 106.

[0013] The network 140 provides a communications infrastructure between the assistive robot 102, the client device 110, the device 106, and the assistive platform 120. The network 140 may be any network, including, but not limited to, a Local Area Network (LAN), a Wide Area Network (WAN), a mobile wired or wireless network, a private network, a virtual private network, or any combination thereof. Entities in the network 140 send and receive data using wired or wireless data links based on various communication protocols.

[0014] FIG. 2 is a diagram of an assistive robot 102 according to an embodiment. The assistive robot 102 is also referred to as the robot 102 hereafter. The robot 102 includes a user interface 102, a sensor system 210, a control system 220, and an operation system 250. In other embodiments, the assistive robot 102 may include additional, fewer, or different components for various applications that are not shown for clarity. For example, the assistive robot 102 includes an interface for interfacing with a network 140. The assistive robot 102 includes a communication module through which the assistive robot 102 and a user 201, who may be remote from the assistive robot 102, may monitor and control the assistive robot 102. The other user may control the movement, operation, and other physical actions of the assistive robot 102. The other user may communicate with the user 201 through the assistive robot 102 via video, audio, and other communication modalities. The other user may control the assistive robot 102 to access other devices, such as home devices and fitness equipment.

[0015] The user interface 202 interfaces with the user 201. The user interface 202 receives user commands and presents information such as further questions, responses, and recommended actions. In some embodiments, the user interface 202 includes a voice user interface that allows the user 201 to verbally interact with the assistive robot 102. The user interface 202 receives voice input from the sensor system 210 (such as the voice sensor 216) and processes the voice input to recognize commands or requests contained in the voice input. The user interface 202 synthesizes information into speech and outputs the speech to the user 201. The user interface 202 may also include a graphic user interface that receives input from an input / output device (such as a keyboard, mouse, touchpad, etc.) or the client device 110 and displays articulated graphical output on a display. The user interface 202 may also include a gesture user interface that receives gesture input from the sensor system 210 (such as the image sensor 212) and processes the gesture input to recognize commands or requests contained in the gesture input. The user interface 202 may also include other types of user interfaces.

[0016] The sensor system 210 includes sensors that collectively generate data about the user, the robot's 210 environment, and the robot 102. The sensor system 210 includes an image sensor 212 that captures an image of the user 201. The image may be a two-dimensional (2D) image or a three-dimensional (3D) image. The image may be monochromatic or multi-colored. The image may be generated by visible light in the wavelength range of 400-700 nm or by non-visible light outside the wavelength range of 400-700 nm. The sensor system 210 includes a position sensor 214 that measures the position and / or motion of the robot 210. Examples of the position sensor 214 include an accelerometer that measures translational motion (forward / back, up / down, left / right), a gyroscope that measures rotational motion (pitch, yaw, roll, etc.), a magnetometer that measures the earth's magnetic field at the location of the robot 102, a geographical position sensor that measures the location of the robot 120, or any other suitable type of motion sensor. The position sensor 214 may be part of an inertial measurement unit (IMU) that measures one or more of forces, angular velocity, and the surrounding environment of the robot 102. The IMU calculates position data for the robot 102 based on measurements produced by the position sensor 214 and / or depth information produced by the depth sensor 216.

[0017] The sensor system 210 includes a depth sensor 216 that measures depth information of an object, such as the user 201, in the surrounding environment. The depth information includes distance and relative position. The depth sensor 216 may be an ultrasonic sensor that captures ultrasonic images, a time-of-flight (ToF) camera, or a lidar. The sensor system 210 includes a microphone 217 that captures sound waves in the surrounding environment.

[0018] The sensor system 210 may include other sensors 218. The other sensors 218 may include a pressure sensor to sense the amount of pressure applied by the robot 102, a contact sensor to detect contact between the robot 102 and another object such as the user 201, an array microphone to capture sound and sound source direction in the surrounding environment, a barometer to capture air pressure in the surrounding environment, and a thermometer to measure the ambient temperature of the surrounding environment or the temperature of another object such as the user 201. The other sensors 218 may further include a hygrometer to measure humidity in the surrounding environment, and a gas detector to measure gas concentration in the surrounding environment. The other sensors 218 may include electrodes to measure physiological data of the user 201, such as electromyography (EMG) signals, also referred to as muscle data, electrocardiograph signals, also referred to as heart rate data, electroencephalograph (EEG) signals, magnetoencephalograph (MEG) signals, and other types of signals. The other sensors 216 may include other types of sensors.

