A cyber physical system testbed for assistive robotics technologies in the home

We present a cyber-physical system (CPS) testbed to enable the rapid development, testing, and deployment of assistive robotics technologies in the home of elderly individuals. We built a CPS testbed in a lab environment with initial capabilities allowing for the testing of both individual systems and collections of systems. The CPS testbed has communication, computation, sensing, and control resources available that can be leveraged by individual subsystems within the CPS. We present projects built by different design teams to be integrated in the CPS environment to help the elderly live independent lives and age in place. Finally, we describe a case study for the use of a mobile robot within the CPS to detect and respond in case an elderly person falls at home.