Related papers: An Adaptable, Safe, and Portable Robot-Assisted Fe…
High levels of robot autonomy are a common goal, but there is a significant risk that the greater the autonomy of the robot the lesser the autonomy of the human working with the robot. For vulnerable populations like older adults who…
Social robots, also known as service or assistant robots, have been developed to improve the quality of human life in recent years. The design of socially capable and intelligent robots can vary, depending on the target user groups. In this…
Many people with motor disabilities are unable to complete activities of daily living (ADLs) without assistance. This paper describes a complete robotic system developed to provide mobile grasping assistance for ADLs. The system is…
Eating is a daily challenge for over 60 million adults with essential tremors and other mobility limitations. For these users, traditional utensils like forks or spoons are difficult to manipulate -- resulting in accidental spills and…
Assistive robotic arms enable users with physical disabilities to perform everyday tasks without relying on a caregiver. Unfortunately, the very dexterity that makes these arms useful also makes them challenging to teleoperate: the robot…
Planning under uncertainty is a crucial capability for autonomous systems to operate reliably in uncertain and dynamic environments. The concern of safety becomes even more critical in healthcare settings where robots interact with human…
Autonomous mobile robots need to perceive the environments with their onboard sensors (e.g., LiDARs and RGB cameras) and then make appropriate navigation decisions. In order to navigate human-inhabited public spaces, such a navigation task…
As the number of Persons with Disabilities (PWD), particularly those with one or more physical impairments, increases, there is an increasing demand for assistive robotic technologies that can support independent mobility in the built…
Industrial robots become increasingly prevalent, resulting in a growing need for intuitive, comforting human-robot collaboration. We present a user-aware robotic system that adapts to operator behavior in real time while non-intrusively…
A key challenge in robotic food manipulation is modeling the material properties of diverse and deformable food items. We propose using a multimodal sensory approach to interact and play with food that facilitates the ability to distinguish…
Age-related loss of mobility and increased risk of falling remain important obstacles toward facilitating aging-in-place. Many elderly people lack the coordination and strength necessary to perform common movements around their home, such…
This study presents the design of a six-wheeled outdoor autonomous mobile robot. The main design goal of our robot is to increase its adaptability and flexibility when moving outdoors. This six-wheeled robot platform was equipped with some…
Wheelchairs and mobility devices have transformed our bodies into cybernic systems, enhancing our well-being by enabling individuals with reduced mobility to regain freedom. Notwithstanding, current interfaces of control primarily rely on…
Robotic dressing assistance has the potential to improve the quality of life for individuals with limited mobility. Existing solutions predominantly rely on rigid robotic manipulators, which have challenges in handling deformable garments…
This paper presents a novel learning-based approach to dynamic robot-to-human handover, addressing the challenges of delivering objects to a moving receiver. We hypothesize that dynamic handover, where the robot adjusts to the receiver's…
With the development of the artificial intelligence (AI), the AI applications have influenced and changed people's daily life greatly. Here, a wearable affective robot that integrates the affective robot, social robot, brain wearable, and…
Robotics and automation have the potential to significantly improve quality of life for people with assistive needs and their carers. Adoption of such technologies at this point in time is far from widespread. This paper presents a novel…
Quadruped robots are designed to achieve agile and robust locomotion by drawing inspiration from legged animals. However, most existing control methods for quadruped robots lack a key capacity observed in animals: the ability to exhibit…
In this work, we introduce an adaptive control framework for human-robot collaborative transportation of objects with unknown deformation behaviour. The proposed framework takes as input the haptic information transmitted through the…
Safe road-crossing by self-driving vehicles is a crucial problem to address in smart-cities. In this paper, we introduce a multi-sensor fusion approach to support road-crossing decisions in a system composed by an autonomous wheelchair and…