Existing work in physical robot caregiving is limited in its ability to provide long-term assistance. This is majorly due to (i) lack of well-defined problems, (ii) diversity of tasks, and (iii) limited access to stakeholders from the caregiving community. We propose Structuring Physically Assistive Robotics for Caregiving with Stakeholders-in-the-loop (SPARCS) to address these challenges. SPARCS is a framework for physical robot caregiving comprising (i) Building Blocks, models that define physical robot caregiving scenarios, (ii) Structured Workflows, hierarchical workflows that enable us to answer the Whats and Hows of physical robot caregiving, and (iii) SPARCS-Box, a web-based platform to facilitate dialogue between all stakeholders. We collect clinical data for six care recipients with varying disabilities and demonstrate the use of SPARCS in designing well-defined caregiving scenarios and identifying their care requirements. All the data and workflows are available on SPARCS-Box. We demonstrate the utility of SPARCS in building a robot-assisted feeding system for one of the care recipients. We also perform experiments to show the adaptability of this system to different caregiving scenarios. Finally, we identify open challenges in physical robot caregiving by consulting care recipients and caregivers. Supplementary material can be found at https://emprise.cs.cornell.edu/sparcs/.

翻译：实际机器人照料的现有工作在提供长期援助的能力方面受到限制,主要原因是:(一) 缺乏定义明确的问题,(二) 任务的多样性,以及(三) 与照料界的利益攸关方接触的机会有限。我们建议与处于困境的利益攸关方一起构建身体辅助机器人照料系统,以应对这些挑战。SPARCS是一个实际机器人照料框架,包括(一) 构建屏障,确定身体机器人照料情景的模式,(二) 结构化工作流程,等级工作流程,使我们能够回答身体机器人照料的什么和如何,以及(三) SPARCS-Box,这是一个便利所有利益攸关方之间对话的基于网络的平台。我们为6个不同残疾的护理接受者收集临床数据,并展示SPARCS在设计定义良好的照料情景和确定其护理需求方面的使用情况。所有数据和工作流程都可在SPARCS-Box上查阅。我们展示了SARCS在为照料接受者之一建立机器人辅助喂养系统的有用性。我们还进行了实验,以展示对身体照料者/护理的适应性。我们也可以在研究中进行这样的评估。