Related papers: Adaptive Control in Assistive Application -- A Stu…
Assistive robotic devices can increase the independence of individuals with motor impairments. However, each person is unique in their level of injury, preferences, and skills, which moreover can change over time. Further, the amount of…
Living a self-determined life independent of human caregivers or fully autonomous robots is a crucial factor for human dignity and the preservation of self-worth for people with motor impairments. Assistive robotic solutions - particularly…
With the ongoing efforts to empower people with mobility impairments and the increase in technological acceptance by the general public, assistive technologies, such as collaborative robotic arms, are gaining popularity. Yet, their…
Assistive technologies and in particular assistive robotic arms have the potential to enable people with motor impairments to live a self-determined life. More and more of these systems have become available for end users in recent years,…
Real-time collaboration with humans poses challenges due to the different behavior patterns of humans resulting from diverse physical constraints. Existing works typically focus on learning safety constraints for collaboration, or how to…
Shared control combines human intention with autonomous decision-making. At the low level, the primary goal is to maintain safety regardless of the user's input to the system. However, existing shared control methods-based on, e.g., Model…
Human body motions can be captured as a high-dimensional continuous signal using motion sensor technologies. The resulting data can be surprisingly rich in information, even when captured from persons with limited mobility. In this work, we…
Robotic arms, integral in domestic care for individuals with motor impairments, enable them to perform Activities of Daily Living (ADLs) independently, reducing dependence on human caregivers. These collaborative robots require users to…
Users of shared control systems change their behavior in the presence of assistance, which conflicts with assumpts about user behavior that some assistance methods make. In this paper, we propose an analysis technique to evaluate the user's…
Advances in eye-tracking control for assistive robotic arms provide intuitive interaction opportunities for people with physical disabilities. Shared control has gained interest in recent years by improving user satisfaction through partial…
Assistive robots enable people with disabilities to conduct everyday tasks on their own. However, these tasks can be complex, containing both coarse reaching motions and fine-grained manipulation. For example, when eating, not only does one…
Assistive machines endow people with limited mobility the opportunity to live more independently. However, operating these machines poses risks to the safety of the human operator as well as the surrounding environment. Thus, proper user…
We describe a shared control methodology that can, without knowledge of the task, be used to improve a human's control of a dynamic system, be used as a training mechanism, and be used in conjunction with Imitation Learning to generate…
This article explores assistive devices for upper limb movement in people with disabilities through a systematic review based on the PRISMA methodology. The studied devices encompass technologies ranging from orthoses to advanced robotics,…
Despite the fact that robotic platforms can provide both consistent practice and objective assessments of users over the course of their training, there are relatively few instances where physical human robot interaction has been…
In shared control, advances in autonomous robotics are applied to help empower a human user in operating a robotic system. While these systems have been shown to improve efficiency and operation success, users are not always accepting of…
Users of assistive devices vary in their extent of motor impairment, and hence their physical interaction with control interfaces can differ. There is the potential for improved utility if control interface actuation is mapped to assistive…
Interacting with video games is challenging for people with upper-limb impairments, especially when multiple hand-based inputs are required in rapid succession. Human cooperation, where another person assists the player, has been proposed…
Rehabilitation training for patients with motor disabilities usually requires specialized devices in rehabilitation centers. Home-based multi-purpose training would significantly increase treatment accessibility and reduce medical costs.…
Shared autonomy holds promise for improving the usability and accessibility of assistive robotic arms, but current methods often rely on costly expert demonstrations and remain static after pretraining, limiting their ability to handle…