{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,13]],"date-time":"2026-04-13T18:17:57Z","timestamp":1776104277475,"version":"3.50.1"},"reference-count":67,"publisher":"MDPI AG","issue":"16","license":[{"start":{"date-parts":[[2021,8,6]],"date-time":"2021-08-06T00:00:00Z","timestamp":1628208000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001871","name":"Funda\u00e7\u00e3o para a Ci\u00eancia e a Tecnologia","doi-asserted-by":"publisher","award":["UIDB\/00319\/2020"],"award-info":[{"award-number":["UIDB\/00319\/2020"]}],"id":[{"id":"10.13039\/501100001871","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001871","name":"Funda\u00e7\u00e3o para a Ci\u00eancia e a Tecnologia","doi-asserted-by":"publisher","award":["SFRH\/BD\/06944\/2020"],"award-info":[{"award-number":["SFRH\/BD\/06944\/2020"]}],"id":[{"id":"10.13039\/501100001871","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001871","name":"Funda\u00e7\u00e3o para a Ci\u00eancia e a Tecnologia","doi-asserted-by":"publisher","award":["SFRH\/BD\/145993\/2019"],"award-info":[{"award-number":["SFRH\/BD\/145993\/2019"]}],"id":[{"id":"10.13039\/501100001871","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Applied Sciences"],"abstract":"<jats:p>The global population is ageing at an unprecedented rate. With changes in life expectancy across the world, three major issues arise: an increasing proportion of senior citizens; cognitive and physical problems progressively affecting the elderly; and a growing number of single-person households. The available data proves the ever-increasing necessity for efficient elderly care solutions such as healthcare service and assistive robots. Additionally, such robotic solutions provide safe healthcare assistance in public health emergencies such as the SARS-CoV-2 virus (COVID-19). CHARMIE is an anthropomorphic collaborative healthcare and domestic assistant robot capable of performing generic service tasks in non-standardised healthcare and domestic environment settings. The combination of its hardware and software solutions demonstrates map building and self-localisation, safe navigation through dynamic obstacle detection and avoidance, different human-robot interaction systems, speech and hearing, pose\/gesture estimation and household object manipulation. Moreover, CHARMIE performs end-to-end chores in nursing homes, domestic houses, and healthcare facilities. Some examples of these chores are to help users transport items, fall detection, tidying up rooms, user following, and set up a table. The robot can perform a wide range of chores, either independently or collaboratively. CHARMIE provides a generic robotic solution such that older people can live longer, more independent, and healthier lives.<\/jats:p>","DOI":"10.3390\/app11167248","type":"journal-article","created":{"date-parts":[[2021,8,6]],"date-time":"2021-08-06T08:01:42Z","timestamp":1628236902000},"page":"7248","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":42,"title":["CHARMIE: A Collaborative Healthcare and Home Service and Assistant Robot for Elderly Care"],"prefix":"10.3390","volume":"11","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-5909-0827","authenticated-orcid":false,"given":"Tiago","family":"Ribeiro","sequence":"first","affiliation":[{"name":"Industrial Electronics Department, University of Minho, 4800-058 Guimar\u00e3es, Portugal"},{"name":"Centro ALGORITMI, University of Minho, Campus Azur\u00e9m, 4800-058 Guimar\u00e3es, Portugal"}]},{"given":"Fernando","family":"Gon\u00e7alves","sequence":"additional","affiliation":[{"name":"Mechanical Engineering Department, University of Minho, 4800-058 Guimar\u00e3es, Portugal"},{"name":"CMEMS, University of Minho, Campus Azur\u00e9m, 4800-058 Guimar\u00e3es, Portugal"}]},{"given":"In\u00eas S.","family":"Garcia","sequence":"additional","affiliation":[{"name":"Industrial Electronics Department, University of Minho, 4800-058 Guimar\u00e3es, Portugal"},{"name":"Centro ALGORITMI, University of Minho, Campus Azur\u00e9m, 4800-058 Guimar\u00e3es, Portugal"},{"name":"International Iberian Nanotechnology Laboratory (INL), 4715-330 Braga, Portugal"}]},{"given":"Gil","family":"Lopes","sequence":"additional","affiliation":[{"name":"University Institute of Maia\u2014ISMAI, 4475-690 Maia, Portugal"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6438-1223","authenticated-orcid":false,"given":"Ant\u00f3nio F.","family":"Ribeiro","sequence":"additional","affiliation":[{"name":"Industrial Electronics Department, University of Minho, 4800-058 Guimar\u00e3es, Portugal"},{"name":"Centro ALGORITMI, University of Minho, Campus Azur\u00e9m, 4800-058 Guimar\u00e3es, Portugal"}]}],"member":"1968","published-online":{"date-parts":[[2021,8,6]]},"reference":[{"key":"ref_1","unstructured":"United Nations Department of Economic and Social Affairs (2019). 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