Related papers: Adaptive Control in Assistive Application -- A Stu…
This survey paper concerns Sensor Fusion for Predictive Control of Human-Prosthesis-Environment Dynamics in Assistive Walking. The powered lower limb prosthesis can imitate the human limb motion and help amputees to recover the walking…
Multi-robot teams can achieve more dexterous, complex and heavier payload tasks than a single robot, yet effective collaboration is required. Multi-robot collaboration is extremely challenging due to the different kinematic and dynamics…
In the domain of assistive robotics, the significance of effective modeling is well acknowledged. Prior research has primarily focused on enhancing model accuracy or involved the collection of extensive, often impractical amounts of data.…
Advanced driver assistance systems have successfully reduced drivers' workloads and increased safety. On the other hand, the excessive use of such systems can impede the development of driving skills. However, there exist collaborative…
This research addressed whether interactions with social robots could facilitate joint attention of the autism spectrum disorder (ASD). Two conditions of initiators, namely 'Human' vs. 'Robot' were measured with 15 children with ASD and 15…
An adaptive guidance system that supports equipment operators requires a comprehensive model, which involves a variety of user behaviors that considers different skill and knowledge levels, as well as rapid-changing task situations. In the…
Driver distraction is a well-known cause for traffic collisions worldwide. Studies have indicated that shared steering control, which actively provides haptic guidance torque on the steering wheel, effectively improves the performance of…
In this study we evaluated human-robot collaboration models in an integrated human-robot operational system. An integrated work cell which includes a robotic arm working collaboratively with a human worker was specially designed for…
Socially assistive robots (SAR) have shown great potential to augment the social and educational development of children with autism spectrum disorders (ASD). As SAR continues to substantiate itself as an effective enhancement to human…
This paper presents the application of a learning control approach for the realization of a fast and reliable pick-and-place application with a spherical soft robotic arm. The arm is characterized by a lightweight design and exhibits…
Learning preferences implicit in the choices humans make is a well studied problem in both economics and computer science. However, most work makes the assumption that humans are acting (noisily) optimally with respect to their preferences.…
Understanding and respecting personal space preferences is essential for socially assistive robots designed for older adult users. This work introduces and evaluates a novel personalized context-aware method for modeling users' proxemics…
Robot-assisted dressing has the potential to significantly improve the lives of individuals with mobility impairments. To ensure an effective and comfortable dressing experience, the robot must be able to handle challenging deformable…
Without finger function, people with C5-7 spinal cord injury (SCI) regularly utilize wrist extension to passively close the fingers and thumb together for grasping. Wearable assistive grasping devices often focus on this familiar…
Robot teleoperation systems face a common set of challenges including latency, low-dimensional user commands, and asymmetric control inputs. User control with Brain-Computer Interfaces (BCIs) exacerbates these problems through especially…
In advanced manufacturing, strict safety guarantees are required to allow humans and robots to work together in a shared workspace. One of the challenges in this application field is the variety and unpredictability of human behavior,…
In this study, we propose an optimal assistive control strategy that uses estimated user's movement intention as the terminal cost function. We estimate the movement intention by observing human user's joint angle, angluar velocity, and…
Assistive robot arms try to help their users perform everyday tasks. One way robots can provide this assistance is shared autonomy. Within shared autonomy, both the human and robot maintain control over the robot's motion: as the robot…
Assistive robotic arms often have more degrees-of-freedom than a human teleoperator can control with a low-dimensional input, like a joystick. To overcome this challenge, existing approaches use data-driven methods to learn a mapping from…
Force interaction is inevitable when robots face multiple operation scenarios. How to make the robot competent in force control for generalized operations such as multi-tasks still remains a challenging problem. Aiming at the…