[0019] The sensors of the sensor system 210 may be integrated into a housing enclosing the components of the robot 102 or may be remote from the physical body of the robot 102. For example, the sensors may be attached to the user 201 or located in the environment. The sensor system 210 provides captured information to the user interface 202 or the control system 220 for further processing.

[0020] The control system 220 controls the robot 102. For example, the control system 220 determines an action for the robot 102 to perform. Examples of the actions include following the user 201, monitoring the actions of the user 201, recognizing and responding to an instruction from the user 201, determining and responding to a health condition of the user 201, and determining and responding to an intention of the user 201. The control system 220 uses the sensor data generated by the sensor system 210 to determine the health condition of the user 201. The control system 220 uses the sensor data generated by the sensor system 210 to determine the intention of the user 201. In various embodiments, the control system 220 collects and analyzes sensor data from the sensors.

[0021] As shown, control system 220 includes a data processing module 221, a health module 222, a willingness module 224, a response determination module 226, a motion controller 228, a sensor data store 229, a user data store 230, a health data store 231, a willingness data store 232, and a model data store 233. Some embodiments of control system 220 have different modules than those described herein. Similarly, functionality may be distributed among these modules in different ways than described above.

[0022] The data processing module 221 processes the raw sensor data stored in the sensor data store 229. For example, the data processing module 222 may process the images to recognize actions (e.g., walking, sitting, grabbing an object, opening a door, petting a dog, picking up an object, etc.), gestures (e.g., waving right hand, waving left hand, nodding, twisting arm, etc.), body parts (e.g., face, hand, arm, etc.), facial expressions (e.g., laughing, grimacing, crying, surprised, angry, etc.), body positions (e.g., standing on both feet, standing on left foot, standing on right foot, supine, prone, right side lying, left side lying, etc.), physical appearances (e.g., skin conditions such as rashes, sagging face, clothing, etc.), and objects (e.g., bowls, dogs, cats, suitcases, keys, etc.). The health module 222 may process the audio signal to recognize speech content (e.g., words, phrases, requests, etc.), speech characteristics (e.g., pitch, volume, speed, etc.), etc. As another example, the health module 222 may determine temporal information (e.g., start time, end time, duration, etc.) and / or location information (e.g., geographic location, area in a building (e.g., living room, bedroom, kitchen, bathroom, basement, staircase, office, etc.), location relative to an object, etc.) of actions, gestures, facial expressions, speech content, etc. (e.g., words, phrases, requests, etc.), speech characteristics (e.g., pitch, volume, speed, etc.), etc. As a further example, the health module 222 may determine temporal characteristics (e.g., speed within a time interval, duration, etc.) of a particular action, gesture, facial expression, speech content, etc. The time interval and duration may be configured by the user 201 or an administrator according to recommended guidelines. The time interval and duration may vary.

[0023] The data processing module 221 may determine the daily routine of the user 201, such as the user's 201 typical bedtime and other habits, and the daily time distribution of the user's 201 locations. The data processing module 221 may process the sensor data as described above using one or more data processing algorithms, classifiers, artificial intelligence models, and machine learning models stored in the model data store 237.

[0024] The health module 222 determines the health status of the user 201. The health status includes whether the user 201 is healthy, unhealthy, injured, or has a health threat. The health module 222 may further diagnose the type of medical condition. Examples of medical conditions include fever, shortness of breath, indigestion, dehydration, seizures, etc. The health module 222 determines the health status using raw sensor data generated by the sensor system 210 and / or processed data output by the data processing module 221. The health status may be further determined by user data stored in the user data store 230.

