Related papers: A Data-Driven Approach to Positioning Grab Bars in…
The paper addresses the following problem: given a set of man-made shapes, e.g., chairs, can we quickly rank and explore the set of shapes with respect to a given avatar pose? Answering this question requires identifying which shapes are…
While assistive robots have much potential to help older people with frailty-related needs, there are few in use. There is a gap between what is developed in laboratories and what would be viable in real-world contexts. Through a series of…
We present a motion planning algorithm with probabilistic guarantees for limbed robots with stochastic gripping forces. Planners based on deterministic models with a worst-case uncertainty can be conservative and inflexible to consider the…
In this paper, we present a planner that plans a sequence of base positions for a mobile manipulator to efficiently and robustly collect objects stored in distinct trays. We achieve high efficiency by exploring the common areas where a…
Mobile manipulators in the home can provide increased autonomy to individuals with severe motor impairments, who often cannot complete activities of daily living (ADLs) without the help of a caregiver. Teleoperation of an assistive mobile…
Recently, it has been considering robotics to face world population aging. According to the WHO, in 2050 there will be about 2.1 billion people over 60 years old worldwide causing a persistent growing need of assistance and a shortage of…
We address the problem of motion planning for a robotic manipulator with the task to place a grasped object in a cluttered environment. In this task, we need to locate a collision-free pose for the object that a) facilitates the stable…
Despite diverse mobility needs worldwide, existing mapping tools fail to address the varied experiences of different mobility device users. This paper presents a large-scale online survey exploring how five mobility groups -- users of…
Age-related mobility decline is frequently accompanied by a redistribution of joint kinetics, where older adults compensate for reduced ankle function by increasing demand on the hip. Paradoxically, this compensatory shift typically…
This work provides a framework for a workspace aware online grasp planner. This framework greatly improves the performance of standard online grasp planning algorithms by incorporating a notion of reachability into the online grasp planning…
Work environments are often inadequate and lack inclusivity for individuals with upper-body disabilities. This paper presents a novel online framework for adaptive human-robot interaction (HRI) that accommodates users' arm mobility…
Social navigation and pedestrian behavior research has shifted towards machine learning-based methods and converged on the topic of modeling inter-pedestrian interactions and pedestrian-robot interactions. For this, large-scale datasets…
Data gloves play a crucial role in study of human grasping, and could provide insights into grasp synergies. Grasp synergies lead to identification of underlying patterns to develop control strategies for hand exoskeletons. This paper…
The human somatosensory cortex is intimately linked to other central brain functions such as vision, audition, mechanoreception, and motor planning and control. These links are established through brain learning, and display a considerable…
Studies show dramatic increase in elderly population of Western Europe over the next few decades, which will put pressure on healthcare systems. Measures must be taken to meet these social challenges. Healthcare robots investigated to…
In this paper, we explore the design and use of conversational telepresence robots to help homebound older adults interact with the external world. An initial needfinding study (N=8) using video vignettes revealed older adults' experiential…
A review of recent accelerometry experiments points to the need for a careful consideration of the question of where, exactly, the accelerometer sensor itself is located within the device that hosts the services required for its operation.…
Personalization and adaptation to the user profile capability are the hottest issues to ensure ambient assisted living and context awareness in nowadays environments. With the growing healthcare and wellbeing context aware applications,…
Consider an assistive system that guides visually impaired users through speech and haptic feedback to their destination. Existing robotic and ubiquitous navigation technologies (e.g., portable, ground, or wearable systems) often operate in…
The aim of this thesis was the design and development of an interactive system enhancing collaborative sensemaking. The system design was based on related work research and preliminary user study. The system is based on multiple…