Fostering Well-being in Care with the Nautical Designed Plant Watering

Robot

Philipp Graf

1 a

, Kevin Lefeuvre

3 b

, Oskar Palinko

2 c

, Lakshadeep Naik

2 d

, Christian Zarp

2 e

Andreas Bischof

1 f

and Eva Hornecker

and Norbert Kr

uger

2 g

Technische Universit

at Chemnitz, Strasse der Nationen 62, 09111 Chemnitz, Germany

University of Southern Denmark, Campusvej 55, 5230 Odense, Denmark

Bauhaus-Universit

at Weimar, Bauhausstr. 11, 99423 Weimar, Germany

Keywords:

Human-robot Interaction, Unfocused Interaction, Distributed Agency, Elderly Care.

Abstract:

The well-being of older people in care homes does not only rely on health and bodily needs but also includes

spiritual or social needs. The presence of plants and distraction from everyday routines are two rarely ad-

dressed issues in this regard. Having those in mind, we developed the concept of the ’Plant Watering Robot’

(PWR), a robotic device that has a double purpose: to water plants and serve as an attraction to observers

thereby creating amusement. It is designed as a little ship inhabited by a small ’captain’ that is displayed as

being in charge of the device’s actions. The pilot interacts with various synchronized elements building up

a narrative of being in charge of watering the plants. We ﬁrst report on related work before describing the

interaction concept in more detail. We then elaborate the technical implementation of the PWR focussing on

mechanical and software aspects.

1 INTRODUCTION

Building on our ethnographic ﬁeldwork in residen-

tial care homes and the literature, we know that not

only physical care tasks are crucial for the health of

older people but that there is a wide range of as-

pects that contribute to the well-being of this vul-

nerable group as well (Rissanen, 2013). Two of the

overriding themes, which are rarely mentioned in the

scientiﬁc literature, is the lack of indoor plants on

the one hand, but also the monotony of everyday life

caused by the constant routine of institutional proce-

dures on the other. In the present paper, we report on

the general concept and the technical development of

the PWR prototype as part of the ReThiCare project,

which uses an exploratory and co-design approach to

rethink the design spaces of care technologies for el-

https://orcid.org/0000-0003-4556-956X

https://orcid.org/0000-0002-1566-1659

https://orcid.org/0000-0002-4513-5350

https://orcid.org/0000-0002-2614-8594

https://orcid.org/0000-0001-8922-0621

https://orcid.org/0000-0003-0437-9794

https://orcid.org/0000-0002-3931-116X

derly care (ReThiCare, 2021). We designed a robotic

device that has a two-folded purpose: It shall on the

one hand – and also as a pretext – take care of water-

ing indoor plants in a care home. On the other hand, it

is intended to attract attention through its playful de-

sign, nautical narrative and internal interaction behav-

ior of the pilot (or ‘captain’) interacting with the ship,

thus distract from the everyday routines of older peo-

ple in care homes (see Fig. 1 and 2). By implementing

a small robotic pilot on top of the robot, that is dis-

played as being in control of the actions of the device,

we hope to build an illusion of distributed agency

within one robotic device. We propose to use the term

distributed agency to describe the perception of a user

where a robotic device is not perceived as a uniformly

acting device, but rather as a machine controlled by a

robotic agent. We hope that this puts the human coun-

terparts into an observer’s position and thereby relieve

them from possibly pressuring expectations (i.e. to

interact with the robot directly). Additional elements

on the robot, each of them contributing to the robot’s

choreography, serve as a possible source of informa-

tion for the audience about upcoming actions of the

robot and are aligned to the overall nautical narrative.

Graf, P., Lefeuvre, K., Palinko, O., Naik, L., Zarp, C., Bischof, A., Hornecker, E. and Krüger, N.

Fostering Well-being in Care with the Nautical Designed Plant Watering Robot.

DOI: 10.5220/0010909000003124

In Proceedings of the 17th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2022) - Volume 2: HUCAPP, pages

255-261

ISBN: 978-989-758-555-5; ISSN: 2184-4321

255

For example the rotating radar is supposed to inform

about the search mode of the robot whereby it navi-

gates through the room searching for plant pots. The

watering process is then depicted as being controlled

by the little pilot. We hereby offer a new interaction

concept for service and logistic robots in the context

of elderly care that combines a logistical (or utilitar-

ian) task with the social need for amusement and dis-

traction from daily routines in a synergetic way.