[0025] The health module 222 may detect that the user 201 may have a health problem based on sensor data indicating that the user 201 is behaving anomalously, i.e., when the user's 201 behavior deviates from normal behavior. The normal behavior may be a general normal behavior determined from data on the general population, or a specific normal behavior determined from data on the user's 201 behavior history. The health module 222 may further diagnose the user's 201 specific health condition by comparing the user's 201 behavior to known categorized conditions. For example, if the sensor data indicates that the user is sleeping (or unconscious) in a new, unusual location (e.g., the hallway) and the user 201 usually sleeps in one place (e.g., the bedroom), the health module 222 may determine that the user may have fainted. If the sensor data indicates that the user opens the window too frequently, the health module 222 may determine that the user 201 may be out of breath. If the sensor data indicates that the user goes to the bathroom too frequently, the health module 222 determines that the user may have indigestion or kidney disease. If the sensor data indicates that the user 201 sleeps (or is unconscious) longer than normal, the health module 222 determines that the user 201 may have fever, inflammation, anemia, thyroid dysfunction, or heart disease. If the sensor data indicates that the user 201 has a higher than normal body temperature, the health module 222 determines that the user 201 may have fever or inflammation. If the sensor data indicates that the user 201 is coughing, the health module 222 determines that the user 201 may have a cold. If the sensor data indicates that the user 201 wanders around during bedtime at night, the health module 222 determines that the user may be sleepwalking. If the sensor data indicates that the user 201 has set the air conditioner temperature higher than normal, the health module 222 may determine that the user 201 may be experiencing vascular problems.If the sensor data indicates that the user 201 is forgetting to perform a regular activity, the health module 222 determines that the user 201 may be suffering from dementia. If the sensor data indicates that the user 201 is blowing his nose, the health module 222 determines that the user 201 may be suffering from a cold or allergies.

[0026] The health module 222 may determine that the user 201 may be injured based on sensor data indicating that the user 201 is behaving unexpectedly. The health module 222 may further diagnose the user 201's unique health condition by comparing the user 201's behavior to known categorized conditions. If the sensor data indicates that the user 201 screamed and collapsed, the health module 222 may determine that the user 201 may have a sprained ankle or a head injury. If the sensor data indicates that the user 201 became short of breath and collapsed, the health module 222 may determine that the user 201 may have a heart rhythm disorder. If the user 201 exhibits a change in speech habits or facial asymmetry, the health module 222 may determine that the user 201 may have a stroke. If the sensor data indicates that the user 201 has jaundice, the health module 222 may determine that the user 201 may have kidney disease or hepatitis.

[0027] The health module 222 may detect that the health of the user 201 is at risk based on the sensor data indicating that the environment is unsafe. If the sensor data indicates that carbon monoxide levels are elevated or that spoilage or mold is present, the health module 222 determines that the environment is unsafe for the user 201.

[0028] The health module 222 provides the sensor data to one or more machine learning models to determine the health condition. The machine learning models include one or more artificial intelligence models, classifiers (e.g., logistic classifiers, support vector machines, and multi-class classification), decision trees, neural networks, deep learning models, or any combination thereof. The machine learning models include correlations between the health condition and the sensor data. The sensor data includes physical state features, mental state features, behavioral features, environmental features, and the like. In some embodiments, the machine learning models include correlations between one or more features included in the sensor data and the health condition. For example, model parameters of the logistic classifier include coefficients of a logistic function corresponding to different features included in the sensor data.

[0029] As another example, the machine learning model includes a decision tree model, which is a directed acyclic graph in which nodes correspond to conditional tests of features in the sensor data and leaves correspond to classification outcomes (i.e., the presence or absence of one or more features). Exemplary decision tree parameters include (1) an adjacency matrix that describes the connections between nodes and leaves of the decision tree, (2) features to compare for each node, a comparison threshold and the type of comparison (e.g., greater than, equal to, less than, etc.), and / or (3) leaf parameters that indicate which health state corresponds to which leaf of the decision tree.

[0030] The health module 222 uses the training data to generate a machine learning model (e.g., to determine model parameters). The training data includes a set of raw or analyzed sensor data labeled with features. For example, the training data is sensor data for which features have already been identified (e.g., by the health module 222, by the user 201, by an administrator, by an expert, or a combination thereof). The health module 222 determines model parameters that predict a health state associated with the sensor data. For example, the health module 222 determines an objective function that indicates the rate of agreement between the determined health state and the health state indicated in the training data. The health module 222 reduces the difference between the predicted health state and the actual health state by modifying the parameters to maximize the objective function.

