相关论文: Active Robot-Assisted Feeding with a General-Purpo…
General-purpose mobile manipulators have the potential to serve as a versatile form of assistive technology. However, their complexity creates challenges, including the risk of being too difficult to use. We present a proof-of-concept…
We demonstrate a robot-assisted feeding system that enables people with mobility impairments to feed themselves. Our system design embodies Safety, Portability, and User Control, with comprehensive full-stack safety checks, the ability to…
This project introduces a Feeding Assistive Robot tailored to individuals with physical disabilities, including those with limited arm function or hand control. The core component is a precise 6-degree freedom robotic arm, operated…
Robot-assisted feeding enables people with disabilities who require assistance eating to enjoy a meal independently and with dignity. However, existing systems have only been tested in-lab or in-home, leaving in-the-wild social dining…
Many people living with neurological disorders, such as cerebral palsy, stroke, muscular dystrophy or dystonia experience upper limb impairments (muscle spasticity, loss of selective motor control, muscle weakness or tremors) and have…
Assistive robotic devices can be used to help people with upper body disabilities gaining more autonomy in their daily life. Although basic motions such as positioning and orienting an assistive robot gripper in space allow performance of…
Robot-assisted feeding has the potential to improve the quality of life for individuals with mobility limitations who are unable to feed themselves independently. However, there exists a large gap between the homogeneous, curated plates…
Assistance during eating is essential for those with severe mobility issues or eating risks. However, dependence on traditional human caregivers is linked to malnutrition, weight loss, and low self-esteem. For those who require eating…
Meal preparation is an important instrumental activity of daily living~(IADL). While existing research has explored robotic assistance in meal preparation tasks such as cutting and cooking, the crucial task of peeling has received less…
Robot-assisted feeding can greatly enhance the lives of those with mobility limitations. Modern feeding systems can pick up and position food in front of a care recipient's mouth for a bite. However, many with severe mobility constraints…
Physically assistive robots present an opportunity to significantly increase the well-being and independence of individuals with motor impairments or other forms of disability who are unable to complete activities of daily living (ADLs).…
Mobile manipulators in the home can provide increased autonomy to individuals with severe motor impairments, who often cannot complete activities of daily living (ADLs) without the help of a caregiver. Teleoperation of an assistive mobile…
Millions of people around the world need assistance with feeding. Robotic feeding systems offer the potential to enhance autonomy and quality of life for individuals with impairments and reduce caregiver workload. However, their widespread…
By controlling robots comparable to the human body, people with profound motor deficits could potentially perform a variety of physical tasks for themselves, improving their quality of life. The extent to which this is achievable has been…
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…
Autonomous robots have the potential to serve as versatile caregivers that improve quality of life for millions of people worldwide. Yet, conducting research in this area presents numerous challenges, including the risks of physical…
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…
Many people with motor disabilities are unable to complete activities of daily living (ADLs) without assistance. This paper describes a complete robotic system developed to provide mobile grasping assistance for ADLs. The system is…
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…
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…