Figure 1: Screenshot of the videoprototype showing a use

case scenario of the Plant Watering Robot in a care setting.

Here, we ﬁrst explain related work regarding the

watering task, the aspect of amusement and activa-

tion robots for older people, and then focus on the

aspect of distributed agency and attribution of expec-

tations on a robot. We then present our concept of the

Plant Watering Robot (PWR) alongside its interaction

concept and elaborate the mechanical implementation

and the behavior planning in detail. We conclude with

remarks on the planned empirical testing of the robot

in a real-life setting and possible scopes of analysis.

2 RELATED WORK

While there are a lot of different robotic approaches

for the purpose of elderly care, only a few, like the

robotic seal Paro (Klein et al., 2013) appear to really

ﬁt into the actual ﬁeld of care. As we know from

studies, the use of Paro relies on active deployment

by a caregiver, who situates the robot in the interac-

tion with People with Dementia (PwD). This is ob-

viously also the case for simpler care technology like

lifting devices, which can have an over straining effect

for the residents as those work directly on the body

(Hornecker et al., 2020). As we wanted the PWR to

function without caregivers supervision we decided to

construct a use scenario in which the robot does not

directly interact with the user but only is observed by

them. By avoiding focused interaction that eventually

entails verbal dialogue or even direct body contact,

we hope to foster the robots functionality when it is

sharing the same space with elderly or PwD.

The task of taking care of plants, i.e. by watering

them, is widely addressed by the sub-ﬁeld of farm-

ing robotics. On the smaller scales of our context

given, namely the watering of houseplants, we found

only a few similar projects. The “Plant Watering Au-

tonomous Mobile Robot” by Nagaraja et al. (Na-

garaja et al., 2012), for example, consists of a robotic

platform with social cues, that acts on a hard-coded

behavior script. Not only to make task performance

more autonomous, but also to make the process of

searching for plant pots more interesting to look at,

we wanted to implement an autonomous and also each

time slightly varying movement behavior. This mo-

tivated us to develop a more autonomous robot us-

ing a more ﬂexible behavior planning, consisting of a

search mode for plant pots and ﬂexible motion plan-

ning. Also, in order to fulﬁll the main purpose of the

robot, the distraction of daily routines and serving as

talking points to residents and visitors, we consider it

important not to implement a strict movement trajec-

tory but to establish navigation in a varying but inten-

tional manner.

The most important source of inspiration for our

study was the CERO project (H

uttenrauch et al.,

2004; Severinson-Eklundh et al., 2003), which imple-

mented a small character on top of a service robot giv-

ing feedback to user’s input and thereby complement-

ing the interface. The movement of the small char-

acter was synchronized to the spatial behavior of the

robot in order to make its movement trajectory more

predictable for human counterparts when encounter-

ing it – for example, the character rows its arms ac-

cording to the speed of the device. The additional

feedback given by the small character in an abstract

but familiar way enhances its readability and thereby

makes the robot better aligned to its social environ-

ment. The pilot serves as a subject of agency attribu-

tion that is separated but still connected to the rest of

the robot’s body.

Recent years have seen signiﬁcant progress in

technologies for mobile robots driven by the open-

source Robot Operating System (ROS) framework.

This has resulted in the development of frameworks

such as move base (Zheng, 2021) for navigation on

mobile robots. Further, deep learning developments

in the past decade has also signiﬁcantly improved the

perception and interaction capabilities of the robot

(Pierson and Gashler, 2017). This has resulted in

the development of object detectors (Wu et al., 2019)

or pose estimators (Deng et al., 2021), thus enabling

HUCAPP 2022 - 6th International Conference on Human Computer Interaction Theory and Applications

256

robots to detect and approach the objects such as plant

pots. We make use of these state of the art technolo-

gies in the development of this plant watering robot.