[0031] An example of labeled training data is shown in FIG. 4. The data is organized in a table format where each row is a record of data and an associated label. Columns 402-408 are different data types and column 409 is a label. The labels may be created according to publicly available information or according to personal information. Examples of publicly available search results include normal body temperature range, normal heart rate range, normal blood pressure range, normal weight range for multiple individuals with similar demographic information such as age, ethnicity and gender. Examples of personal information include user habits or schedule such as normal bedtime, weight history, etc. Some training data, e.g., normal bedtime and other habits, may be built during the first few days that the robot 102 interacts with the user 201 and updated continuously / periodically. The robot 102 may create a daily time distribution of normal activity locations for the user 201. For example, user 201 spends time in the kitchen from 6:00 am to 8:00 am and 6:00 pm to 8:00 pm on weekdays, in the living room from 8:00 pm to 10:00 pm on weekdays, and in the bedroom from 10:00 pm to 6:00 am on weekdays.

[0032] The health module 222 further updates the machine learning model (e.g., model parameters of the machine learning model, etc.) using information received, for example, via the user interface 202 and / or the sensor system 210. For example, after the robot 102 determines the health status based on the sensor data, the robot 102 confirms the health status with the user 201. Positive feedback (e.g., confirmation, etc.) from the user 201 indicates that the machine learning model is accurate, and negative feedback (e.g., disapproval, etc.) indicates that the machine learning model needs to be improved.

[0033] The intent module 224 determines the user's intent. Intent as described herein includes the user's intent or plan to complete a task, the need to complete a task, or a routine task to be completed. The intent module 224 determines intent using raw sensor data generated by the sensor system 210 and / or processed data output by the data processing module 221. Intent may also be determined using further user data stored in the user data store 230 and / or by searching the internet.

[0034] The intention module 224 may determine the intention of the user 201 by recognizing the user's 201 current activity, the user's 201 daily routine, and context information. As an example, the intention module 224 determines that if the user 201 is pointing at an object, the user 201 intends to perform an action on the object (e.g., pick up a pitcher, lift a box, carry a dish, etc.). If the user 201 is waking up in the morning, the intention module 224 determines that the user is likely to drink coffee and take a shower. If the user 201 starts brushing his teeth at night, the intention module 224 determines that the user 201 is sleepy and will likely lock the door. If the user 201 has finished breakfast and is dressed for work, the intention module 224 determines that the user 201 is likely to be going to work and will need a laptop. If the time is approaching the user's usual time at home, the intention module 224 determines that the user is likely to be home soon and turn on the air conditioner.

[0035] The intention module 224 determines that if the user 201 is taking ingredients out of the refrigerator after work, the user 201 is starting to cook dinner and may need a recipe. If the user 201 is yawning in front of the computer, the intention module 224 determines that the user 201 is at work and may need coffee. If the user 201 turns on the television, the intention module 224 determines that the user 201 is going to watch television and may need program recommendations or a snack. If the user 201 is the last person to leave, the intention module 224 determines that the house is empty and the user 201 may need to turn off appliances. If the user 201 puts on shoes in one room and picks up keys in another room, the intention module 224 determines that the user 201 is going to leave. If the sensor data indicates that it is going to rain, the intention module 224 determines that the user 201 may need an umbrella. The intention module 224 determines that if the sensor data indicates that the stock of a particular food or daily necessities is low, the user 201 is likely to replenish the food or daily necessities. The intention module 224 determines that if there is a promotion for a product that the user 201 regularly orders, the user 201 is likely to be interested in learning about the promotion.

[0036] Additionally, the intention module 224 determines that a pet is hungry and needs to be fed if the pet's usual feeding schedule has been forgotten. The intention module 224 determines that the user 201 may water a plant if the user waters the plant weekly. The intention module 224 determines that the user 201 may need to clean the house if the sensor data indicates that clothes are strewn throughout the house / apartment. The intention module 224 determines that the user 201 may need to do laundry if the laundry basket is full. The intention module 224 determines that the user 201 may need to wash dishes if the dishwasher is full or about to be full. The intention module 224 determines that the air conditioner needs to be adjusted if a person is sweating or hunching their back and rubbing their hands together. The intention module 224 determines that a particular food may trigger the user 201's allergy if the sensor data indicates that the food contains an allergen.

