The design and use of history list systems for rehabilitation robots: enhancing safety and performance through activity recording and analysis

In interactive computer controlled systems such as robots history lists store records of user and system events. The history of commands, system states and actions taken by an intelligent robot is important to safety, performance, service and quality assurance. These records are commonly referred to as ‘history lists’. They are an objective account of system operation that can serve the needs of users, analysts, designers, management and regulatory agents. A well-known example of a history list system is the aircraft flight recorder. They are also used in chemical process control and software usability testing. These areas are distinguished by the high cost of system malfunction and the high value placed on continuous availability. For semi-automated health care systems such as human-service robots in rehabilitation, surgery and patient care, a well-designed history list recorder and analyzer can help ensure safe and effective system operation. However, history list usage is largely unexplored in robotic systems. This paper presents a history list design methodology for interactive robots. The design framework consists of five guidelines, which are defined and discussed. The guidelines are derived from 2 years of experimental history list usage, during which time 3000 h of history list data and 30 h of videotaped robot operation were recorded. The history lists were recorded by a data acquisition system originally designed into the interface of DeVAR, a VA/Stanford-developed, voice-controlled, desktop robot for individuals with physical disabilities. Analysis of the data, using the five guidelines as a framework for discussion, shows how history lists can be a useful tool for designers and operators. Results focus on methods for debugging robot interfaces and developing chronicles of actual use.