Related papers: GuideTouch: An Obstacle Avoidance Device with Tact…
People who are blind perceive the world differently than those who are sighted, which can result in distinct motion characteristics. For instance, when crossing at an intersection, blind individuals may have different patterns of movement,…
Robotic telemanipulation - the human-guided manipulation of remote objects - plays a pivotal role in several applications, from healthcare to operations in harsh environments. While visual feedback from cameras can provide valuable…
Blind and visually challenged face multiple issues with navigating the world independently. Some of these challenges include finding the shortest path to a destination and detecting obstacles from a distance. To tackle this issue, this…
Obstacle avoidance is essential for ensuring the safety of autonomous vehicles. Accurate perception and motion planning are crucial to enabling vehicles to navigate complex environments while avoiding collisions. In this paper, we propose…
Individuals who are differently-able in vision cannot proceed with their day-to-day activities as smoothly as other people do. Especially independent walking is a hard target to achieve with their visual impairment. Assistive electronic…
Cardiovascular diseases remain the leading cause of global mortality, with minimally invasive treatment options offered through endovascular interventions. However, the precision and adaptability of current robotic systems for endovascular…
A trust-aware safe control system for autonomous navigation in the presence of humans, specifically pedestrians, is presented. The system combines model predictive control (MPC) with control barrier functions (CBFs) and trust estimation to…
Shopping plays a significant role in shaping consumer identity and social integration. However, for individuals with visual impairments, navigating in supermarkets and identifying products can be an overwhelming and challenging experience.…
In the 34 developed and 156 developing countries, there are about 132 million disabled people who need a wheelchair constituting 1.86% of the world population. Moreover, there are millions of people suffering from diseases related to motor…
Assistive robotic devices, like soft lower-limb exoskeletons or exosuits, are widely spreading with the promise of helping people in everyday life. To make such systems adaptive to the variety of users wearing them, it is desirable to endow…
In the realm of autonomous driving, accurately detecting surrounding obstacles is crucial for effective decision-making. Traditional methods primarily rely on 3D bounding boxes to represent these obstacles, which often fail to capture the…
Designing robotic assistance devices for manipulation tasks is challenging. This work is concerned with improving accuracy and usability of semi-autonomous robots, such as human operated manipulators or exoskeletons. The key insight is to…
Contact often occurs without macroscopic surface deformation, such as during interaction with liquids, semi-liquids, or ultra-soft materials. However, most existing tactile sensors rely on deformation to infer contact, making such…
We report on the teleoperation system DronePick which provides remote object picking and delivery by a human-controlled quadcopter. The main novelty of the proposed system is that the human user continuously gets the visual and haptic…
Tactile graphics are essential for providing access to visual information for the 43 million people globally living with vision loss. Traditional methods for creating these graphics are labor-intensive and cannot meet growing demand. We…
This paper presents a study on autonomous robot navigation, focusing on three key behaviors: Odometry, Target Tracking, and Obstacle Avoidance. Each behavior is described in detail, along with experimental setups for simulated and…
At present many blind assistive systems have been implemented but there is no such kind of good system to navigate a blind person and also to track the movement of a blind person and rescue him/her if he/she is lost. In this paper, we have…
Robotic manipulators navigating cluttered shelves or cabinets may find it challenging to avoid contact with obstacles. Indeed, rearranging obstacles may be necessary to access a target. Rather than planning explicit motions that place…
This paper proposes a novel observer-based controller for Vertical Take-Off and Landing (VTOL) Unmanned Aerial Vehicle (UAV) designed to directly receive measurements from a Vision-Aided Inertial Navigation System (VA-INS) and produce the…
Navigation is an essential ability for mobile agents to be completely autonomous and able to perform complex actions. However, the problem of navigation for agents with limited (or no) perception of the world, or devoid of a fully defined…