[0037] The intent module 222 may provide the sensor data to one or more machine learning models to determine intent. The machine learning models include one or more artificial intelligence models, classifiers (e.g., logistic classifiers, support vector machines, and multi-class classification), decision trees, neural networks, deep learning models, or any combination thereof. The machine learning models include correlations between intent and the sensor data. The sensor data includes activity features, schedule features, behavioral features, environmental features, and the like. In some embodiments, the machine learning models include correlations between one or more features included in the sensor data and intent. For example, model parameters of the logistic classifier include coefficients of a logistic function corresponding to different features included in the sensor data.

[0038] As another example, the machine learning model includes a decision tree model, which is a directed acyclic graph in which nodes correspond to conditional tests of features in the sensor data and leaves correspond to classification outcomes (i.e., the presence or absence of one or more features). Exemplary decision tree parameters include (1) an adjacency matrix that describes the connections between the nodes and leaves of the decision tree, (2) features to compare for each node, a comparison threshold, and the type of comparison (e.g., greater than, equal to, less than, etc.), and / or (3) leaf parameters that indicate which decisions correspond to which leaves of the decision tree.

[0039] The intention module 224 uses the training data to generate a machine learning model (e.g., to determine model parameters). The training data includes a set of raw or analyzed sensor data labeled with features. For example, the training data is sensor data for which features have already been identified (e.g., by the health module 224, by the user 201, by an administrator, by an expert, or a combination thereof). The intention module 224 determines model parameters that predict the intention associated with the sensor data. For example, the intention module 222 determines an objective function that indicates the degree of agreement between the determined intention and the intention represented in the training data. The health module 222 5 reduces the difference between predicted and actual intentions by varying the parameters to maximize the objective function.

[0040] An example of labeled training data is shown in FIG. 6. The data is organized in a table format where each row is a record of data and associated label. Columns 602-608 are different data types, and column 608 is a label. The labels may be created according to publicly available information or according to personal information. Examples of publicly available search results include typical human behavior in a situation. Examples of personal information include user habits or schedules such as normal bedtime, work hours, location schedules, etc. Some training data, such as normal bedtime and other habits, may be built during the first few days that the robot 102 interacts with the user 201 and updated continuously / periodically. The robot 102 may create a daily time distribution of normal activity locations for the user 201. For example, the user 201 spends time in the kitchen between 6-8 am and 6-8 pm on weekdays, in the living room between 8-10 pm on weekdays, and in the bedroom between 10 pm-6 am on weekdays.

[0041] The intention module 224 further updates the machine learning model (e.g., model parameters of the machine learning model, etc.) using information received, for example, via the user interface 202. For example, after the robot 102 determines the intention based on the sensor data, the robot 102 confirms the intention to the user 201. Positive feedback (e.g., confirmation, etc.) of the user 201 indicates that the machine learning model is accurate, and negative feedback (e.g., disapproval, etc.) indicates that the machine learning model needs to be improved.

[0042] The response decision module 226 decides the response of the robot 102 based on the health status of the user or based on the user's will. For example, if the health module 222 determines that the user 201 may have a health problem, the response decision module 226 decides to check with the user 201 whether the user 201 needs assistance or to offer assistance. If the user 201 answers yes, the response decision module 226 decides to contact a third party (e.g., a doctor, an emergency contact, another user nearby, etc.) and / or to provide assistance. For example, the response decision module 226 may ask the user 201 for further input, thereby diagnosing the user 201 and / or fetching medicine, water, tissues, or other supplies. The response decision module 226 may approach and communicate with another individual nearby and / or call another individual using a phone call or text. If the health module 222 determines that the user 201 is injured, the response decision module 226 determines whether to ask the user 201 to call an ambulance and / or to place an emergency call to various locations. If the health module 222 determines that the user 201 is facing a health hazard, the response decision module 226 warns the user 201 of the health hazard (e.g., carbon monoxide, mold, etc.) and asks for further instructions.

