Table 5.

Robots in Hospitals.

	Moxi [49]	Reception- istBot [50]	CareBot [50]	MAiRA [51]
Sensor(s)	LiDAR sensor from Velodyne, camera from Intel, arm from Kinova, and a gripper	Camera, microphone, and speaker	Camera, microphone, speaker, and various health care device sensor	3D Vision sensors, voice recognition sensors, Smart touch sensitive 6-DOF sensor
Purpose/Usability	Hospital Robot Assistant	Patient Greeting	Clinical staff Assistance	Surgical Procedures
Scenario	Relieves the pressure from the hospital nursing staff in clinical setting scenario by retrieving and bringing supplies to hospital rooms or delivering the samples to the laboratories	Human–robot interaction scenario to perform hospital receptionist task	Patient care scenario in everyday nursing practices	Clinical care scenario to perform robot assisted procedure
Task	Detect and recognize objects and people	Face detection, speech Recognition	Face detection, speech recognition, server communication	Object and face recognition, voice recognition, gesture detection, pose estimation
Algorithm	Object and people recognition, human guided learning, object manipulation	OpenRTM [95], Yujin voice engine	OpenRTM [95], Yujin voice engine	Object recognition, voice recognition, human detection, gesture recognition
Appearance	Compliant arm, hand, mobile base	Wheeled base, arms, touch screen	Wheeled base, touch screen	Robotic Arm
Semantic Functions	To help clinical staff, i.e., nurses to complete their task, such as item collection	To communicate with patients, gather personal information from patients, assign them to CareBot	To acquire data about patients’ health condition, assist the nurses, measure the vital signs, i.e., pulse rate and report the results to medical staff	To assists medical staff in complex medical procedures
Commercially Available	Yes	No (field testing)	No (field testing)	Yes