3 THE GENERAL CONCEPT OF

THE PLANT WATERING

ROBOT

It is well known that people’s general well-being de-

pends not only on their basic physical needs (the

so called existential needs) but also includes social,

spiritual, and cognitive needs. We also know from

studies, that the presence of plants can contribute

to the “psychological and social well-being” in el-

derly care settings (Rappe and Linden, 2002). Al-

though scientiﬁcally not fully explained, the presence

of “indoor plants can provide psychological beneﬁts

such as stress-reduction and increased pain tolerance”

(Bringslimark et al., 2009). This is also taken into ac-

count in many care homes, although it is additional

work that often falls behind the core activity of care

work. Another factor of current care work, which we

identiﬁed in our ﬁeld research and which we would

like to address, is the generation of distraction from

the monotonous daily routine people living in care

homes often experience. The PWR answers to those

two identiﬁed but distinct needs, the lack of plants,

and the lack of distraction from daily routines, in a

combined way: It is not only supposed to help main-

taining plants in a care home, but it should ﬁrstly

entail a nice-to-watch process and serve as a talking

point, residents, care staff or visitors may talk about

when encountered.

By doing so we try to bring back more organic

but also more social life into care homes – thereby

fostering the well-being of older people.

With the PWR, we propose a new interaction con-

cept, that is based on the idea of evoking a distributed

agency attribution on one robotic device. We hereby

hope to overcome the predominant view of robots as

one holistic actor with a uniﬁed body. As depicted

(Fig. 2), the PWR is designed as a sort of deep sea

vessel with a propeller that is controlled by a small

pilot, a myKeepOn. The myKeepOn is a robotic toy

based on the research robot KeepOn, built by Hideki

Kozima (Kozima et al., 2009), and is widely acknowl-

edged for its universal social cueing capabilities. The

following description is structured along two different

perspectives, one decidedly social and one decidedly

technical. While the social perspective focuses on the

interaction concept and the overall nautical motive,

the technical part focuses on the mechanical imple-

Figure 2: Technical overview of main elements.

mentation of the single elements and explains the be-

havior control of the whole PWR in detail.

3.1 Interaction Concept

We created a playful narrative with a nautical motive

around the robot’s form, actions, and behavior. That

is the pilot driving around its habitat and taking care

of the plants with the help of the ship which it con-

trols. By evoking the ascription of different agency

attributions on one robot, one social one (the pilot),

and several non-social ones (the ship or vessel and

the additional elements), we hope to build an illusion

of a captain that navigates (or controls) a ship (Fig.

2). We try to foster this storyline aspect by adding

ﬁve more elements to the robot, with which the pi-

lot engages or that react to this engagement: a bell,

a propeller, a radar, a control panel, and the watering

arm. The whole choreography is coherently synchro-

nized to the whole robot’s motion and task fulﬁllment.

We hope that this form of mechanical storytelling fos-

ters the robustness of the robot in the socially com-

plex care environment by enhancing its readability

and predictability.

For the effect of evoking a control relationship be-

tween the pilot and the ship’s elements, we consider

it especially crucial to ﬁnd the right composition of

the elements interacting and – even more important –

an appropriate and coherent timing. The PWR hereby

also serves as a form of mobile stage (Lefeuvre et al.,

2021) for the pilot and opens up a non-dyadic inter-

action structure that offers the user the position of a

mere observer of a robotic theatre instead of a possi-

ble interaction partner in a focused and possibly over-

straining interaction. It hopefully may be observed

with joy and curiosity while it is present in care homes

Fostering Well-being in Care with the Nautical Designed Plant Watering Robot

257

a) Skeleton mounted on the Turtlebot. b) The PWR hull. c) Hull and skeleton assembled.

Figure 3: The main components of the PWR.

contributing to plant care but it can also be ignored.

The ‘Ship’ is colored in typical deep sea vessel blue

and red and has round portholes. Each additional ele-

ment on the deck fulﬁlls a role in the narrative of the

robot’s behavior and task fulﬁllment: The propeller at

the back of the ship indicates the actual and upcom-

ing speed and direction of the robot’s movement. The

functionality of this element leans on another boat as-

sociation, the hovercraft. Building on this, we hope

to use the propeller as a delayed but still coherent in-

dicator for upcoming adjustments of the robot’s di-

rection or speed. Although the propeller disrupts the

motive of a deep-sea-vessel we hope it could be an in-

tuitively readable concept for older people or maybe

even for people with dementia. The watering process

is visualized with the help of two additional elements,

the radar on top of the cabin and a control panel next

to the myKeepOn. The radar rotates while the robot

navigates through the room indicating that the pilot is

searching for plant pots. In order to break the predom-

inant expectation towards robots regarding their ﬁxed

routine behavior, we implement a varying search be-

havior so that the pilot searches the same room on

always different routes. The control panel visualizes

the next step of the watering process: While the ship

adjusts itself to the plant pot, the pilot turns to the con-

trol panel, indicating the upcoming start of the water-

ing process itself. The watering arm was designed co-

herently to the nautical motive and detracts from the

vessel when the watering process is being started by

the pilot.

