Related papers: Adaptive Control in Assistive Application -- A Stu…
In robot-assisted therapy for individuals with Autism Spectrum Disorder, the workload of therapists during a therapeutic session is increased if they have to control the robot manually. To allow therapists to focus on the interaction with…
Robotic solutions, in particular robotic arms, are becoming more frequently deployed for close collaboration with humans, for example in manufacturing or domestic care environments. These robotic arms require the user to control several…
With the continuous advancement of robot teleoperation technology, shared control is used to reduce the physical and mental load of the operator in teleoperation system. This paper proposes an alternating shared control framework for object…
Physically assistive robots in home environments can enhance the autonomy of individuals with impairments, allowing them to regain the ability to conduct self-care and household tasks. Individuals with physical limitations may find existing…
In Physical Human--Robot Interaction (pHRI) grippers, humans and robots may contribute simultaneously to actions, so it is necessary to determine how to combine their commands. Control may be swapped from one to the other within certain…
In the field of Human-Robot Interaction (HRI), many researchers study shared control systems. Shared control is when a person and agent both contribute to the performance of a task in a collaborative way, often by providing control inputs…
Shared steering control has been developed to reduce driver workload while keeping the driver in the control loop. A driver could integrate visual sensory information from the road ahead and haptic sensory information from the steering…
Assistive shared-control robots have the potential to transform the lives of millions of people afflicted with severe motor impairments. The usefulness of shared-control robots typically relies on the underlying autonomy's ability to infer…
Many people suffer from the loss of a limb. Learning to get by without an arm or hand can be very challenging, and existing prostheses do not yet fulfil the needs of individuals with amputations. One promising solution is to provide greater…
Shared autonomy is a promising paradigm in robotic systems, particularly within the maritime domain, where complex, high-risk, and uncertain environments necessitate effective human-robot collaboration. This paper investigates the…
Assistive robot arms enable people with disabilities to conduct everyday tasks on their own. These arms are dexterous and high-dimensional; however, the interfaces people must use to control their robots are low-dimensional. Consider…
In this paper, we address the development of a robotic rehabilitation system for the upper limbs based on collaborative end-effector solutions. The use of commercial collaborative robots offers significant advantages for this task, as they…
Functional upper-limb prosthetic training can improve users performance in controlling prostheses and has been incorporated into occupational therapy for individuals in need. In recent years, virtual reality (VR) and augmented reality (AR)…
The foundation of this paper is an experiment of fifteen participants interacting directly with an autonomous robot. The task for the participants was to carry a table, in two different setups, together with a robot, which is intended to…
Semi-autonomous telerobotic systems allow both humans and robots to exploit their strengths, while enabling personalized execution of a task. However, for new soft robots with degrees of freedom dissimilar to those of human operators, it is…
In this paper, the problem of making a safe compliant contact between a human and an assistive robot is considered. Users with disabilities have a need to utilize their assistive robots for physical human-robot interaction (PHRI) during…
Robotics has shown significant potential in assisting people with disabilities to enhance their independence and involvement in daily activities. Indeed, a societal long-term impact is expected in home-care assistance with the deployment of…
Recent works on shared autonomy and assistive-AI technologies, such as assistive robot teleoperation, seek to model and help human users with limited ability in a fixed task. However, these approaches often fail to account for humans'…
This paper introduces a novel model-based adaptive shared control to allow for the identification and design challenge for shared-control systems, in which humans and automation share control tasks. The main challenge is the adaptive…
Background: Advanced adaptive randomised clinical trials are increasingly used. Compared to their conventional counterparts, their flexibility may make them more efficient, increase the probability of obtaining conclusive results without…