Design of a Cyber-Physical System-of-Systems Architecture for Elderly Care at Home

The idea of introducing a robot into an Ambient Assisted Living (AAL) environment to provide additional services beyond those provided by the environment itself has been explored in numerous projects. Moreover, new opportunities can arise from this symbiosis, which usually requires both systems to share the knowledge (and not just the data) they capture from the context. Thus, by using knowledge extracted from the raw data captured by the sensors deployed in the environment, the robot can know where the person is and whether he/she should perform some physical exercise, as well as whether he/she should move a chair away to allow the robot to successfully complete a task. This paper describes the design of an Ambient Assisted Living system where an IoT scheme and robot coexist as independent but connected elements, forming a cyber-physical system-of-systems architecture. The IoT environment includes cameras to monitor the person’s activity and physical position (lying down, sitting…), as well as non-invasive sensors to monitor the person’s heart or breathing rate while lying in bed or sitting in the living room. Although this manuscript focuses on how both systems handle and share the knowledge they possess about the context, a couple of example use cases are included. In the first case, the environment provides the robot with information about the positions of objects in the environment, which allows the robot to augment the metric map it uses to navigate, detecting situations that prevent it from moving to a target. If there is a person nearby, the robot will approach them to ask them to move a chair or open a door. In the second case, even more use is made of the robot’s ability to interact with the person. When the IoT system detects that the person has fallen to the ground, it passes this information to the robot so that it can go to the person, talk to them, and ask for external help if necessary.