# Enabling End-Users in Designing and Executing of Complex, Collaborative Robotic Processes
## 3 Use Cases
### Use Case Healthcare (UCH)
In the healthcare domain we want to show that we can use the presented visual programming approach to enable an immobile patient to get drinks and food delivered to their patient bed. Since we want to show robot-cross execution we separated this delivery task into three different robots, each equipped with different individual unique skills. No single robot is able to perform the task alone, the robot always needs the skills of the others as well. Their shared task execution should work as described by the task designer in Blockly task design editor and collectively deliver an order to the patient bed. For the healthcare domain we implemented a ROS-based local environment and registered three robots (see Figure 7) to the platform via JSON upload:  
* Q.Bo One ([[https://thecorpora.com](https://thecorpora.com)]([https://thecorpora.com](https://thecorpora.com)), accessed on 8 May 2023) (social robot by TheCorpora). Implements the following skills: GetData, SetData, GraphicalUserInteraction, VoiceOutput, WaitForUserInput, WaitForExternalEvent. * ARTI Chasi robot ([[https://arti-robots.com/project/product-chasi](https://arti-robots.com/project/product-chasi)]([https://arti-robots.com/project/product-chasi](https://arti-robots.com/project/product-chasi)), accessed on 8 May 2023) (mobile robot by ARTI). Implements the following skills: GetData, SetData, MoveToLocation, GraphicalUserInteraction, WaitForUserInput, WaitForExternalEvent. * Franka Panda ([[https://www.franka.de](https://www.franka.de)]([https://www.franka.de](https://www.franka.de)), accessed on 8 May 2023) (arm robot by Franka Emika). Implements the following skills: GetData, SetData, WaitForUserInput, WaitForExternalEvent, GrabObject, PutObject. In the registration of the three robots the task designer can get additional information on how the robots are registered and which skills they do implement (decided and implemented by the robotic engineer). For the healthcare demonstration lab setup, we registered and implemented skills based on the minimum requirements needed to perform the scenario presented. After successful registration of these three robots, the task designer may for example design the workflow of the robots in the Blockly task design editor as follows (see also Figure 8):  
1. Patients can interact with the social robot 'Q.Bo One' and place an order via audio input (e.g., say '[PERSON], I need a cup of water!'). In our lab setup, there are nine different storage positions to choose food and drinks from, so the designer needs to hard-assign storage positions to audio commands. 2. Now the mobile robot 'Chasi' will autonomously drive to the drink station. 3. Next, the arm robot 'Franka Panda' will grasp the desired item and places the item on the mobile robot. The designer here needs to make sure that the mobile robot is always correctly parked in the parking slot first. 4. Then the mobile robot '[PERSON]' will autonomously drive to the patient bed. Finally, after the item has been picked up, the robot should drive back to the original parking position. Figure 7: Use case healthcare-Robots: TheCorpora Q.Bo One, ARTI Chasi and Franka Panda. In the end, how they want to implement the specific scenario is left up to the task designers. The goal however is to deliver an ordered item to an immobile patient lying in a bed and communicating with Q.Bo robot. Figure 9 shows an exemplary task design for the healthcare use case. Developing the Healthcare Use Case by Using ROS  
In the local environment when working with ROS we use the ROS visualization tool RViz ([[http://wiki.ros.org/rviz](http://wiki.ros.org/rviz)]([http://wiki.ros.org/rviz](http://wiki.ros.org/rviz)), accessed on 8 May 2023) and MoveIt ([[https://moveit.ros.org](https://moveit.ros.org)]([https://moveit.ros.org](https://moveit.ros.org)), accessed on 8 May 2023) for visualization and testing the execution of robotic skills triggered by the ROBxTASK system. The illustration in Figure 10 shows, how they are  
Figure 8: Use case healthcare-Initial planning of the workflow for ‘get a drink’.