3.2 Technical Description

In this section, we describe the technical details of

the current prototype. First, we present the mechan-

ical structure of the robot, followed by the behavior

control architecture and technical implementation of

these behaviors.

3.2.1 Mechanical Description

The PWR robot from a mechanical perspective, con-

sists of 4 major parts, as described below:

1. The ‘skeleton’, meaning the TurtleBot3 platform,

which also holds an aluminium frame (referred to

as the “aluminium skeleton”).

The aluminium skeleton’s function is to attach the

‘hull’ to the TurtleBot3 platform. Now the hull

and deck sit atop the aluminium skeleton. How-

ever, in the future, it will be mounted via 3D

printed PLA mounting brackets. The aluminium

skeleton is also mounted to the TurtleBot3 using

3D printed PLA mounting brackets. An image

of the skeleton on the TurtleBot3 platform can be

seen in ﬁg. 3a.

2. The ‘Hull’, which is referred to as the robots shell.

This part is the visible part which resembles the

hull of a ship and hides the battery, the controllers,

motors etc. (section 3.2). The shell itself has been

3D printed in multiple pieces of the material PLA

on a Ultimaker s5 FDM printer. Hereafter it was

glued together. For a future prototype, this shell

will be upscaled and 3D printed in one piece. An

image of the shell, by itself, can be seen in ﬁg.3b.

HUCAPP 2022 - 6th International Conference on Human Computer Interaction Theory and Applications

258

Figure 4: PWR behavior control architecture.

3. The ‘Deck’, which is the part that holds the move-

able components for the narrative (section 3.2.2)

parts and also the water tank. The deck is consid-

ered a part of the shell and can be seen mounted to

the shell in section 3.2.2. The deck is 3D printed

in two pieces and is also printed in PLA material,

on the Ultimaker s5 FDM printer. The two pieces

are glued together and then mounted to the top of

the shell.

4. The narrative components, which are the movable

components on top of the Deck, are controlled

centrally. These parts can be seen in ﬁg. 2 together

with a small description of their function. A me-

chanical description is given in the following:

The ‘control panel’ – This part will be added

in the next prototype and will be 3D printed

with PLA material. The control panel will have

control able LED lights, for indicating watering

on/off.

The ‘pilot’ – This part is a myKeepOn, and it

sits on top of the ship’s deck and ‘controls’ the

vessel. It is a simple soft robotic agent with

a rubbery yellow surface and three degrees of

freedom. It can yaw, roll and bounce. The pro-

peller consists of two servo motors: one for yaw

motion, while the other for the continuous rota-

tion of the propeller arms.

The ‘propeller’ – This part uses two servo mo-

tors, one for yawing the base of the propeller,

used to indicate the direction of the PWR’s mo-

tion behavior. The second servo motor is used

to spin the propeller. The speed of the propeller

spin indicates the speed of the PWR. The pro-

peller mounting is 3D printed in PLA, and the

propellers themselves are wooden.

The ‘radar’ – The radar is 3D printed in PLA

and uses a servo motor to rotate. This rotation

indicates that the PWR is looking for plants to

water and may not move on a clear trajectory.

This part will be implemented in the next pro-

totype.

The ‘bell’ – The bell sits at the stem of the

PWR, and rings when entering a room. The

bell is mounted on a 3D printed tower, with a

small metal bell at the end. The bell is rung

using a servo motor connected to the bell via a

steel wire. The bell will be added to the next

prototype.

The ‘watering arm’ – The watering arm sits

inside the shell on the side of the ship. The wa-

tering arm has two servo motors, to give it two

joints to be deployed and retracted. The struc-

tural parts of the arm is 3D printed using PLA.

A tube runs from the tip of the arm to the wa-

ter tank within the PWR. Here the tube is con-

nected to a small pump, which is controlled by

the Raspberry Pi board.

