Gentle Approach With a Potential Field Based on Personal Space*

In the context of a globally aging population and declining birth rates, the demand for elderly care is increasing, while the availability of caregivers and nurses is decreasing. To mitigate this challenge, healthcare robots are being developed to assist with various caregiving tasks. However, it is crucial for these robots to interact with elderly patients in a manner that maintains their comfort and well-being. This study aims to create an appropriate approach pathway for healthcare robots based on three key factors: personal space, field of view, and speed of approach. Utilizing the potential field method with principles of heat diffusion, a pathway design is developed and simulated in 3D. The pathway is then tested with elderly individuals, revealing an optimal approach distance of 1.2 meters. By prioritizing patient comfort and friendly interaction, this research contributes to addressing the evolving challenges in elderly care and the integration of robotics in healthcare settings.