相关论文: Towards Assistive Feeding with a General-Purpose M…

The paper presents a detailed Agentic Artificial Intelligence (AI) model that would enable people with disabilities and neurodivergence to lead healthier lives and have more regular days. The system will use a multi-layer structure; it will…

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…

Human-robot collaborative tasks foresee interactions between humans and robots with various degrees of complexity. Specifically, for tasks which involve physical contact among the agents, challenges arise in the modelling and control of…

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.…

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…

Consider an assistive system that guides visually impaired users through speech and haptic feedback to their destination. Existing robotic and ubiquitous navigation technologies (e.g., portable, ground, or wearable systems) often operate in…

We introduce PhysicalAgent, an agentic framework for robotic manipulation that integrates iterative reasoning, diffusion-based video generation, and closed-loop execution. Given a textual instruction, our method generates short video…

Quadruped robots are increasingly used in various applications due to their high mobility and ability to operate in diverse terrains. However, most available quadruped robots are primarily focused on mobility without object manipulation…

There is a large population of wheelchair users. Most of the wheelchair users need help with daily tasks. However, according to recent reports, their needs are not properly satisfied due to the lack of caregivers. Therefore, in this…

Endowing robots with tactile capabilities opens up new possibilities for their interaction with the environment, including the ability to handle fragile and/or soft objects. In this work, we equip the robot gripper with low-cost…

Targeted drug delivery in the gastrointestinal (GI) tract using magnetic robots offers a promising alternative to systemic treatments. However, controlling these robots is a major challenge. Stationary magnetic systems have a limited…

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…

This paper presents a novel concept to support physically impaired humans in daily object manipulation tasks with a robot. Given a user's manipulation sequence, we propose a predictive model that uniquely casts the user's sequential…

Numerous diseases and aging can cause degeneration of people's balance ability resulting in limited mobility and even high risks of fall. Robotic technologies can provide more intensive rehabilitation exercises or be used as assistive…

We have developed a system for automatic facial expression recognition, which runs on Google Glass and delivers real-time social cues to the wearer. We evaluate the system as a behavioral aid for children with Autism Spectrum Disorder…

Physical caregiving robots hold promise for improving the quality of life of millions worldwide who require assistance with feeding. However, in-home meal assistance remains challenging due to the diversity of activities (e.g., eating,…

In this paper we present an architecture for the operation of an assistive robot finally aimed at allowing users with severe motion disabilities to perform manipulation tasks that may help in daily-life operations. The robotic system, based…

Robots will become ubiquitously useful only when they can use few attempts to teach themselves to perform different tasks, even with complex bodies and in dynamical environments. Vertebrates, in fact, successfully use trial-and-error to…

Robotic manipulation with two-finger grippers is challenged by objects lacking distinct graspable features. Traditional pre-grasping methods, which typically involve repositioning objects or utilizing external aids like table edges, are…

Although there is a growing demand for cooking behaviours as one of the expected tasks for robots, a series of cooking behaviours based on new recipe descriptions by robots in the real world has not yet been realised. In this study, we…