相关论文: Non-invasive Cognitive-level Human Interfacing for…
Assistive robotic systems endeavour to support those with movement disabilities, enabling them to move again and regain functionality. Main issue with these systems is the complexity of their low-level control, and how to translate this to…
Robotic manipulators are increasingly used to assist individuals with mobility impairments in object retrieval. However, the predominant joystick-based control interfaces can be challenging due to high precision requirements and unintuitive…
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…
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…
Individuals with tetraplegia and similar forms of paralysis suffer physically and emotionally due to a lack of autonomy. To help regain part of this autonomy, assistive robotic arms have been shown to increase living independence. However,…
People with lower and upper body disabilities can benefit from wheelchairs and robotic arms to improve mobility and independence. Prior assistive interfaces, such as touchscreens and voice-driven predefined commands, often remain…
The progressive prevalence of robots in human-suited environments has given rise to a myriad of object manipulation techniques, in which dexterity plays a paramount role. It is well-established that humans exhibit extraordinary dexterity…
This work presents a next-generation human-robot interface that can infer and realize the user's manipulation intention via sight only. Specifically, we develop a system that integrates near-eye-tracking and robotic manipulation to enable…
Cyber human interaction is a broad term encompassing the range of interactions that humans can have with technology. While human interaction with fixed and mobile computers is well understood, the world is on the cusp of ubiquitous and…
A human-in-the-loop system is proposed to enable collaborative manipulation tasks for person with physical disabilities. Studies show that the cognitive burden of subject reduces with increased autonomy of assistive system. Our framework…
We present an assistance system that reasons about a human's intended actions during robot teleoperation in order to provide appropriate corrections for unintended behavior. We model the human's physical interaction with a control interface…
This paper introduces a prototype for a new approach to assistive robotics, integrating edge computing with Natural Language Processing (NLP) and computer vision to enhance the interaction between humans and robotic systems. Our proof of…
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…
Shared control in assistive robotics blends human autonomy with computer assistance, thus simplifying complex tasks for individuals with physical impairments. This study assesses an adaptive Degrees of Freedom control method specifically…
This article investigates the challenge of achieving functional tool-use grasping with high-DoF anthropomorphic hands, with the aim of enabling anthropomorphic hands to perform tasks that require human-like manipulation and tool-use.…
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…
As autonomous service robots become more affordable and thus available also for the general public, there is a growing need for user friendly interfaces to control the robotic system. Currently available control modalities typically expect…
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 body motions can be captured as a high-dimensional continuous signal using motion sensor technologies. The resulting data can be surprisingly rich in information, even when captured from persons with limited mobility. In this work, we…
How can we train an assistive human-machine interface (e.g., an electromyography-based limb prosthesis) to translate a user's raw command signals into the actions of a robot or computer when there is no prior mapping, we cannot ask the user…