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Version 1
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Pattern wristband worn by the user
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Neural networks interacting with a hard-coded taxonomy
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Audio prompts, with one prompt for each step
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10
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[22, 33]
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Version 2
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Using background subtraction to isolate the user's hands. Tracking of hands and task objects (i.e. soap and towel) using a preset colour model.
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Fully observable Markov decision process (MDP). This technique assumes the world is fully observable; it does not take into account hidden variables, such as user responsiveness.
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Audio prompts with three levels of assistance (minimal, moderate, and maximal) for each step.
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4
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[20, 37–39]
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Version 3 (system presented in this paper)
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Colour based flocking.
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[Belief monitoring system & policy] Partially observable Markov decision process (POMDP). This model takes into account hidden variables and is able to make decisions in conditions of uncertainty.
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Audio and audio-video prompts with three levels of assistance (minimal, maximal, and maximal + video demonstration) for each step. Encouragement and a reminder regarding the activity the user is attempting added. Professional actor recorded prompts.
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6
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[18, 19, 21, 23, 25]
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