[0043] The response decision module 226 may further associate information such as confirmation, instructions and diagnosis of the user 201 with the sensor data and store the information in a user data store 230 and a health data store 232. The control system 220 may record daily health observations for later analysis by the robot or a medical professional.

[0044] The response decision module 226 may decide to complete the task to further progress the determined intention and / or check in with the user to receive further instructions. For example, if the intention module 224 determines that the user 201 intends to perform an action on an object (e.g., pick up a water bottle, lift a box, carry a dish, etc.), the response decision module 226 decides to perform the action. If the intention module 224 determines that the user is performing a daily routine (e.g., wake up, go to bed, go to work, go home, make dinner, watch TV, work, etc.), the response decision module 226 decides to offer or provide assistance (e.g., make coffee, lock all doors, turn on or off home appliances, bring a laptop, provide a recipe, recommend a television program, bring snacks, etc.). If the intention module 224 determines that it is time for a schedule (e.g., a feeding schedule, a watering schedule, an ordering schedule, a laundry schedule, etc.), the response decision module 226 decides to offer or provide assistance (e.g., feed a pet, water a plant, order food or household items, etc.) If the intention module determines that the user may need a particular item (e.g., an umbrella, a promotion, a new release, etc.) or perform a task (e.g., do laundry, wash dishes, adjust the air conditioner, etc.), the response decision module 226 decides to offer or provide assistance (e.g., bring an umbrella, announce a promotion, announce a new release, put clothes in the laundry basket or washing machine, turn on the dishwasher, load dishes in the dishwasher, start the dishwasher, empty dishes from the dishwasher, etc.).

[0045] The control system 220 controls the robot 102 to react based on the response determined by the response determination module 226. 2determines a course of action for the motion system 250 to perform based on the response determined by the control system 220. For example, if the response determination module 226 determines to go to a particular location, the motion controller 228 generates instructions to drive the locomotion system 254 (e.g., wheels, legs, treads, etc.) to the location of the user 201. If the response determination module 226 determines to perform an action, the motion controller generates instructions to drive the robotic arm 252 to perform the action. The control system 220 may also communicate with the device 106 or the client device 110 to turn the device on or off, send an alert to the user 201 via the client device 110, or send an alert to a third party.

[0046] The user data store 230 stores data about the user 201. User data includes, for example, the user's personal information (e.g., age, height, weight, sex, face, etc.), health information (e.g., medical history, health records, allergies, etc.), behavioral information (e.g., walking speed, speaking speed, posture, daily routine, habits, location, etc.), contact information (e.g., phone number, email address, address, etc.), preferences (e.g., food, books, hobbies, etc.), clothing owned (e.g., casual clothes, work clothes, work clothes, special occasion clothes, etc.).

[0047] The health data store 231 stores health status data such as information describing diseases and associated symptoms, information describing human behavior and associated medical conditions, information describing injuries and associated human behavior, and information describing mental illnesses and associated physical manifestations. The intention data store 232 stores intention data such as information describing human behavior and associated tasks, information describing human behavior and associated goals, information describing an environment and associated common human responses in that environment, and information describing a context and associated common human responses in that context. The model data store 233 stores machine learning models used by the robot 102. The machine learning models 102 may be trained by the robot 102. The machine learning models 102 may be further trained by the assistance platform 120 and deployed to the robot 102.

[0048] The motion system 250 includes physical components that perform actions. For example, a robotic arm 252 may perform actions toward an object or a human. Examples of actions include touching, grabbing, holding, moving, releasing, rocking, shaking, lifting, dropping, placing, turning, twisting, and the like. The robotic arm 252 may perform a variety of actions. A locomotion system 254 may perform actions to move the robotic assistant 102 to a desired location. The motion system 250 may include other components, such as actuators and motors.

