# Measuring Quality of Service in a Robotized Comprehensive Geriatric Assessment Scenario
## 5 Experimental Evaluation
### Preliminary Experiments
\begin{table}
\begin{tabular}{c c c} \hline \hline
**Time (s)** & **Observations** & **Contexts** \\ \hline
10 & O2:O8 & PD \\ \hline
135 & O13:O2:O7 & 1 st,VR \\ \hline
205 & O6:O11 &!1 st \\ \hline
230 & O13:O12:O3 & 2 nd,VR \\ \hline
310 & O6:O11 &!1 st \\ \hline
340 & O5:O10 &!2 nd \\ \hline
400 & O2:O14:O7 & 1 st,TS \\ \hline
485 & O6:O11 &!1 st \\ \hline
505 & O12:O14:O3 & 2 nd,TS \\ \hline
595 & O6:O11 &!1 st \\ \hline
630 & O5:O10 &!2 nd \\ \hline
690 & O13:O2:O7 & 1 st,VR \\ \hline
790 & O6:O11 &!1 st \\ \hline
810 & O13:O12:O3 & 2 nd,VR \\ \hline
890 & O12:O14:O7 & 1 st,TS \\ \hline
965 & O6:O11 &!1 st \\ \hline
990 & O12:O14:O3 & 2 nd,TS \\ \hline
1000 & O2 & FINISHED \\ \hline \hline \end{tabular}
\end{table} 
Table 4: Barthel #4: (Left) Contexts and observations generated by the system. PD (PersonDetected), 1 st (FirstAttemptAnswered=true),!1 st (FirstAttemptAnswered=false), 2 nd (SecondAttemptAnswered=true),!2 nd (SecondAttemptAnswered=false), VR (UserInteraction::VOICE_ RECOGNITION), TS (UserInterInteraction::TOUCH_SCREEN), FINISHED (TestState::FINISHED). (Right) Graphical evolution of the properties values during the test. temporal distance between consecutive performed actions, they can be used for characterizing the Performance and Interaction metrics. As Table 5 shows, the first Get Up & Go test was successfully performed. Hence, both metrics only growed with time. We can note that the minimum value for Performance and Interaction is 0.5 (the initial reference value), whereas the maximum value is the same as the final value. In this test, Performance and Interaction increased their values during the test execution until reaching 0.9987 and 0.9857 respectively. This means that the session was successfully addressed and that the patient correctly responded to the commands from the robot. The second Get Up & Go test is similar to the first one. However, the robot lost the patient for a few seconds at the beginning of the test. As a result, Performance and Interaction decreased their values falling below 0.5. The maximum and final values are also close to 1.0, meaning that the patient successfully finished the test and correctly interpreted the commands from the robot. \begin{table}
\begin{tabular}{l c c c c c c} \hline \hline  & \multicolumn{3}{c}{**Performance**} & \multicolumn{3}{c}{**Interaction**} \\ \hline  & **min** & **max** & **last** & **min** & **max** & **last** \\ \hline Get Up \& Go \#1 & 0.5000 & 0.9987 & 0.9987 & 0.5000 & 0.9861 & 0.9857 \\ \hline Get Up \& Go \#2 & 0.4982 & 0.9987 & 0.9987 & 0.4982 & 0.9861 & 0.9857 \\ \hline Get Up \& Go \#3 & 0.2978 & 0.9808 & 0.9808 & 0.2978 & 0.9567 & 0.9567 \\ \hline Get Up \& Go \#4 & 0.1550 & 0.5882 & 0.1555 & 0.0824 & 0.5882 & 0.0828 \\ \hline Get Up \& Go \#5 & 0.5000 & 0.9956 & 0.9956 & 0.4879 & 0.9372 & 0.9361 \\ \hline Get Up \& Go \#6 & 0.5000 & 0.9387 & 0.8310 & 0.5000 & 0.9387 & 0.7067 \\ \hline Get Up \& Go \#7 & 0.5000 & 0.9806 & 0.9343 & 0.5000 & 0.9559 & 0.8270 \\ \hline Get Up \& Go \#8 & 0.1242 & 0.9904 & 0.9904 & 0.4981 & 0.9823 & 0.9818 \\ \hline Get Up \& Go \#9 & 0.2984 & 0.9963 & 0.9963 & 0.1242 & 0.9058 & 0.9055 \\ \hline \hline \end{tabular}
\end{table} 
Table 6: Get Up & Go test results associated to the tests in Table 5 (see text for details).