A Home Healthcare System with Communication Robot Technologies - Development of Experimental Systems and in-Home Verification Experiments by Older Persons. - Kengo Toda; Mutsuhisa Fujioka; Atsuhiro Fujii; Shigeki Okawa; Junri Shinohara; Shinji Tanaka; Takayuki Nakamura; Takayuki Furuta (J. Robotics Mechatronics, 2011)