[0049] FIG. 3 is a flow diagram illustrating the control system 220 determining a user's health condition, according to one embodiment. The process 300 includes an operation phase 301 in which the control system 220 uses a trained machine learning model, and a training phase 350 in which the control system 220 trains the machine learning model. The control system 220 receives sensor data from the sensor system 210 (302). The control system 220 provides the sensor data to one or more machine learning models 306 (304). The control system may process the sensor data before providing it to the machine learning model. The control system may provide only a portion of the sensor data to the machine learning model. The control system 220 uses the output of the one or more machine learning models 306 to determine the user's health condition (308). The control system 220 determines whether the health condition is a recognized health condition (310). If the health condition is one of the recognized health conditions, the control system 220 executes an action (312). If the medical condition is not one of the recognized medical conditions, the control system 220 may search the Internet, prompt the user for further information, or contact a medical professional.

[0050] On the training side, the control system 220 receives one or more training sets including the labeled data (352). The control system 220 provides the training sets to one or more machine learning models for the machine learning models to determine correlations between the sensor data and health conditions (354). The control system 220 validates the trained machine learning models before using the machine learning models. For example, the control system 220 provides a validation data set for the trained machine learning models until the output of the trained machine learning models is accurate. The control system 220 may train the machine learning models while running the machine learning models.

[0051] FIG. 5 is a flow diagram illustrating the control system 220 determining the user's intention, according to one embodiment. The process 500 includes an operation phase 501 in which the control system 220 uses a trained machine learning model, and a training phase 550 in which the control system 220 trains the machine learning model. The control system 220 receives (502) sensor data from the sensor system 210. The control system 220 provides (504) the sensor data to one or more machine learning models 506. The control system may process the sensor data before providing it to the machine learning models. The control system may provide only a portion of the sensor data to the machine learning models. The control system 220 uses the output of the one or more machine learning models 506 to determine (508) the user's intention. The control system 220 executes (312) an action according to the intention.

[0052] On the training side, the control system 220 receives one or more training sets including the labeled data (552). The control system 220 provides the training sets to one or more machine learning models for the machine learning models to determine correlations between the sensor data and intent (554). The control system 220 validates the trained machine learning models (556) before using the machine learning models. For example, the control system 220 provides a validation data set for the trained machine learning models until the output of the trained machine learning models is accurate. The control system 220 may train the machine learning models while they are running.

[0053] The above description of the embodiments of the present invention has been presented for purposes of illustration and is not intended to be exhaustive or to limit the invention to the precise form disclosed. Those skilled in the art will recognize that various modifications and variations are possible in light of the above disclosure.

[0054] In some parts of this specification, embodiments of the present invention are described in terms of information processing algorithms and symbolic representations. These algorithmic descriptions and representations are commonly used by those skilled in the data processing arts to effectively convey the substance of their work to others skilled in the art. Although these processes are described in terms of functions, operations, or logic, they are understood to be implemented by computer programs or equivalent electrical circuits, microcode, or the like. Furthermore, in some cases, it has proven appropriate to refer to these processing devices as modules without loss of generality. The described processes and associated modules may be embodied in software, firmware, hardware, or any combination thereof.

[0055] Any step, operation, or process described herein may be performed or implemented using one or more hardware or software modules, alone or in combination with other devices. In one embodiment, the software modules are implemented using a computer program product having a computer-readable non-transitory medium that includes computer program code executable by a computer processor to perform any or all steps, operations, or processes described herein.

[0056] Embodiments of the invention may relate to products produced by the computational processes described herein. Such products may include information resulting from the computational processes and stored in a non-transitory tangible computer readable storage medium, and may include any embodiment of the computer program product or other data combination described herein.

[0057] Finally, the terms used in this specification have been selected primarily for the purpose of clarity and teaching, and not to limit or restrict the subject matter of the invention. Accordingly, the scope of the invention is intended to be limited only by any claims of this application, and not by the detailed description herein. Thus, the disclosure of the embodiments of the invention is intended to be illustrative, but not limiting, of the scope of the invention as set forth in the following claims.

