  Existing work in physical robot caregiving is limited in its ability to
provide long-term assistance. This is majorly due to (i) lack of well-defined
problems, (ii) diversity of tasks, and (iii) limited access to stakeholders
from the caregiving community. We propose Structuring Physically Assistive
Robotics for Caregiving with Stakeholders-in-the-loop (SPARCS) to address these
challenges. SPARCS is a framework for physical robot caregiving comprising (i)
Building Blocks, models that define physical robot caregiving scenarios, (ii)
Structured Workflows, hierarchical workflows that enable us to answer the Whats
and Hows of physical robot caregiving, and (iii) SPARCS-Box, a web-based
platform to facilitate dialogue between all stakeholders. We collect clinical
data for six care recipients with varying disabilities and demonstrate the use
of SPARCS in designing well-defined caregiving scenarios and identifying their
care requirements. All the data and workflows are available on SPARCS-Box. We
demonstrate the utility of SPARCS in building a robot-assisted feeding system
for one of the care recipients. We also perform experiments to show the
adaptability of this system to different caregiving scenarios. Finally, we
identify open challenges in physical robot caregiving by consulting care
recipients and caregivers. Supplementary material can be found at
https://emprise.cs.cornell.edu/sparcs/.
