相关论文: SPARCS: Structuring Physically Assistive Robotics …

Living organisms interact with their surroundings in a closed-loop fashion, where sensory inputs dictate the initiation and termination of behaviours. Even simple animals are able to develop and execute complex plans, which has not yet been…

As the aging population increases and the shortage of healthcare workers increases, the need to examine other means for caring for the aging population increases. One such means is the use of humanoid robots to care for social, emotional,…

Human-robot collaborations have been recognized as an essential component for future factories. It remains challenging to properly design the behavior of those co-robots. Those robots operate in dynamic uncertain environment with limited…

The integration of socially assistive robots (SARs) in elder care settings has the potential to address critical labor shortages while enhancing the quality of care. However, the design of SARs must align with the values of various…

Residents in retirement and nursing homes have sexual needs just like other people. However, the semi-public situation makes it difficult for them to satisfy these existential concerns. In addition, they may not be able to meet a suitable…

We present a participatory design method to design human-robot interactions with older adults and its application through a case study of designing an assistive robot for a senior living facility. The method, called Situated Participatory…

Robot planning in partially observable domains is difficult, because a robot needs to estimate the current state and plan actions at the same time. When the domain includes many objects, reasoning about the objects and their relationships…

This paper proposes a general adaptive procedure for budget-limited predictor design in high dimensions called two-stage Sampling, Prediction and Adaptive Regression via Correlation Screening (SPARCS). SPARCS can be applied to high…

Physical therapy (PT) is a key component of many rehabilitation regimens, such as treatments for Parkinson's disease (PD). However, there are shortages of physical therapists and adherence to self-guided PT is low. Robots have the potential…

Socially assistive robots are increasingly being explored to improve the engagement of older adults and people with disability in health and well-being-related exercises. However, even if people have various physical conditions, most prior…

We propose a decentralized collision-avoidance mechanism for a group of independently controlled robots moving on a shared workspace. Existing algorithms achieve multi-robot collision avoidance either (a) in a centralized setting, or (b) in…

The research of a socially assistive robot has a potential to augment and assist physical therapy sessions for patients with neurological and musculoskeletal problems (e.g. stroke). During a physical therapy session, generating personalized…

We present OpenRoboCare, a multimodal dataset for robot caregiving, capturing expert occupational therapist demonstrations of Activities of Daily Living (ADLs). Caregiving tasks involve complex physical human-robot interactions, requiring…

Addressing the global caregiver shortage through socially assistive robots necessitates a deep understanding of their psychological and physiological impacts on older adults during human-robot interaction (HRI). This study addresses whether…

Robots for physical Human-Robot Collaboration (pHRC) systems need to change their behavior and how they operate in consideration of several factors, such as the performance and intention of a human co-worker and the capabilities of…

Real-world object manipulation has been commonly challenged by physical uncertainties and perception limitations. Being an effective strategy, while caging configuration-based manipulation frameworks have successfully provided robust…

An Autonomous Physical System (APS) will be expected to reliably and independently evaluate, execute, and achieve goals while respecting surrounding rules, laws, or conventions. In doing so, an APS must rely on a broad spectrum of dynamic,…

Motivation to perform movement therapy and caregiver burnout are major challenges to post-stroke life. Serious games have been shown to support therapeutic tasks in people with stroke, but there are few activities that simultaneously…

Next generation robots will need to understand intricate and articulated objects as they cooperate in human environments. To do so, these robots will need to move beyond their current abilities--- working with relatively simple objects in a…

Robot-led physical therapy (PT) offers a promising avenue to enhance the care provided by clinical exercise specialists (ES) and physical and occupational therapists to improve patients' adherence to prescribed exercises outside of a…