Claims

1. 1. A robotic device, comprising: A plurality of sensors, Capture images of multiple individuals in an environment; generating environmental data for said environment; A plurality of sensors configured as described above; A processor; A memory, comprising: recognizing a series of past actions performed by the plurality of individuals and the environmental data to generate a series of past actions of the plurality of individuals; inputting a series of past actions of the plurality of individuals into a machine learning model such that the machine learning model can learn one or more behavioral features, each of which is unique to one or a set of individuals of the plurality of individuals; identifying new actions performed by a particular one of the plurality of individuals; and inputting the new motion into the machine learning model; using the machine learning model to compare the new action to the one or more behavioral features learned by the machine learning model; determining, via the machine learning model, that the new behavior poses a health risk to the particular individual; and determining a response to be performed by the robotic device based on an output of the machine learning model; A memory storing instructions configured to cause a A robot device comprising:

2. 2. The robotic device of claim 1, wherein determining that the new behavior poses a health risk to the particular individual includes providing the set of past behaviors performed by the individuals and the environmental data to a machine learning model, where the machine learning model is trained to recognize the behavioral characteristics.

3. The robotic device of claim 2 , wherein the machine learning model is trained by using training data that includes labels that describe reference behavioral features.

4. 2. The robotic device of claim 1, wherein determining that the new behavior poses a health risk to the particular individual includes determining whether the series of past behaviors falls within one or more predefined behavioral characteristics, the predefined behavioral characteristics corresponding to predefined health risks.

5. 2. The robotic device of claim 1, wherein analyzing the series of past actions performed by the plurality of individuals and the environmental data includes determining a temporal characteristic of each of the series of past actions, and wherein the health risk is determined based at least on the temporal characteristics.

6. The robotic device of claim 1 , wherein the environmental data includes at least one of an ambient temperature, a time, a location, an object, and a position of the object relative to the plurality of individuals.

7. Analyzing the set of past actions performed by the plurality of individuals and the environmental data includes: determining a health risk based on the behavioral habits in response to determining that the series of past actions resembles a behavioral schedule corresponding to the context; The robotic device according to claim 1 .

8. The robot device according to claim 7 , further comprising: determining the behavior schedule from the motion histories of the plurality of individuals and the environmental data.

9. 2. The robotic device of claim 1, wherein the set of past actions includes at least one of following the individual, alerting the individual, monitoring the individual, assisting the individual, and sending an alert to another user.

10. The robotic device of claim 1 , wherein the new actions include at least one of: fetching an object, turning a device on, turning a device off, searching the Internet, and providing information.

11. The sequence of past actions may be: offering said one or more jobs to said plurality of individuals; receiving confirmations from said plurality of individuals; updating the machine learning model based on the confirmations from the plurality of individuals; and The robotic device of claim 1 .

12. The robotic device of claim 10 further comprising at least a robotic arm and a movement system.

13. The robotic device of claim 10 , wherein the plurality of sensors includes at least one of a camera, a microphone, a position sensor, a depth sensor, a pressure sensor, a contact sensor, a barometer, a thermometer, a hygrometer, and a gas detector.

14. 1. A method comprising: capturing images of a plurality of individuals within an environment with a robotic device; generating environmental data of the environment by the robotic device; Recognizing a series of past actions performed by the plurality of individuals and the environmental data by the robotic device to generate a series of past actions of the plurality of individuals; inputting a series of past actions of the plurality of individuals into a machine learning model such that the machine learning model can learn one or more behavioral features, each of which is unique to one or a set of individuals of the plurality of individuals; identifying new actions performed by a particular one of the plurality of individuals; and determining, via the machine learning model, that the new behavior poses a health risk to the particular individual; and determining a response to be performed by the robotic device based on an output of the machine learning model; The method includes:

15. 15. The method of claim 14, wherein determining that the new behavior poses a health risk to the particular individual includes providing the set of past behaviors performed by the individuals and the environmental data to a machine learning model, wherein the machine learning model is trained to recognize the behavioral characteristics.

16. The method of claim 15 , further comprising training the machine learning model by using training data that includes labels that describe reference behavioral features.

17. Analyzing the set of past actions performed by the plurality of individuals and the environmental data includes: determining the health risk based on behavioral habits in response to determining that the series of past actions resembles a behavioral schedule corresponding to the context. The method of claim 14.

18. The method of claim 17 , further comprising determining the behavioral schedule from motion histories of the plurality of individuals and the environmental data.

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