3.2.2 Behavior Control

The robot has a Raspberry Pi board as the main com-

puter. All the basic planning and control algorithms

such as navigation and manipulation run on it. All

other components such as the two DoF arm for wa-

tering, the propeller, the radar and the myKeepOn

are also controlled using this computer. In addition

to this, the robot is equipped with the GPU enabled

NVIDIA Jetson Xavier for running deep learning al-

gorithms required for plant detection.

We make use of the behavior trees (Colledanchise

and

Ogren, 2018), for implementing the core func-

Fostering Well-being in Care with the Nautical Designed Plant Watering Robot

259

(a) PWR navigating from room to room looking around

for plant pots

(b) PWR enters the room

Figure 5: Plant Watering Robot (PWR) behavior overview.

tionalities of the robot such as navigation and ma-

nipulation as well as for the interactions described in

section 3.1. Behavior trees provide an efﬁcient way

to combine multiple behaviors, while still ensuring a

modular and reactive system. Fig. 4 describes the be-

havior control architecture of our robot using the be-

havior tree. Orange nodes are responsible for execut-

ing the core functionalities of the robot including nav-

igation, detecting plant pots and watering while blue

nodes are default behavior tree control nodes that are

used to combine these different nodes to implement

high-level behaviors. Purple nodes implement unfo-

cused interactions by synchronising actions of the dif-

ferent components on top of the robot with the robot’s

general actions. These unfocused interaction nodes

use several different components present on the deck

of the robot thus resulting in multi-modal interaction.

The robot is ﬁrst provided with a set of pre-

recorded way-points in the environment. It navigates

from one way-point to another looking for plant pots

(see Fig. 5 (a) and (b)). For moving from one way-

point to another (point to point navigation) it uses

the move-base framework provided by ROS (Quigley

et al., 2009) navigation stack. Plants are perceived us-

ing deep learning-based detectron2 (Wu et al., 2019)

framework using a MaskRCNN (He et al., 2017) base

for semantic segmentation and bounding box detec-

tion. The model is fully trained on PhotoRealistic

synthetic data using BlenderProc (Denninger et al.,

2019) without any manual annotations. Once the

plant pot is detected, the robot tracks its full pose

distribution using PoseRBPF (Deng et al., 2021) and

starts approaching the plant pot (see Fig. 5 (c)). Once

it is sufﬁciently close to the plant pot and has sufﬁ-

cient conﬁdence about the pot pose estimate it starts

the watering process (see Fig. 5 (d)).

4 CONCLUSION AND FURTHER

WORK

In this work, we have presented the concept of the

Plant Watering Robot (PWR), a robotic device that

is supposed to evoke a distributed agency attribu-

tion while it is fulﬁlling its task thereby questioning

the predominant conception of robots as uniﬁed and

holistic actors (Krummheuer et al., 2020; Lefeuvre

et al., 2021). By using additional non-social but sym-

bolic elements on the robot with which the small pi-

lot seems to interact, we hope to construct an illusion

of control that puts the user into an observer’s role

thereby relieving him or her from the pressure of di-

rect interaction with an unknown robotic entity. By

HUCAPP 2022 - 6th International Conference on Human Computer Interaction Theory and Applications

260

using a coherent choreography with and around the

robotic device we hope to evoke a poetic and alter-

native narrative – ‘the pilot and its ship taking care

of plants’ – around the robot’s presence and its func-

tioning. We hope that this playful interaction design

approach will help to explore new design spaces for

robots in the context of care.

Our current prototype is able to perform the core

functionalities of watering and indicating its move-

ment and watering behavior. The next step of devel-

opment will focus on designing and integrating the

interaction scenarios described in Section 3.1 into the

robots behavior. We will use video-based user stud-

ies in order to evaluate the coherence of the sequential

order and ﬁnd the appropriate timing of the synchro-

nized activities of the pilot, the ship, and the other el-

ements. After pretesting the PWR in a university set-

ting, we plan to conduct ﬁeld tests in an elderly care

home. With the use of in-depth videographic analysis

of the interactions, we hope to answer the questions

whether the implemented interaction concept with a

distributed agency can foster the acceptance and read-

ability of a robot and at the same time evoke amuse-

ment in the residents thus contributing to the general

well-being of older people.

ACKNOWLEDGEMENTS

This work was funded by the VolkswagenStiftung in

the context of the ReThiCare project. We thank in

particular Emanuela Marchetti and Mira Thieme for

their work on the project.

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