Figure 2 shows our images of services that robots provide people at shelters or nursing homes.
The left handwritten figure shows that a robot attends a visitor at a door in place of a person in a bed.
The visitor communicates with the person in a bed through PCs, one PC is mounted on the robot and the other is by the bed.
The right handwritten figure shows that a robot cleans an indicated area.
The elderly use gestures or deictic words such as here, to express their indications.
The communication style is convenient for people; however, it is a difficult task for robots available commercially to understand what people expect robots to do.